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Leg bouncing mechanism for frog-type robot

A technology of robots and legs, which is applied in the field of bouncing mechanism of frog-style robot legs, can solve the problems of low bouncing efficiency and complex bouncing mechanism, and optimize the mechanical structure of legs, improve posture stability, improve energy utilization and The effect of leg utilization

Inactive Publication Date: 2010-07-07
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] In order to solve the problems of complicated bouncing mechanism, low bouncing efficiency, landing stability, and alleviating the rigid impact at the moment of landing, the present invention provides a frog frog with simple structure, high degree of bionics, good landing stability, high bouncing efficiency and certain flexibility. robot leg bounce mechanism

Method used

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  • Leg bouncing mechanism for frog-type robot
  • Leg bouncing mechanism for frog-type robot
  • Leg bouncing mechanism for frog-type robot

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] Device embodiment: refer to figure 1, a frog robot leg bouncing structure of the present invention, comprising: a slider crank mechanism, composed of a guide rod 1, a slider 2, a hip joint 4, a joint 5, a diagonal strut 6, an intermediate joint 7 and a thigh 8 , the tension spring 3 is installed on the guide rod, the two ends of the tension spring 3 are respectively connected with the slider 2 and the hip joint 4, the lower part of the slider 2 is fixedly connected with the joint 5 by bolts, the joint 5 and the middle joint 7 are connected by a diagonal strut 6, The middle joint 7 is fixed in the middle of the thigh 8 in the circumferential direction; a leg mechanism assembly is composed of the thigh 8, the thigh link 9, the knee joint 10, the calf link 11, the calf 12 and the ankle joint 13, and the upper end of the thigh 8 and the hip joint 4 ...

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Abstract

The invention discloses a leg bouncing mechanism for a frog-type robot. A tension spring is sleeved on a guide rod. The tail end of the spring is connected with a hip joint, and the upper end of the spring is connected with a slider. The guide rod, the slider, an oblique support rod, a thigh and joints form a crank slider structure. The leg part consists of a thigh, a shank, a connecting rod and joints; and the leg structure comprises the combination of two four-rod mechanisms. The stretch and contraction of the leg mechanism can be adjusted by controlling the slide of the slider on the guide rod. The sole of the robot is arc-shaped, and an arch support is arranged on the sole. The mechanical structure of the invention simulates skeletons of a frog, optimizes the leg structure, improves the utilization ratio of energy of power elements, improves the flexibility of the mechanical structure, and improves the jumping ability of the robot.

Description

technical field [0001] The invention relates to a robot structure, in particular to a frog-type robot leg bouncing mechanism. Background technique [0002] With the continuous development of robot technology, in the face of harsh environments and complex terrain, using the robot's bouncing function to enhance its ability to adapt to terrain and autonomous movement is a robot technology that has developed rapidly in recent years. Robots with bouncing performance are still in the research stage in the world, and only a few colleges and universities in China are conducting related research. Since the development of such robots is very difficult, many key technologies involved are highly confidential, so there is very little public information. [0003] Internationally, the earliest bouncing robot was successfully developed by Raibert in the Robotics Laboratory of the Massachusetts Institute of Technology in 1980. The robot belongs to the continuous jumping mechanism. Raibert a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 左国玉孙荣毅王冠龚道雄阮晓钢
Owner BEIJING UNIV OF TECH
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