Single-leg robot jumping mechanism with active ankle joint and bionic foot

A robot and ankle joint technology, applied in the field of robotics, can solve problems such as weak energy storage capacity, inability to realize hip-knee cooperative work, and inability to realize ankle joint energy storage, etc., to achieve the effect of reducing impact and improving exercise ability

Active Publication Date: 2016-10-12
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It solves the problem that the existing technology has weak energy storage ability in robot jumping, cannot realize t

Method used

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  • Single-leg robot jumping mechanism with active ankle joint and bionic foot
  • Single-leg robot jumping mechanism with active ankle joint and bionic foot
  • Single-leg robot jumping mechanism with active ankle joint and bionic foot

Examples

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[0050] The present invention will be further described below in conjunction with accompanying drawings and examples.

[0051] like Figure 1-6 As shown, a single-leg robot jumping mechanism with an active ankle joint and a bionic foot includes sequentially hinged fuselage 1, thigh 2, calf 3 and foot 4, and the hinge between the fuselage 1 and thigh 2 is provided There is a directional driving device for driving the thigh 2 to rotate, and the thigh 2 is provided with a first jumping driving device for driving the calf 3 to rotate. The upper end of the calf 3 has a calf top plate 33 hinged to the lower end of the thigh 2, and the calf top plate is connected to the first A knee joint transmission rod 11 is arranged between the jump driving devices, and the two ends of the knee joint transmission rod 11 are respectively hinged with the lower leg top plate 33 and the first jump driving device, and the hinged joint of the thigh 2 and the lower leg 3 is provided with a driving calf j...

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Abstract

The invention discloses a single-leg robot jumping mechanism with an active ankle joint and a bionic foot. The mechanism comprises a mechanism body, a thigh, a crus and the foot which are sequentially hinged; a direction driving device for driving the thigh to rotate is arranged at the hinged position of the mechanism body and the thigh; a first jumping driving device for driving the crus to rotate is arranged on the thigh; a crus top board hinged to the lower end of the thigh is arranged at the upper end of the crus; a knee joint transmission rod is arranged between the crus top board and the first jumping driving device; the two ends of the knee joint transmission rod are hinged to the crus top board and the first jumping driving device correspondingly; a second jumping driving device for driving the crus to rotate is arranged at the hinged position of the thigh and the crus; and a buffering mechanism is arranged between the crus and the foot. The problems that in the prior art, the energy storage capacity is poor during jumping of a robot, cooperative work of a hip and a knee cannot be achieved, and an ankle joint motor cannot be protected against impact during jumping are solved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a single-leg robot jumping mechanism with active ankle joints and bionic feet. Background technique [0002] With the advancement of technology, the era of robots is coming to us. Humanoid robots have become a hot spot of social concern, how to realize the rapid jumping and running of robots has become the focus of research in the field of robotics. Human legs can realize walking, jumping, and other sports, which has important reference significance for legged robots to improve their motion performance. At present, the research on legged robots in my country is mainly focused on realizing functions such as walking and crawling, but the movement speed is limited by factors such as its own weight and motor power, and there is a certain gap compared with foreign advanced legged robots. [0003] The single-leg robot is the simplest robot in the structure of the legged robot, which h...

Claims

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Application Information

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IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 朱秋国赵逸栋毛翊超吴伟男李阳熊蓉
Owner ZHEJIANG UNIV
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