CN103569235B - Frog hopping robot is imitated in five joints - Google Patents
Frog hopping robot is imitated in five joints Download PDFInfo
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- CN103569235B CN103569235B CN201310553698.5A CN201310553698A CN103569235B CN 103569235 B CN103569235 B CN 103569235B CN 201310553698 A CN201310553698 A CN 201310553698A CN 103569235 B CN103569235 B CN 103569235B
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Abstract
The present invention is to provide a kind of five joints and imitate frog hopping robot, be made up of trunk mechanism, forelimb mechanism and hind leg mechanism.Trunk mechanism comprises two drive motor, left and right sides health side plate, reinforcing pivot shaft, health hind leg extension spring shaft, electric motor protecting plate, two health adapter plates, two synchronous belt drive mechanisms.Forelimb mechanism comprises the large leg mechanism of forelimb, the little leg mechanism of forelimb and Sole mechanism.The large leg mechanism of forelimb comprises left and right forelimb thigh, shoulder joint nodal axisn and forelimb thigh adapter plate, the little leg mechanism of forelimb comprises left and right forelimb shank, spring fitting plate, retracing spring, shank driving rope, elbow joint axle, shank reinforcing pivot shaft and forelimb shank adapter plate, and Sole mechanism comprises sole, sole retracing spring, sole rotating shaft.Hind leg mechanism comprises the large leg mechanism of hind leg, the little leg mechanism of hind leg and Sole mechanism.Invention increases the bionical degree of robot, enhance the skip capability of robot, improve the flexibility of robotic mechanism and take-off and buffering effect.
Description
Technical field
That the present invention relates to is a kind of hopping robot, especially relates to a kind of five joints and imitates frog hopping robot.
Background technology
Along with the development of Robotics, when in the face of rugged environment and complicated landform, kinematic robot bouncing function strengthens its landform and adapts to and paleocinetic ability, is development in recent years a kind of Robotics faster.Compare wheeled or caterpillar type robot, hopping robot has outstanding obstacle climbing ability, and burst and the emergentness of its motion are very favorable for robot escape from danger.The more important thing is that the mode of motion of jump has low energy consumption feature.In addition, research hopping robot contributes to running to biology, the deep study of skip motion mechanism, has well inspire meaning to the current walking of improvement or the tardive mode such as to creep.
At present, large quantifier elimination has been done to hopping robot both at home and abroad.Abroad, hopping robot is the earliest single leg hopping robot of professor's M.H.Raibert development of Massachusetts Polytechnics in 1987, and this robot is similar to the plane motion of the inverted pendulum of band spring.At home, the Yang Huangpu of Shanghai Communications University proposes a kind of mechanism of single-leg jumping robot, this robot with adopt the structure of the robot of spring different before, it is only made up of rotary joint, and the upset of property performance period is jumped.In recent years Harbin Institute of Technology has also carried out relevant project research, carries out organism structure analysis and skip motion collection apparatus to frog, have developed the imitative robot model machine that jumps that leapfrogs.
Meanwhile, in the patent that Patent Office of the People's Republic of China issues, have some imitative frog hopping robots, but most of bionical degree is not high yet.Imitative frog hopping robot (number of patent application: 201210279364.9) by the reasonable setting to front and back limb, improve the degree of utilization of driver element, optimize leg structure, jump performance is also good, but the bionical degree of its back leg to frog is not high, have ignored the integraty of leg structure, do not meet bionics principle.A kind of frog jump robot (number of patent application: 201010194799.4), motor is as dynamical element, the device such as overriding clutch and cog belt is as transmission device, slide block can at moving on rails under the driving of motor by driving device, and robot both legs then carry out stretching and shrink thus complete jump action under the driving of slide block.Robot leg has well imitated frog back leg, elastic element has also been installed additional in its foot, but only cushions with the spring of step elastic element and hip joint after its take-off, and buffering effect is not so good, and the spring of its hip joint needs the very long distance of stretching to discharge, and have impact on take-off efficiency.In addition, bionic locust jumping robot (number of patent application: 200710072236.6) its leg structure is the same with the back leg mechanism principle of the imitative frog hopping robot of Huang former times light.
Summary of the invention
The object of the present invention is to provide a kind of skeletal structure can simulating frog visually, can obtain larger force of explosion in jump process, frog hopping robot is imitated in five stable joints of landing.
The object of the present invention is achieved like this:
Frog hopping robot is imitated primarily of trunk mechanism, forelimb mechanism and hind leg mechanism composition in five joints of the present invention;
Described trunk mechanism comprises two drive motor, left and right sides health side plate, reinforcing pivot shaft, health hind leg extension spring shaft, electric motor protecting plate, the first health adapter plate, the second health adapter plate, two synchronous belt drive mechanisms, described two synchronous belt drive mechanisms are connected with two drive motor, two drive motor are fixed respectively by electric motor protecting plate and the first health adapter plate and left and right sides health side plate, and the two ends of trunk are connected with leg joint shaft by bearing;
Described forelimb mechanism mainly comprises the large leg mechanism of forelimb, the little leg mechanism of forelimb and Sole mechanism; The large leg mechanism of described forelimb comprises left and right forelimb thigh, shoulder joint nodal axisn and forelimb thigh adapter plate, and shoulder joint nodal axisn and left and right forelimb thigh are fixed; The little leg mechanism of described forelimb comprises left and right forelimb shank, spring fitting plate, retracing spring, shank driving rope, elbow joint axle, shank reinforcing pivot shaft and forelimb shank adapter plate, described retracing spring is arranged on spring fitting plate and forelimb thigh adapter plate, shank drives rope one end to be arranged on the right side or left fore shank, shank drives the rope other end to be arranged on the synchronous pulley of described synchronous belt drive mechanism, and elbow joint axle and left and right forelimb shank are fixed; Described Sole mechanism comprises sole, sole retracing spring, sole rotating shaft, and sole is arranged on the forelimb shank of left and right by sole rotating shaft, and sole retracing spring is arranged on sole and left and right forelimb shank;
Described hind leg mechanism mainly comprises the large leg mechanism of hind leg, the little leg mechanism of hind leg and Sole mechanism; The large leg mechanism of described hind leg comprises left and right hind leg thigh, ankle-joint axle, thigh retracing spring and hind leg thigh adapter plate, described ankle-joint axle and left and right hind leg thigh are fixed, hind leg thigh adapter plate and left and right hind leg thigh are fixed, and retracing spring one end is arranged on hind leg thigh adapter plate, the other end is arranged on hind leg and hangs on spring shaft; The little leg mechanism of described hind leg comprises left and right hind leg shank, shank is bending drives rope, knee axis, shank front end fixed pulley adapter plate and shank retracing spring, described knee axis and left and right hind leg shank are fixed, shank front end fixed pulley adapter plate and left and right hind leg shank are fixed, shank bending driving rope one end is arranged on health extension spring shaft, one end is arranged on left or right hind leg shank, and shank retracing spring one end is arranged on the fixed pulley adapter plate of shank front end, one end is arranged on hind leg thigh adapter plate.
The present invention can also comprise:
1, the little leg mechanism of described hind leg also comprises hind leg shank telescoping mechanism, described hind leg shank telescoping mechanism comprises stationary pipes, telescopic pipe, orienting lug, slide-and-guide plate, hind leg shank adapter plate and coil tension spring, described stationary pipes is separately fixed at a described left side, on right hindlimb shank, described orienting lug, slide-and-guide plate passes through the borehole jack of self in described stationary pipes, and be fixed on described two telescopic pipes, described hind leg shank adapter plate is arranged on a described left side, between right hindlimb shank, described coil tension spring one end is arranged on hind leg shank adapter plate, the other end is arranged on described slide-and-guide plate, described shank telescoping mechanism also comprises leading sheave, pulley support plate and telescopic drive rope, described pulley support plate is fixed on the fixed pulley adapter plate of shank front end, leading sheave is arranged between pulley support plate, telescopic drive rope two ends to be separately fixed on hind leg thigh adapter plate and slide-and-guide plate and by described leading sheave.
2, described Sole mechanism comprises sole, sole retracing spring, sole rotating shaft, locating dowel pin, described sole is arranged on telescopic pipe by sole rotating shaft, described sole retracing spring one end is arranged on described sole, the other end is arranged on described telescopic pipe, and described locating dowel pin is fixed on sole.
Realistic meaning of the present invention and advantage are:
Frog hopping robot is imitated in five joints disclosed by the invention, owing to having carried out rational layout to the driver train of front and back limb and actuating unit, improve the degree of utilization of robot driver element, optimize robot leg structure, improve the bionical degree of robot, enhance the skip capability of robot, improve the flexibility of robotic mechanism and take-off and buffering effect.
Accompanying drawing explanation
Fig. 1 is that frog hopping robot general assembly structural representation is imitated in five joints;
Fig. 2 is that frog hopping robot trunk birds-eye view is imitated in five joints;
Fig. 3 is that frog hopping robot forelimb structural representation is imitated in five joints;
Fig. 4 is that frog hopping robot hind leg structural representation is imitated in five joints.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail:
Composition graphs 1, this robot is primarily of trunk mechanism I, forelimb mechanism II and hind leg mechanism III 3 part composition.The coordinated movement of various economic factors of the main forward hind leg of jump process of robot realizes.Trunk mechanism is connected with forelimb mechanism II, hind leg mechanism III with ankle-joint axle 1 respectively by shoulder joint nodal axisn 9.
Composition graphs 2; trunk mechanism mainly comprises: two drive motor; left and right sides health side plate A16 and B2; reinforce pivot shaft 10, health hind leg for one and hang spring shaft 17, electric motor protecting plate 12; a health fixed plate A 3 and a health adapter plate B11; two synchronous belt drive mechanisms, synchronous belt drive mechanism is connected with drive motor by flat key, it has tightening device bolt bearing.Two drive motor are fixed with left and right sides health side plate A16 and B2 respectively by electric motor protecting plate 12 and health fixed plate A 3, and the two ends of trunk are connected with leg joint shaft by bearing.
Composition graphs 3, forelimb mechanism mainly comprises: the large leg mechanism of forelimb, the little leg mechanism of forelimb and Sole mechanism.The large leg mechanism of described forelimb comprises left and right forelimb thigh A18 and B29, shoulder joint nodal axisn 9 and forelimb thigh adapter plate 20.Shoulder joint nodal axisn 9 is fixed by bolt and left and right forelimb thigh A18 and B29.Described lower leg portion comprises left and right forelimb shank A22 and B27, spring fitting plate 21, retracing spring 30, and shank drives rope 19, elbow joint axle 28, and shank reinforces pivot shaft 23 and forelimb shank adapter plate 26.Described retracing spring 30 is arranged on spring fitting plate 21 and forelimb thigh adapter plate 20, and shank drives rope 19 one end to be arranged on forelimb shank A22, and the other end is arranged on synchronous pulley 8.Elbow joint axle 28 is fixed by bolt and left and right forelimb shank A22 and B27.Described Sole mechanism comprises sole 25, sole retracing spring 24.Sole 25 is arranged on forelimb shank A22 and B27 of left and right by bolt, and sole retracing spring 24 is arranged on sole 25 and left and right forelimb shank A22 and B27.
Composition graphs 4, hind leg mechanism mainly comprises: the large leg mechanism of hind leg, the little leg mechanism of hind leg and Sole mechanism.The large leg mechanism of described hind leg comprises left and right hind leg thigh A31 and B52, ankle-joint axle 1, thigh retracing spring 53 and hind leg thigh adapter plate 50.Described ankle-joint axle 1 is fixed by bolt and left and right hind leg thigh A31 and B52, hind leg thigh adapter plate 50 is fixed by bolt and left and right hind leg thigh A31 and B52, retracing spring 53 one end is arranged on hind leg thigh adapter plate 50, and one end is arranged on hind leg and hangs on spring aluminium axle 17.The little leg mechanism of described hind leg comprises left and right hind leg shank A46 and B38, and shank is bending drives rope 51, knee axis 35, shank front end fixed pulley adapter plate 32 and shank retracing spring 49.Described knee axis 35 is fixed by bolt and left and right hind leg shank A46 and B38, and shank front end fixed pulley adapter plate 32 is fixed by bolt and left and right hind leg shank A46 and B38.Bending rope 51 one end that drives of shank is arranged on health extension spring aluminium axle 17, and one end is arranged on hind leg shank A46 and B38.Shank retracing spring 49 one end is arranged on shank front end fixed pulley adapter plate 32, and one end is arranged on hind leg thigh adapter plate 50.
The little leg mechanism of described hind leg also comprises hind leg shank telescoping mechanism.Described hind leg shank telescoping mechanism comprises stationary pipes 44, telescopic pipe 41, orienting lug 36, slide-and-guide plate 45, hind leg shank adapter plate 40, coil tension spring 39.Described stationary pipes 44 is separately fixed on described left and right side hind leg shank A46 and B38.Described orienting lug 36, slide-and-guide plate 45 pass through the borehole jack of self in described stationary pipes 44, and are fixed on described two telescopic pipes 41.Described hind leg shank adapter plate 40 is arranged between described left and right side hind leg shank A46 and B38.Described coil tension spring 39 one end is arranged on hind leg shank adapter plate 40, and the other end is arranged on described slide-and-guide plate 45.Described shank telescoping mechanism also comprises leading sheave 34, pulley support plate 47 and telescopic drive rope 51.Described pulley support plate 47 is fixed on shank front end fixed pulley adapter plate 32, and track adjusting wheel 34 is arranged between pulley support plate 47.Telescopic drive rope 37 two ends are separately fixed on hind leg thigh adapter plate 50 and slide-and-guide plate 45, and by described leading sheave 34.
Described Sole mechanism comprises sole 42, sole retracing spring 43.Described sole 42 is arranged on telescopic pipe 41 by bolt, and described sole retracing spring 43 one end is arranged on described sole 42, and the other end is arranged on described telescopic pipe 41.
Composition graphs 1, Fig. 2, Fig. 3, Fig. 4, the jump process of five joints being imitated to frog hopping robot once illustrates: the pose adjustment stage, forelimb drive motor 5 drives shoulder joint nodal axisn 9 to rotate counterclockwise by toothed belt transmission, thus driving the forelimb thigh left and right sides fixed plate A 18 that is connected with it and B29 to rotate, the angle simultaneously between thigh and trunk diminishes.Along with the transmission of Timing Belt 6, the shank be fixed on synchronous pulley 8 drives rope 19 to be wound around, and drive shank to rotate, the angle between shank and thigh diminishes, retracing spring 30 tensioning simultaneously.Hind leg drive motor 4 drives ankle-joint axle 1 to rotate clockwise (positive dirction from Fig. 1) by Timing Belt 15 transmission, thus drive the hind leg thigh left and right sides fixed plate A 31 that is connected with it and B52 to rotate, angle simultaneously between thigh and trunk diminishes, thigh retracing spring 53 tensioning gradually.Shank is bending drives rope 51 and left and right sides shank fixed plate A 46 and B38, and thigh left and right sides health fixed plate A 31 and B52 and hind leg are hung spring aluminium axle 17 and constituted four-bar linkage, shank is followed thigh and to be bent and joint shaft 35 of staying with one's parents in order to make them happy rotates counterclockwise in (front from Fig. 1).Along with the rotation of shank, the distance between shank front end fixed pulley adapter plate 32 and slide-and-guide plate 45 reduces gradually, thus telescopic drive rope 37 pulls slide-and-guide plate 45 to move to the direction of leading sheave 34, coil tension spring 39 tensioning gradually.Along with the movement of slide-and-guide plate 45, telescopic pipe 41 is and then mobile.Sole 42 does clockwise movement under the effect of sole retracing spring 43 and telescopic pipe 41, and the angle between sole 42 and shank reduces gradually.Now complete robot take-off accumulation of energy to prepare.By controlling to obtain best take off angle when front and back limb drive motor regulates front and back each joint angles of limb to ensure robot take-off.Jump phase, motor departs from control, and spring capacity discharges, robot soars, aloft forelimb drive motor 5 regulates shoulder joint nodal axisn 9 and elbow joint axle 28, ensures that robot steadily lands, and each joint angles of hind leg drive motor 4 rotation adjustment hind leg again accumulation of energy is prepared for jumping next time.
Claims (3)
1. a frog hopping robot is imitated in five joints, primarily of trunk mechanism, forelimb mechanism and hind leg mechanism composition, it is characterized in that:
Described trunk mechanism comprises two drive motor, left and right sides health side plate, reinforcing pivot shaft, health hind leg extension spring shaft, electric motor protecting plate, the first health adapter plate, the second health adapter plate, two synchronous belt drive mechanisms, described two synchronous belt drive mechanisms are connected with two drive motor, two drive motor are fixed respectively by electric motor protecting plate and the first health adapter plate and left and right sides health side plate, and the two ends of trunk are connected with leg joint shaft by bearing;
Described forelimb mechanism mainly comprises the large leg mechanism of forelimb, the little leg mechanism of forelimb and Sole mechanism; The large leg mechanism of described forelimb comprises left and right forelimb thigh, shoulder joint nodal axisn and forelimb thigh adapter plate, and shoulder joint nodal axisn and left and right forelimb thigh are fixed; The little leg mechanism of described forelimb comprises left and right forelimb shank, spring fitting plate, retracing spring, shank driving rope, elbow joint axle, shank reinforcing pivot shaft and forelimb shank adapter plate, described retracing spring is arranged on spring fitting plate and forelimb thigh adapter plate, shank drives rope one end to be arranged on the right side or left fore shank, shank drives the rope other end to be arranged on the synchronous pulley of described synchronous belt drive mechanism, and elbow joint axle and left and right forelimb shank are fixed; Described Sole mechanism comprises sole, sole retracing spring, sole rotating shaft, and sole is arranged on the forelimb shank of left and right by sole rotating shaft, and sole retracing spring is arranged on sole and left and right forelimb shank;
Described hind leg mechanism mainly comprises the large leg mechanism of hind leg, the little leg mechanism of hind leg and Sole mechanism; The large leg mechanism of described hind leg comprises left and right hind leg thigh, ankle-joint axle, thigh retracing spring and hind leg thigh adapter plate, described ankle-joint axle and left and right hind leg thigh are fixed, hind leg thigh adapter plate and left and right hind leg thigh are fixed, and thigh retracing spring one end is arranged on hind leg thigh adapter plate, the other end is arranged on health hind leg and hangs on spring shaft; The little leg mechanism of described hind leg comprises left and right hind leg shank, shank is bending drives rope, knee axis, shank front end fixed pulley adapter plate and shank retracing spring, described knee axis and left and right hind leg shank are fixed, shank front end fixed pulley adapter plate and left and right hind leg shank are fixed, shank bending driving rope one end is arranged on health hind leg extension spring shaft, one end is arranged on left or right hind leg shank, and shank retracing spring one end is arranged on the fixed pulley adapter plate of shank front end, one end is arranged on hind leg thigh adapter plate.
2. frog hopping robot is imitated in five joints according to claim 1, it is characterized in that: the little leg mechanism of described hind leg also comprises hind leg shank telescoping mechanism, described hind leg shank telescoping mechanism comprises stationary pipes, telescopic pipe, orienting lug, slide-and-guide plate, hind leg shank adapter plate and coil tension spring, described stationary pipes is separately fixed on the hind leg shank of described left and right, described orienting lug, slide-and-guide plate passes through the borehole jack of self in described stationary pipes, and be fixed on described two telescopic pipes, described hind leg shank adapter plate is arranged between the hind leg shank of described left and right, described coil tension spring one end is arranged on hind leg shank adapter plate, the other end is arranged on described slide-and-guide plate, described shank telescoping mechanism also comprises leading sheave, pulley support plate and telescopic drive rope, described pulley support plate is fixed on the fixed pulley adapter plate of shank front end, leading sheave is arranged between pulley support plate, telescopic drive rope two ends to be separately fixed on hind leg thigh adapter plate and slide-and-guide plate and by described leading sheave.
3. frog hopping robot is imitated in five joints according to claim 1 and 2, it is characterized in that: described Sole mechanism comprises sole, sole retracing spring, sole rotating shaft, locating dowel pin, described sole is arranged on telescopic pipe by sole rotating shaft, described sole retracing spring one end is arranged on described sole, the other end is arranged on described telescopic pipe, and described locating dowel pin is fixed on sole.
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| CN201310553698.5A CN103569235B (en) | 2013-11-11 | 2013-11-11 | Frog hopping robot is imitated in five joints |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104709375B (en) * | 2015-03-12 | 2017-03-01 | 哈尔滨工程大学 | A kind of accumulating type imitates frog hopping robot |
| CN105292291B (en) * | 2015-11-24 | 2017-11-03 | 福州环亚众志计算机有限公司 | A kind of bionical frog electric robot |
| CN106379438B (en) * | 2016-09-19 | 2019-01-01 | 江苏德瑞博新能源汽车制造有限公司 | A kind of movement mechanism of single servo motor driving |
| CN106314589B (en) * | 2016-09-19 | 2018-12-14 | 扬州市君睿创智工业设计有限公司 | A kind of motor drive mechanism formula intelligent walking pedipulator |
| CN106379437B (en) * | 2016-09-19 | 2019-01-04 | 绍兴龙飞针织有限公司 | A kind of walking transportation robot |
| CN106314590B (en) * | 2016-09-19 | 2018-11-23 | 扬州市君睿创智工业设计有限公司 | A kind of interactive intelligent robot toy based on built-in range sensor |
| CN106314591B (en) * | 2016-09-19 | 2018-12-25 | 泾县麦蓝网络技术服务有限公司 | A kind of multi-modal intelligent apery movement mechanism |
| CN107472395A (en) * | 2017-09-19 | 2017-12-15 | 泸县玉流机械制造有限责任公司 | Four-footed machinery beast |
| CN107554641B (en) * | 2017-09-22 | 2023-08-04 | 山东大学 | Ostrich-like robot walking mechanism |
| CN110027642A (en) * | 2018-01-11 | 2019-07-19 | 苏州凡喆科技有限公司 | A kind of drive mechanism of bionical frog robot |
| CN112109818B (en) * | 2020-09-14 | 2021-07-16 | 北京理工大学 | Insect bounce simulation robot based on approximate linear mechanism |
| CN115195899B (en) * | 2021-04-09 | 2023-06-30 | 暗物智能科技(广州)有限公司 | Wheel foot switching type robot |
| CN113602373B (en) * | 2021-08-01 | 2022-09-09 | 北京工业大学 | Jumping robot used in complex terrain environment and test platform thereof |
| CN113978672B (en) * | 2021-11-22 | 2022-11-22 | 哈尔滨工业大学 | Frog-imitating linkage swimming robot based on rope driving |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001079787A (en) * | 1999-09-08 | 2001-03-27 | Agency Of Ind Science & Technol | Four-leg type robot and control method for high motion gait |
| JP4666644B2 (en) * | 2006-07-12 | 2011-04-06 | 本田技研工業株式会社 | Control device for walking aids |
| CN201769932U (en) * | 2010-05-28 | 2011-03-23 | 北京工业大学 | Breaststroke hopping robot power system |
| CN102806951B (en) * | 2012-08-07 | 2015-08-12 | 北方工业大学 | Imitative frog hopping robot |
| CN103241301B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driven frog-imitation bouncing leg having perceptivity |
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