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Single-leg jumping mechanism based on Pascal curve non-circular gear drive

A Pascal worm wire and non-circular gear technology, applied in the field of robotics, can solve problems such as large inertia of the mechanism, complex structure of the connecting rod mechanism, and large motor load

Active Publication Date: 2016-12-07
山东可可西里科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this invention improves the energy storage capacity, the structure of the connecting rod mechanism is complicated, the inertia of the mechanism is large, and the load of the motor is large.

Method used

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  • Single-leg jumping mechanism based on Pascal curve non-circular gear drive
  • Single-leg jumping mechanism based on Pascal curve non-circular gear drive
  • Single-leg jumping mechanism based on Pascal curve non-circular gear drive

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Embodiment Construction

[0079] The present invention will be further described below in conjunction with drawings and embodiments.

[0080] Such as figure 1 Shown, the present invention comprises crotch and sequentially articulated hip joint, thigh transmission mechanism, knee joint and shank; Described crotch is fixed on the hip joint; Described crotch comprises right crotch plate 2, crotch connecting plate 3 . There is a left installation shaft 6, and a right installation shaft 1 is installed on the right crotch plate 2, and the left installation shaft 6 and the right installation shaft 1 are used for installing other loads.

[0081] Such as figure 2 As shown, the hip joint includes a transmission shaft support plate 10, a flange plate 11 in the hip joint, a driven non-circular gear 12 for the hip joint, and a hip joint shaft 13; the left crotch plate 5 and the right crotch plate 2 are both Sleeved on the hip joint shaft 13, and fixedly connected with the hip joint shaft 13 through pins respect...

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Abstract

The invention discloses a single-leg jumping mechanism based on Pascal curve non-circular gear drive. According to the device, a Bascal curve non-circular gear drive mode is adopted, the non-uniform-speed motion characteristic is achieved, an optimal control potential motion trail is obtained in combination with a better energy storage device in a non-uniform-speed mechanical drive mode, and therefore jumping capacity is improved; when a person takes off, better jumping acceleration can be provided through Pascal curve non-circular gear drive, the release capacity of a shank arc-shaped elastic rod can directly act in the jumping advancing direction, and conversion and output in other modes just like spring energy storage are not needed; when the person falls to the ground, the arc-shaped elastic rod on the shank and a shank compression spring can offset the falling gravity, and falling potential energy can be better stored.

Description

technical field [0001] The invention relates to the field of robots, in particular to a single-leg jumping mechanism driven by Pascal worm non-circular gears. Background technique [0002] At present, mobile robots mainly have multi-wheel or crawler drive, bionic crawling or walking and other motion modes, which can adapt to more complex terrain. With the increasing application of robots and the harsher working environment, robots must have stronger terrain adaptation and autonomous movement capabilities. Compared with ordinary mobile robots, jumping robots can easily jump over obstacles that are equal to or several times their own size, and are more suitable for complex and unpredictable environments. Among them, single-leg jumping robots have the simplest structure and low design cost. Low, short cycle. [0003] The jumping mechanism is the most important part of any single-leg jumping robot, and its performance directly affects the operating performance and terrain adap...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 叶军高奇峰胡红钱沈姗姗冯军
Owner 山东可可西里科技有限公司
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