Gear five-rod jumping ankle joint based on hydraulic driving

Abstract

The invention discloses a geared five-rod jumping ankle joint based on hydraulic drive, which is composed of a hydraulic gear transmission device and a connecting rod mechanism. The robot has an upward acceleration to simulate the force process of the ankle joint taking off, and at the same time, the tension of the energy storage extension spring provides part of the jumping power for the robot. When the robot lands after taking off, the landing impact force makes each connecting rod rotate in the opposite direction, and the energy storage spring is stretched to convert the landing kinetic energy into potential energy for storage. At the same time, the bilateral rack drives the output shaft of the hydraulic cylinder to move downward, and the hydraulic cylinder The oil circuit acts as a damper. Through the nonlinear characteristics of the five-bar gear to simulate the nonlinear force generation process of the biological ankle joint, the energy storage tension spring and the hydraulic pipeline play the role of energy storage, vibration reduction and buffering, and simulate the vibration reduction and buffering process of the ankle joint when it lands. The gear five-bar jumping ankle joint has the characteristics of compact structure and high driving power.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a geared five-bar jumping ankle joint based on hydraulic drive. technical background [0002] With the development of science and technology, the research of mobile robots with the ability to overcome their own obstacles has been paid more and more attention. At present, the movement modes of this type of robot are mainly wheeled, tracked and bionic multi-legged, and they have been developed in their respective fields. However, for some higher obstacles, it is only possible to climb over them by jumping. At present, domestic robot technology is driven by motors, air cylinders or hydraulic cylinders, but in the joints of the legs of the robot, especially in the structural design of humanoid robots, ordinary hinge connections are used. This design makes it difficult for the joints to provide an ideal jump posture when the robot exerts force, thus limiting the robot's abilit...

AI Technical Summary

Problems solved by technology

This design makes it difficult for the joints to provide an ideal jump posture when the robot exerts force, thus limiting the robot's ability to jump high and long

In the patent CN201520489083.5, the ankle joint of the robot is directly driven by the steering gear shaft, so there is insufficient power and the acceleration effect is not obvious

In order to avoid the shortcomings of the existing ankle joint structure, some jumping robots use other methods to replace the soles and ankle joints to achieve force and energy storage; Although a good jumping ability has been achieved, this kind of robot cannot achieve stability in a static state, and needs to keep jumping to balance

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