CN101862542B - Robot simulated jump aid - Google Patents
Robot simulated jump aid Download PDFInfo
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- CN101862542B CN101862542B CN2010101854400A CN201010185440A CN101862542B CN 101862542 B CN101862542 B CN 101862542B CN 2010101854400 A CN2010101854400 A CN 2010101854400A CN 201010185440 A CN201010185440 A CN 201010185440A CN 101862542 B CN101862542 B CN 101862542B
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Abstract
The invention relates to a robot simulated jump aid. Both ends of a rocker rod are respectively hinged with a connecting rod and a support seat, a leg connecting rod is respectively hinged with the support seat and the connecting rod for forming a parallelogrammic connecting rod mechanism, the ratio of the long edge to the short edge of the connecting rod mechanism is 4/3, one side of the support seat is provided with a sole connecting rod parallel to the support seat, an electromagnet control mechanism is fixed at a hinging part of the rocker rod and the support seat, a toe plate is hinged with one end of the sole connecting rod through a toe joint rotating shaft, a torsional spring is sheathed and arranged on the toe joint rotating shaft, a connecting body is fixed at the shaft end of a telescopic shaft of an electromagnet, and one surface of the connecting body is matched with the outer arc surface of a baffle block. In the jumping process of the invention, the support seat, the sole connecting rod and the toe plate sequentially leave the ground, the acting time of the foot and the ground is prolonged, the ground leaving speed of the mass center is accelerated, and the jump acid function is realized. The landing process is opposite to the jumping process. The jumping performance of a jumping robot fixedly connected with the device can be improved through simulating the functions of the hamstring tendon and the feet in the animal jumping process.
Description
Technical field
The present invention relates to the robot field, specifically is a kind of robot simulated jump aid.
Background technology
Owing to can cross several times even number decuples the obstacle of self size, be particularly suitable for topographic(al) reconnaissance with the robot of jumping mode motion, rescue, anti-terrorisms etc. have the complex environment of obstacle, have become the current robot hot research fields.
Hopping robot the earliest as principle model, has realized simple spring function with inverted pendulum, like continuous hopping robot in the single-freedom planar of Massachusetts science and engineering.People took a hint from bionics afterwards; According to animal movement mechanism and constructional feature; Developed hopping robot, like the imitative frog shape of American National aviation NASA and California Inst. of Technology's joint research and development hopping robot intermittently, realized that barycenter in the take-off process receives the bionic function of ground nonlinear interaction power with bionic function; Improved the jump performance of robot, the foot of this robot is a rigid disc; Tokyo Univ Japan has designed a kind of bionical biped hopping robot through the jump mechanism of the biological shank of research, and this robot adopts artificial pneumatic muscles as driving, and foot is a rigid bar, and control is comparatively complicated.A kind of imitative locust jumping robot has been invented by domestic Harbin Engineering University, gain the national patent (CN 101058036A), and the foot of this robot is the less calvus of area.
The hopping robot of above-mentioned design or invention has realized bionical jump performance basically.But, do not bring into play the bionic function of foot because foot has been carried out simplification and rigid treatment.Foot is in the animal take-off process; Sole rotates around toe; Sole mainly plays the effect of body support, and the effect of toe is to prolong ground to apply the time of application force in the face of foot, and then prolongs accelerator; Make barycenter obtain maximum speed, realize bigger long-jump distance in foot's liftoff instant.From bionical angle, utilize sole and the toe function in take-off process, can further bring into play hopping robot's obstacle detouring advantage.
Summary of the invention
For overcome exist in the prior art foot has been carried out simplification and rigid treatment, do not bring into play the deficiency of the bionic function of foot, the present invention proposes a kind of robot simulated jump aid.
The present invention includes shank pipe link, rocking bar, connecting rod, bearing, toe plate and magnet control mechanism; It is characterized in that; Shank pipe link, rocking bar, connecting rod and bearing are formed the connecting rod mechanism of parallelogram, and the ratio of long limit of this connecting rod mechanism and minor face is 4: 3.In described connecting rod mechanism, an end of rocking bar is through rocking bar rotating shaft and connecting rod hinge joint, and the other end is through ankle-joint rotating shaft and bearing hinge joint; One end of shank pipe link is through bearing rotating shaft and bearing hinge joint, and the middle part of shank pipe link is through connecting rod rotating shaft and connecting rod hinge joint.In bearing one side parallel with it sole connecting rod is arranged, and an end of sole connecting rod also links with the ankle-joint rotating shaft.Below the hinge hole of bearing installation ankle-joint rotating shaft, be useful on the gear shaft spacing to the sole connecting rod.Magnet control mechanism is made up of electromagnet, block, electromagnet bearing and connector, is positioned at rocking bar and bearing hinge joint place, and is fixed on the side of rocking bar through the electromagnet bearing.Toe plate is through the end hinge joint of toe joint rotating shaft and sole connecting rod.In the toe joint rotating shaft, be set with torsion spring.Described connector is fixed on the axle head of the telescopic shaft of electromagnet; A surface of connector cooperates with the extrados of block.
End, described shank pipe link two ends has the hinge hole of bearing rotating shaft and the mounting hole that is connected with the hopping robot respectively.
All there is connecting bore at described rocking bar two ends.At an end of the side vertical the wedge shape fixture block of protrusion is arranged, and the angle of wedge shape fixture block cooperates with the cross section of block with height with the two ends connecting bore.The mounting hole that the electromagnet bearing is arranged below the wedge shape fixture block, and the line of centers of this mounting hole is parallel with the connecting bore on the rocking bar end flat.
Abutment surface has two boss, and on two boss, the hinge hole of ankle-joint rotating shaft and bearing rotating shaft is arranged respectively; Two distances that link between the hole should satisfy the proportion requirement of long limit of parallelogram linkage and minor face.The Kong Xinjun in two hinge joint holes is surperficial parallel with bearing.The mounting hole of described toe rotating shaft, torsion spring set pin and ankle-joint rotating shaft is respectively on the boss of sole rod surface.
Described sole connecting rod one end has the mounting hole of toe rotating shaft and torsion spring set pin; The mounting hole that the ankle-joint rotating shaft is arranged at the sole connecting rod other end; The axis of the mounting hole of toe rotating shaft, torsion spring set pin and ankle-joint rotating shaft is parallel to each other.On the sole connecting rod of ankle-joint rotating shaft mounting hole inboard, sector notch is arranged, the line of centers of two arc surfaces of sector notch 18 and the dead in line of ankle-joint rotating shaft 20; The contiguous block that protrusion is arranged at the sole connecting rod side surface of sector notch same position.The mounting hole of described toe rotating shaft, torsion spring set pin and ankle-joint rotating shaft is respectively on the boss of sole rod surface.
The middle part surface of described toe plate has the torsion spring fixed bearing of a pair of protrusion, on this torsion spring fixed bearing, the torsion spring jack is arranged.There is symmetrical projection at dual-side place at toe plate one end, and the mounting hole of toe joint rotating shaft is arranged on this projection.
Electromagnet bearing one end termination in the described magnet control mechanism is useful on the annulus that electromagnet is installed; The middle part of electromagnet bearing is useful on the mounting hole of captiveing joint with rocking bar; The line of centers of this mounting hole is parallel with the center of circle of thin wall circular.
Described block is an arc, and the radius of cambered surface is greater than the external diameter in sole connecting rod one end rotating shaft hinge joint hole; The block extrados cooperates with the cambered surface of the connector that is positioned at the electromagnet axle head; The angle of block two ends end face and shape are respectively with the angle and the shape of wedge shape fixture block and contiguous block.The centres of the center of circle of block intrados and ankle-joint rotating shaft.
Working process of the present invention is:
Before the take-off, electromagnet action, the telescopic shaft withdrawal, and drive the top of block along its axis from sector notch and move in the zone that wedge shape fixture block driving surface and contiguous block driving surface surround.At this moment, the driving surface of wedge shape fixture block overlaps with the block driving surface, and block does not contact with contiguous block.Then, the hopping robot begins take-off, and drive the bearing rotating shaft of shank pipe link on bearing and rotate, at this moment, and bearing, the sole connecting rod all contacts with ground with toe plate, the shank pipe link, connecting rod, rocking bar and bearing are formed four-bar linkage.When the shank pipe link rotated around bearing, the electromagnet and the block that are connected on the rocking bar rotated the ankle-joint rotating shaft on bearing.When the contiguous block driving surface on block driving surface and the sole connecting rod overlapped, rocking bar and sole connecting rod became same member.Toe plate becomes the connection in series-parallel connecting rod mechanism with above-mentioned four-bar linkage and sole linkage rod group.Along with shank pipe link moving around the rotation of bearing and hopping robot's barycenter; Bearing breaks away from ground gradually; Rod member with the ground contact becomes sole connecting rod and toe plate, and the further reach of random device people barycenter, and the sole connecting rod constantly moves to toe plate with ground-surface contact point.In the take-off final stage, the described jump aid of this name will be support with the toe plate, rotate around the toe joint rotating shaft, disengage until toe plate and ground.In the take-off process, because the relative motion between toe plate and the sole connecting rod has stored certain energy in the torsion spring, these energy will discharge in the liftoff process of toe plate.
This jump aid was with airborne after toe plate was liftoff; Because the action of gravity of sole connecting rod and toe plate; Contiguous block on the sole connecting rod will disengage with block, and rocking bar and sole connecting rod disengage, and make the electromagnet outage; Telescopic shaft is overhanging, and the block driving surface disengages with the wedge shape fixture block driving surface on the rocking bar.Because the effect of gear shaft on the bearing; Sole connecting rod and toe plate edge length direction separately is not perpendicular to ground under the airborne; Like this, jump aid will forward the take-off initial position when contacting with ground to around the ankle-joint rotating shaft as the sole connecting rod of individual member and toe plate when landing; Shank pipe link, connecting rod, rocking bar and bearing then can steadily land by predetermined attitude, and get back to the initial condition before the next take-off.
Realize the structural change of jump aid through magnet control mechanism among the present invention: rocking bar and sole connecting rod are after the electromagnet energising; Block in the magnet control mechanism is when contiguous block on the sole connecting rod contacts, and rocking bar and sole connecting rod are connected to one; Jump aid is under airborne after the take-off, and electromagnet cuts off the power supply, and rocking bar separates with the sole connecting rod, becomes discontiguous two individual members, has realized the structural change of jump aid.This change structure has certain bionic function: under the electromagnet "on" position, and after the block driving surface is with the contiguous block contact, the shank pipe link, connecting rod, rocking bar, bearing, sole connecting rod and toe plate are formed the connection in series-parallel connecting rod mechanism.Tendon between similar animal shank of connecting rod and the pin, with the power of leg link and Motion Transmission on rocking bar and sole connecting rod; The heel of the similar animal of bearing; The similar bottom of certain animals' feet of sole connecting rod; And the toe of the similar animal of toe plate; Sky is enclosed within the similar ligament of torsion spring in the toe joint rotating shaft, and the energy that the torsion spring distortion produces discharges when toe plate is liftoff, further plays the effect of jump help.After the electromagnet outage, the block disengaging contacts with wedge shape fixture block and contiguous block, and sole connecting rod and rocking bar become two individual members that are not coupled mutually.When landing, toe plate is at first contacted to earth, and torsion spring can play the effect of bumper and absorbing shock.Then, the sole connecting rod contacts to earth and freely turns to ground around the ankle-joint rotating shaft and contacts fully, and in rotation process, the sector notch on the sole connecting rod can guarantee that the sole connecting rod do not interfere with rocking bar.Shank pipe link, connecting rod, rocking bar and bearing then can steadily land through the adjustment of hopping robot's attitude, and turn back to the initial condition before the next take-off.In the take-off process, bearing, sole connecting rod and toe plate are liftoff in succession, have prolonged the liftoff forward foot in a step and ground-surface in-service time, and then improve the flying speed of barycenter, play the function of jump help.The process that lands is then opposite.This and animal heel, sole is liftoff in take-off with toe and course of action that contact to earth is identical.Simulated jump aid involved in the present invention can improve the hopping robot's who is connected with this device jump performance through the function of tendon and pin in the imitation animal take-off process.
Description of drawings
Fig. 1 is the front view during initial condition before the jump aid take-off of the present invention;
Fig. 2 is the 3-D view during initial condition before the jump aid take-off of the present invention;
Fig. 3 (a) is the scheme drawing when electromagnet cuts off the power supply before the jump aid take-off of the present invention, the scheme drawing when (b) being the energising of jump aid electromagnet;
Fig. 4 is the scheme drawing of shank pipe link among Fig. 2;
Fig. 5 is a rocking bar scheme drawing among Fig. 2;
Fig. 6 is a connecting rod scheme drawing among Fig. 2;
Fig. 7 is the scheme drawing of electromagnet bearing among Fig. 2;
Fig. 8 is the scheme drawing of block among Fig. 2;
Fig. 9 is the scheme drawing of sole connecting rod among Fig. 2;
Figure 10 is the scheme drawing of toe plate among Fig. 2;
Figure 11 is the scheme drawing of bearing among Fig. 2;
Figure 12 is a flight phase after the jump aid take-off of the present invention, near the local enlarged diagram the ankle-joint;
Figure 13 (a) is the scheme drawing of jump aid Take-off Stage toe plate of the present invention when contacting with ground, (b) is the scheme drawing of flight phase after the jump aid take-off, (c) is the jump aid scheme drawing the when stage, toe plate was contacted to earth that lands.
Among the figure:
1. shank pipe link 2. rocking bars 3. connecting rods 4. wedge shape fixture blocks 5. connectors 6. electromagnet bearings
7. electromagnet 8. blocks 9. gear shafts 10. contiguous blocks 11. sole connecting rods 12. torsion spring set pins
13. torsion spring fixed bearing 14. toe plate 15. torsion springs 16. toe joint rotating shafts 17. bearing rotating shafts
18. sector notch 19. bearings 20. ankle-joint rotating shafts 21. connecting rod rotating shafts 22. rocking bar rotating shafts
23. electromagnet telescopic shaft
The specific embodiment
Present embodiment is a kind of simulated jump aid, mainly is made up of a change structural plan connecting rod mechanism, to prolong foot and ground-surface contact time in the take-off process, obtains bigger flying speed, improves the bionical effect of jump performance.
Like Fig. 1～shown in Figure 2, present embodiment comprises the parallelogram linkage of being made up of shank pipe link 1, rocking bar 2, connecting rod 3 and bearing 19, and the ratio of long limit of this parallelogram linkage and minor face is 4: 3; In described connecting rod mechanism, an end of rocking bar 2 is through rocking bar rotating shaft 22 and connecting rod 3 hinge joints, and the other end is through ankle-joint rotating shaft 20 and bearing 19 hinge joints; One end of shank pipe link 1 is through bearing rotating shaft 17 and bearing 19 hinge joints, and the middle part of shank pipe link 1 is through connecting rod rotating shaft 21 and connecting rod 3 hinge joints.In bearing 19 1 sides parallel with it sole connecting rod 11 is arranged, and an end of sole connecting rod 11 also links with ankle-joint rotating shaft 20.Magnet control mechanism is made up of electromagnet 7, fan-shaped block 8, electromagnet bearing 6 and connector 5, is positioned at rocking bar 2 and bearing 19 hinge joints place, and is fixed on rocking bar 2 sides through electromagnet bearing 6; Block 8 fan-shaped concentric with the ankle-joint rotating shaft.Toe plate 14 is through the end hinge joint of toe joint rotating shaft 16 with sole connecting rod 11; In toe joint rotating shaft 16, be set with torsion spring 15.
Like Fig. 2 and shown in Figure 4, shank pipe link 1 is the bar shaped plate.In end, shank pipe link 1 two ends an aperture is arranged respectively, one of them is the hinge hole of erection support rotating shaft 17, and shank pipe link 1 is hinged through bearing rotating shaft 17 and bearing 19; Another is the mounting hole that this simulated jump aid and hopping robot are connected.The middle part of shank pipe link 1 near a side of bearing rotating shaft 17 hinge holes, is processed with the hinge hole of installing connecting rods rotating shaft 21, and shank pipe link 1 is hinged through connecting rod rotating shaft 21 and connecting rod 3.Also be arranged with a plurality of through holes on the shank pipe link 1, be used for the mounting hole that this shank pipe link and hopping robot are connected, alleviated the weight of shank pipe link simultaneously.
As shown in Figure 5, rocking bar 2 is a rod member, and connecting bore is all arranged on the end flat.At an end of the side vertical with the two ends connecting bore wedge shape fixture block 4 of protrusion is arranged, and the angle of wedge shape fixture block 4 cooperates with the cross section of block 8 with height, wedge shape fixture block 4 is the driving surface of wedge shape fixture block near the rectangle plane of block 8.The fixed installation hole is arranged below wedge shape fixture block 4, and the line of centers in this fixed installation hole is parallel with the connecting bore on the rocking bar end flat, electromagnet bearing 6 is connected through this mounting hole and rocking bar 2.
Shown in figure 11, bearing 19 also is a plate.Two boss are arranged on the surface of bearing 19, and the hinge hole of ankle-joint rotating shaft 20 and bearing rotating shaft 17 is arranged respectively on two boss; Two distances that link between the hole should satisfy the proportion requirement of long limit of parallelogram linkage and minor face; The Kong Xinjun in two hinge joint holes is surperficial parallel with bearing 19.Below the hinge hole of bearing 19 installation ankle-joint rotating shafts 20, gear shaft 9 is arranged, spacing through 9 pairs of sole connecting rods 11 of gear shaft after jump aid is liftoff.
As shown in Figure 9, sole connecting rod 11 is the bar shaped rod member.At sole connecting rod 11 1 end surfaces boss is arranged, the mounting hole of toe rotating shaft and torsion spring set pin is arranged in this boss side surfaces; On sole connecting rod 11 other end surfaces boss is also arranged, this boss side surfaces has the mounting hole of ankle-joint rotating shaft 20; The axis of the mounting hole of toe rotating shaft, torsion spring set pin and ankle-joint rotating shaft 20 is parallel to each other.On the sole connecting rod 11 of ankle-joint rotating shaft 20 mounting holes inboard, sector notch 18 is arranged, the line of centers of two arc surfaces of sector notch 18 and the dead in line of ankle-joint rotating shaft 20; The contiguous block 10 that protrusion is arranged at sole connecting rod 11 side surfaces of sector notch 18 same positions.Contiguous block 10 is the driving surface of contiguous block 10 near the surface of electromagnet 7, and this driving surface and block 8 are fitted in the take-off process.
Shown in figure 10, toe plate 14 is " U " shape plate.At the middle part surface of toe plate 14 the torsion spring fixed bearing of a pair of protrusion is arranged, on this torsion spring fixed bearing, the torsion spring jack is arranged.There is symmetrical projection at dual-side place at toe plate 14 1 ends, and the mounting hole of toe joint rotating shaft 16 is arranged on this projection.The lower surface of the other end end of toe plate 14 is circular-arc, to improve the ability of toe plate adaptation to the ground in the take-off process.
As shown in Figure 7, the electromagnet bearing 6 in the magnet control mechanism is the bar shaped bar, and a thin wall circular is arranged on an end termination of bar shaped bar, and this thin wall circular is used to install electromagnet 7.Bar shaped bar middle part at electromagnet bearing 6 is useful on the mounting hole of captiveing joint with rocking bar 2; The line of centers of this mounting hole is parallel with the center of circle of thin wall circular.
As shown in Figure 8, block 8 is an arc strip, and the radius of its intrados is greater than the external diameter in sole connecting rod 11 1 end rotating shafts 20 hinge joint holes; Block 8 extrados cooperate with the cambered surface of the connector that is positioned at electromagnet 7 axle heads.The angle of block 8 one end end faces and shape are with the angle and the shape of wedge shape fixture block 4, and the angle of other end end face and shape are with the angle and the shape of the contiguous block 10 of sole connecting rod 11 1 ends.The center of circle of block 8 intrados and the centres of ankle-joint rotating shaft 20.
Like Figure 12～shown in Figure 13, electromagnet bearing 6 is captiveed joint with rocking bar 2 through the mounting hole at its bar shaped bar middle part.Electromagnet 7 is positioned at rocking bar 2 one sides, by suit and be fixed in the annulus of electromagnet bearing 6, and makes the connector 5 of electromagnet 7 telescopic shaft axle heads be positioned at the top of block 8 extrados; Block 8 extrados are captiveed joint with the cambered surface of connector 5.After electromagnet 7 energisings, jump aid begins take-off.Electromagnet telescopic shaft 23 withdrawals in take-off process; The end face of block 8 and the driving surface of wedge shape fixture block 4 are fitted; The driving surface of the contiguous block 10 on another end face and the sole connecting rod 11 is fitted, and rocking bar 2 and sole connecting rod 11 is connected through magnetic force, and through sole connecting rod 11 power that rocking bar 2 moves is reached toe plate 14; Prolong the contact time of jump aid, thereby obtained bigger flying speed.Electromagnet outage after the take-off, the telescopic shaft 23 of electromagnet 7 is overhanging, block 8 and wedge shape fixture block 4 are broken away from, and block 8 moves to sector notch 18 tops on the sole connecting rod 11; At this moment, the disconnection that is connected of rocking bar 2 and sole connecting rod 11, the impulsive force that is produced when jump aid is landed is minimum to the influence of device.
The working process of this jump aid is: jump aid is fixed together with the hopping robot who carries out skip motion through shank pipe link 1.Robot is before take-off; Electromagnet 7 energisings; 23 withdrawals (shown in Fig. 3 (b)) of electromagnet telescopic shaft; The flexible stroke of telescopic shaft equals the thickness of rocking bar 2, and 18 top moves between wedge shape fixture block 4 driving surfaces and contiguous block 10 driving surfaces along the telescopic shaft axis from sector notch will to drive block 8 in the time of electromagnet telescopic shaft 23 withdrawal.When electromagnet telescopic shaft 23 was withdrawn into final position, the driving surface of wedge shape fixture block 4 overlapped with the driving surface of block 8, and another driving surface of block 8 does not contact with the driving surface of contiguous block 10.Then, the hopping robot begins take-off, and driving shank pipe link 1 is that center of turn rotates around bearing 19 with bearing rotating shaft 17; At this moment, bearing 19, sole connecting rod 11 all contacts with ground with toe plate 14; Shank pipe link 1, connecting rod 3, rocking bar 2 is formed four-bar linkage with bearing 19.Shank pipe link 1 is fixed on together 20 rotations of the ankle-joint rotating shaft on bearing 19 of magnet control mechanism on the rocking bar 2 around bearing 19 simultaneously in relative rotation.When block 8 when contiguous block 10 on the sole connecting rod 11 contacts, rocking bar 2 is connected to one with sole connecting rod 11.Shank pipe link 1, connecting rod 3, bearing 19, toe plate 14; Rocking bar 2 is formed serial parallel mechanism with sole connecting rod 11, wherein, and shank pipe link 1, connecting rod 3; Bearing 19, rocking bar 2 is formed the plane-parallel type four-bar mechanism with sole connecting rod 11, and toe plate 14 is formed serial mechanism with this four-bar mechanism again.Along with shank pipe link 1 around the rotation of bearing 19 and the reach of hopping robot's barycenter; Bearing 19 breaks away from ground gradually; Rod member with the ground contact becomes sole connecting rod 11 and toe plate 14; And the further reach of random device people barycenter, sole connecting rod 11 constantly moves to toe plate 14 with ground-surface contact point.Final stage in take-off; Has only toe plate 14 and ground keep in touch (shown in Figure 13 (a)); Hopping robot and the described jump aid of this name thereof will be support with toe plate 14, rotate around toe joint rotating shaft 16, disengage until toe plate 14 and ground.In the take-off process, because sole connecting rod 11 disengages with ground with toe plate 14 in succession, there are rotations in sole connecting rod 11 relative toe plate 14, have stored certain energy in the torsion spring, and these energy will discharge in the liftoff process of toe plate.
This jump aid was with airborne (shown in Figure 13 (b)) after toe plate 14 was liftoff, because the action of gravity of sole connecting rod 11 and toe plate 14, the contiguous block 10 on the sole connecting rod 11 will disengage with block 8, and rocking bar 2 separates with sole connecting rod 11.At this moment, electromagnet 7 outages, electromagnet telescopic shaft 23 stretches out in the housing of electromagnet 7, the stroke that its stroke that stretches out equals to withdraw under the "on" position.The driving surface of block 8 disengages with the driving surface of the wedge shape fixture block 4 on the rocking bar, the position when block 8 turns back to electromagnet 7 outage, and promptly block 8 is positioned at outside the zone that wedge shape fixture block 4 and contiguous block 10 surround, on the sector notch.Because the effect (shown in figure 12) of gear shaft 9 on the bearing 19; Sole connecting rod 11 and toe plate 14 edge length directions separately are not perpendicular to ground under the airborne; Like this; Jump aid is (shown in Figure 13 (c)) when landing, will be around the position before ankle-joint rotating shaft 20 forwards the take-off when contacting with ground to as the sole connecting rod 11 of individual member; The hopping robot can change the pose of shank pipe link 1 through the pose of adjustment shank, and then realizes that whole jump aid steadily lands by predetermined attitude, and gets back to the initial condition before the next take-off.
In the jump aid involved in the present invention, rocking bar 2 is connected to one with sole connecting rod 11 in a period of time after electromagnet 7 energisings, under the airborne after the take-off, separates, and has embodied the change on should the jump apparatus structure.This change structure has certain bionic function: under electromagnet 7 "on" positions, and after block 8 is with contiguous block 10 contacts, shank pipe link 1, connecting rod 3, rocking bar 2 bearings 19, sole connecting rod 11 is formed serial parallel mechanism with toe plate 14.The tendon of connecting rod 3 similar animals, with the power of shank pipe link 1 and Motion Transmission on rocking bar 2 and sole connecting rod 11; Bearing 19, the flexible pin of sole connecting rod 11 and toe plate 14 similar animals, wherein, the heel of bearing 19 similar animals, sole connecting rod 11 similar bottoms of certain animals' feet, and the toe of toe plate 14 similar animals; Sky is enclosed within the torsion spring 15 similar ligaments in the toe joint rotating shaft 16, and the energy that torsion spring 15 distortion produce discharges when toe is liftoff, further plays the effect of jump help.After toe plate 14 is liftoff, electromagnet 7 outages, sole connecting rod 11 becomes two individual members with rocking bar 2.When landing, toe plate 14 is at first contacted to earth, and torsion spring 15 can play the buffering rigid shock, the effect that reduces to shake.Then, sole connecting rod 11 contacts to earth and freely turns to ground around ankle-joint rotating shaft 20 and contacts fully, and in rotation process, the sector notch 18 on the sole connecting rod 11 can guarantee that sole connecting rod 11 do not interfere with rocking bar 2.Shank pipe link 1, connecting rod 3, rocking bar 2 can steadily land through the adjustment of hopping robot's attitude with 19 of bearings, and turns back to the initial condition before the next take-off.In the process of liftoff take-off, bearing 19, sole connecting rod 11 is liftoff in succession with toe plate 14, has prolonged the liftoff forward foot in a step and ground-surface in-service time, and then improves the flying speed of barycenter.The process that lands is then opposite.This and animal heel, sole and toe are liftoff in take-off and course of action that land is identical.
According to bionics principle, simulated jump aid involved in the present invention is through the function of tendon and pin in the imitation animal take-off process, and control is simple, can improve the hopping robot's who is connected with this device jump performance.
Claims (9)
1. a robot simulated jump aid comprises shank pipe link (1), rocking bar (2), connecting rod (3), bearing (19), sole connecting rod (11), toe plate (14) and magnet control mechanism, it is characterized in that:
A. shank pipe link (1), rocking bar (2), connecting rod (3) and bearing (19) are formed the connecting rod mechanism of parallelogram, and pipe link (1) and rocking bar (2) are opposite side, and connecting rod (3) and bearing (19) are opposite side; The ratio of long limit of this connecting rod mechanism and minor face is 4: 3; In described connecting rod mechanism, an end of rocking bar (2) is through rocking bar rotating shaft (22) and connecting rod (3) hinge joint, and the other end is through ankle-joint rotating shaft (20) and bearing (19) hinge joint; One end of shank pipe link (1) is through bearing rotating shaft (17) and bearing (19) hinge joint, and the middle part of shank pipe link (1) is through connecting rod rotating shaft (21) and connecting rod (3) hinge joint; In bearing (19) one sides parallel with it sole connecting rod (11) is arranged, and an end of sole connecting rod (11) also links with ankle-joint rotating shaft (20); The hinge hole below that ankle-joint rotating shaft (20) is installed at bearing (19) is useful on the gear shaft (9) spacing to sole connecting rod (11);
B. magnet control mechanism is made up of electromagnet (7), block (8), electromagnet bearing (6) and connector (5), is positioned at rocking bar (2) and bearing (19) hinge joint place, and is fixed on the side of rocking bar (2) through electromagnet bearing (6); Toe plate (14) is through the end hinge joint of toe joint rotating shaft (16) with sole connecting rod (11); In toe joint rotating shaft (16), be set with torsion spring (15).
2. a kind of according to claim 1 robot simulated jump aid is characterized in that, described shank pipe link (1) end, two ends has the hinge hole of bearing rotating shaft (17) and the mounting hole that is connected with the hopping robot respectively.
3. a kind of according to claim 1 robot simulated jump aid is characterized in that, all there is connecting bore at described rocking bar (2) two ends; At an end of the side vertical the wedge shape fixture block (4) of protrusion is arranged, and the angle of wedge shape fixture block (4) cooperates with the cross section of block (8) with height with the two ends connecting bore; The mounting hole that electromagnet bearing (6) are arranged in wedge shape fixture block (4) below, and the line of centers of this mounting hole is parallel with the connecting bore line of centers on the rocking bar end flat.
4. a kind of according to claim 1 robot simulated jump aid is characterized in that, there are two boss on described bearing (19) surface, and the hinge hole of ankle-joint rotating shaft (20) and bearing rotating shaft (17) is arranged respectively on two boss; Two distances that link between the hole should satisfy the proportion requirement of long limit of parallelogram linkage and minor face; The Kong Xinjun in two hinge joint holes is surperficial parallel with bearing (19).
5. a kind of according to claim 1 robot simulated jump aid is characterized in that, described sole connecting rod (11) one ends have the mounting hole of toe joint rotating shaft (16) and torsion spring set pin; The mounting hole that ankle-joint rotating shaft (20) are arranged at sole connecting rod (11) other end; The axis of the mounting hole of toe joint rotating shaft (16), torsion spring set pin and ankle-joint rotating shaft (20) is parallel to each other; On the sole connecting rod (11) of ankle-joint rotating shaft (20) mounting hole inboard, sector notch (18) is arranged, the dead in line of the line of centers of two arc surfaces of sector notch (18) and ankle-joint rotating shaft (20); The rectangle contiguous block (10) that protrusion is arranged at sole connecting rod (11) side surface of sector notch (18) same position.
6. a kind of according to claim 1 robot simulated jump aid is characterized in that, the middle part surface of described toe plate (14) has the torsion spring fixed bearing of a pair of protrusion, on this torsion spring fixed bearing, the torsion spring jack is arranged; There is symmetrical projection at dual-side place at toe plate (14) one ends, and the mounting hole of toe joint rotating shaft (16) is arranged on this projection.
7. a kind of according to claim 1 robot simulated jump aid is characterized in that, electromagnet bearing (6) the one end terminations in the described magnet control mechanism are useful on the annulus that electromagnet (7) is installed; The middle part of electromagnet bearing (6) is useful on the mounting hole of captiveing joint with rocking bar (2); The line of centers of this mounting hole is parallel with the center of circle of annulus.
8. like the said a kind of robot simulated jump aid of claim 5, it is characterized in that described block (8) is an arc, the radius of its intrados is greater than the external diameter in sole connecting rod (11) one end ankle-joint rotating shafts (20) hinge joint hole; Block (8) extrados cooperates with the cambered surface of the connector that is positioned at electromagnet (7) axle head; The angle of block (8) two ends end face and shape are respectively with the angle and the shape of wedge shape fixture block (4) and contiguous block (10); The center of circle of block (8) intrados and the centres of ankle-joint rotating shaft (20).
9. like the said a kind of robot simulated jump aid of claim 4, it is characterized in that the mounting hole of described toe joint rotating shaft (16), torsion spring set pin and ankle-joint rotating shaft (20) is respectively on the boss on sole connecting rod (11) surface.
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| CN101862542B true CN101862542B (en) | 2012-07-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102114880B (en) * | 2011-03-04 | 2012-10-17 | 东北大学 | Shape memory alloy spring-driven jumping robot |
| CN102320338A (en) * | 2011-06-30 | 2012-01-18 | 上海大学 | Continuous jumping and steering mechanism |
| CN105235769B (en) * | 2015-11-16 | 2017-06-16 | 山东大学 | Bionical climbing quadruped robot |
| CN108773427B (en) * | 2018-06-15 | 2023-12-22 | 河海大学常州校区 | Jumping robot |
| CN109528440B (en) * | 2018-10-23 | 2021-03-02 | 哈尔滨工业大学 | Lower limb exoskeleton ankle joint based on telecentric mechanism |
| CN110696942B (en) * | 2019-10-09 | 2020-12-08 | 浙江大学 | Under-actuated humanoid mechanical foot |
| CN115123415B (en) * | 2022-08-01 | 2023-05-12 | 哈尔滨工业大学（深圳） | Miniature jumping robot based on isolated locust rear legs |
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| CN2262445Y (en) * | 1996-03-18 | 1997-09-17 | 舒宏琦 | Mechanism for imitating actions of fowls and animals |
| US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
| US7168513B2 (en) * | 2004-02-27 | 2007-01-30 | The Regents Of The University Of California | Dynamic legged robot |
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