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Hopping robot mechanism

A robot, single-leg technology, applied in the field of robots, can solve problems such as speed constraints of walking or crawling, and achieve the effects of improving robustness, improving efficiency, and reducing impact damage

Active Publication Date: 2013-01-16
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, most legged robots in my country can only achieve actions similar to walking or crawling, and the speed of walking or crawling is constrained by motors and other drives.

Method used

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Embodiment Construction

[0014] Further illustrate the present invention below in conjunction with accompanying drawing.

[0015] As shown in the figure, a single-leg jumping robot mechanism of the present invention consists of three parts: a body, a thigh and a calf, the body and the thigh are connected through the hip joint, and the thigh and the calf are connected through the knee joint.

[0016]The body part of the single-leg robot includes the right side plate 4, the left side plate 11, the flat plate 1, the connecting rod 6, the driver 3, the driver seat 2, the hip motor 13, the hip driving wheel 7, the hip timing belt 8, etc. Composition, body right board 4 and body left board 11 are connected by body board 1, driver 3 is installed on the driver seat 4, and is fixed on the body board 1, connecting rod 6 is formed by body right board 4 and body left board 11 is supported by the first bearing 5 of the body and the second bearing 12 of the body. One end of the connecting rod 6 can be connected wit...

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Abstract

The invention discloses a hopping robot mechanism which comprises a body, a thigh and a shank which are connected through a hip joint and a knee joint respectively. First harmonic reducers and second harmonic reducers of the hip joint and the knee joint are all mounted on the hip, and driving motors are mounted at a position close to the hip, so that a robot is close to an ideal inverted pendulum model to reduce controlling difficulty; the knee joint drives through a thigh steel wire rope which adopts an inclined plane mechanism and a slider adjusting mechanism to realize adjustment of tensioning degree of the steel wire rope; and the knee joint when bent compresses a spring, so that force of gravity is transformed into potential energy of the spring to accumulate energy for stretching. A force sensor is mounted on the pelma of the hopping robot and used for sensing grounding information, and a pelma rubber pad buffers grounding impact. By rationally distributing force of gravity and serially connecting spring energy storage mechanism, improvement of flexibility, compliance and effectiveness of motion of the robot is facilitated.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a single-leg jumping robot mechanism. Background technique [0002] In recent years, robot technology has developed rapidly and is getting closer and closer to people's daily life. People hope that robots can have fast and dexterous movement capabilities, good interaction capabilities and efficient power supply just like humans themselves. Especially with the rapid development of humanoid robots and service robots, people put forward higher requirements for the fast, flexible and efficient movement capabilities of robots. [0003] At present, most legged robots in our country can only achieve actions similar to walking or crawling, and the speed of walking or crawling is limited by the drive of motors. In recent years, people have begun to pay attention to the research of jumping robots, and through the energy storage design of the joints, the robot can absorb extern...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 朱秋国陈杰熊蓉褚健
Owner ZHEJIANG UNIV
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