CN104943760A - Movement posture adjusting device for hopping robots - Google Patents
Movement posture adjusting device for hopping robots Download PDFInfo
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- CN104943760A CN104943760A CN201510262989.8A CN201510262989A CN104943760A CN 104943760 A CN104943760 A CN 104943760A CN 201510262989 A CN201510262989 A CN 201510262989A CN 104943760 A CN104943760 A CN 104943760A
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Abstract
The invention discloses a movement posture adjusting device for hopping robots. The movement posture adjusting device comprises a thigh, a thigh assistance leg and a shank, the thigh is hinged to a first position of the shank, and the thigh assistance leg is hinged to a second position of the shank. The movement posture adjusting device is characterized by further comprising a lead screw driving mechanism and a rod leg, wherein the lead screw driving mechanism is used for adjusting the included angle between the thigh and the thigh assistance leg or adjusting the first position and the second position on the shank synchronously, and the rod leg is connected to the second position of the shank, swings in the plane perpendicular to the plane where the thigh and the thigh assistance leg are located and is used for resetting. The movement posture adjusting device comprises an expanded self-resetting and continuous course adjusting mechanism and a hopping height and distance adjusting mechanism based on structure parameters. Through cooperation of the mechanisms, the practicality of the micro hopping robots can be remarkably improved.
Description
Technical field
The present invention relates to mechanics, Robotics, hopping robot, particularly a kind of motion adjusting mechanism adapting to the miniature hopping robot of complex environment motion.
Background technology
In outdoor complex environment, the motion of robot is a study hotspot always, miniature hopping robot is compared to the wheeled robot of same size and caterpillar type robot, there is more powerful obstacle climbing ability, can as wireless sensor network node, on higher than the obstacle of self several times, or jump into narrow pit and carry out detection mission, can be used for the fields such as military investigation, hazardous environment probing, post-disaster search and rescue.
The hopping robot that can bounce higher than self several times can't realize settling landing at present, often be in after landing and fall down attitude, before next take-off, need to realize Self-resetting, course regulates, and jumping height and distance adjustment, to overcome the obstacle of differing heights.Single motor that patent CN201210003779.3 proposes a kind of miniature hopping robot drives Self-resetting, direction of take off and take-off angle regulating mechanism; Its Self-resetting mechanism is based on collapsible mode of operation, is only applicable to flat road surface, can lose efficacy under meadow etc. has small obstacle situation; Its direction of take off regulates and adopts discrete type regulative mode, and be only applicable to smooth and comparatively smooth road equally, the stop of small obstacle may cause robot again to be fallen, and direction of take off is discrete adjustment step by step, means that its direction regulates meticulous not; Its take-off angle regulates and adopts centroid adjustment method, can realize this robot jumping height and distance adjustment, but setting range is little, and regulating effect is limited.In complicated non-flat forms road environment, how this type of miniature hopping robot is adopted to drive motor and the mechanism of minimum number, realize stablize Self-resetting and course adjustment, and jumping height and distance adjustment are difficult points.
Summary of the invention
Goal of the invention the object of the invention is to topple in complicated non-flat forms road environment for microminiature hopping robot, course regulates and overcome the difficulty of different obstruct thing, propose a kind of to there is Self-resetting, course regulates, jumping height and apart from the adjustable athletic posture control apparatus for hopping robot, improves the applicability of this kind of microminiature hopping robot.
Technical scheme technical scheme of the present invention is:
A kind of athletic posture control apparatus for hopping robot, comprise thigh, thigh assists leg and shank, described thigh is hinged on the primary importance of described shank, described thigh assists leg to be hinged on the second place of described shank, it is characterized in that: also comprise a screw mandrel drive mechanism, primary importance described in the angle between leg or synchronization regulation and the position of the second place on described shank is assisted for regulating described thigh and thigh, and one is connected in the described shank second place, have along assisting in the plane of leg place plane perpendicular to described thigh and thigh the bar leg for resetting doing and swing.
Described screw mandrel drive mechanism to be arranged on described shank and to regulate described thigh and thigh to assist angle between leg by the distance adjusted between described primary importance and the second place.
The primary importance of described shank is provided with the first attaching parts, the second place of described shank is provided with the second attaching parts, described thigh is hinged on described first attaching parts, described thigh assists leg to be hinged on described second attaching parts, described shank is two parallel screw mandrels, described screw mandrel drive mechanism comprises this screw mandrel, drive motor and pitch wheel pair, in described gear pair, a gear is connected on described drive motor output shaft, in described gear pair, another gear is fixed on described screw mandrel, described drive motor is arranged on one of described first attaching parts and second attaching parts, one of described first attaching parts and the second attaching parts move axially relative to the static nothing of described screw mandrel when described drive motor rotates, in described first attaching parts and the second attaching parts, another moves axially relative to described screw mandrel when described drive motor rotates, described second attaching parts is provided with a rotating shaft, described bar leg is fixed in this rotating shaft.
Described rotating shaft is also provided with a unilateral bearing, is fixed with a roller in the outer ring of this unilateral bearing, the end face of this roller protrudes from the bearing surface of described first attaching parts and the formation of the second attaching parts.
Described screw mandrel drive mechanism is arranged on described thigh and assists on leg and to assist the length of leg to regulate described thigh and thigh to assist angle between leg by adjusting described thigh.
Described screw mandrel drive mechanism is arranged on described thigh and assists on leg and to assist the length of leg to regulate described thigh and thigh to assist angle between leg by adjusting described thigh.
Described thigh assists leg to comprise auxiliary leg and lower auxiliary leg, described screw mandrel drive mechanism comprises screw mandrel, drive motor and pitch wheel pair, described drive motor is fixed on described auxiliary leg, what described screw mandrel upper end was rotated is arranged in described auxiliary leg, in described gear pair, a gear is connected on described drive motor output shaft, in described gear pair, another gear is fixed on described screw mandrel, internal thread hole is provided with in described lower auxiliary leg, described screw mandrel lower end is connected in the internal thread hole of described lower auxiliary leg, described second attaching parts is provided with a rotating shaft, described bar leg is fixed in this rotating shaft.
Described rotating shaft is also provided with a unilateral bearing, is fixed with a roller in the outer ring of this unilateral bearing, the end face of this roller protrudes from the bearing surface of described first attaching parts and the formation of the second attaching parts.
Described shank comprises the two rhizoid bars be connected on this foot being enough to and rotating, described screw body is by this screw mandrel and the first attaching parts being positioned at described primary importance, second attaching parts of the second place, drive motor and pitch wheel pair are formed, described drive motor is fixed on the first attaching parts, in described gear pair, a gear is connected on described drive motor output shaft, in described gear pair, another gear is fixed on described screw mandrel, described foot and described two rhizoid bars form screw thread pair, described first attaching parts and described screw mandrel form revolute pair, described second attaching parts and described screw mandrel form revolute pair, described second attaching parts is provided with a rotating shaft, described bar leg is fixed in this rotating shaft.
Described rotating shaft is also provided with a unilateral bearing, is fixed with a roller in the outer ring of this unilateral bearing, the end face of this roller protrudes from the bearing surface of described first attaching parts and the formation of the second attaching parts.
Athletic posture control apparatus of the present invention, comprises jumping height and the distance adjusting mechanism of structure based parameter, by the cooperation of these mechanisms, can significantly improve the practicality of this kind of miniature hopping robot.
Technical scheme of the present invention is adopted to have following beneficial effect:
(1) the present invention is provided with along assisting in the plane of leg place plane perpendicular to described thigh and thigh the bar leg for resetting doing and swing on the second attaching parts, the expansion equation Self-resetting that can realize hopping robot is regulated by the pendulum angle of single bar leg, simple and practical, the advantage of expansion equation Self-resetting mechanism is that it can complete Self-resetting in rugged non-flat forms road environment, the hook that can not be subject to the obstacles such as thick grass is stumbled and lost efficacy, in addition mechanism is by effective decoupling zero of unilateral bearing, achieving single motor can drive continous way course to regulate and expansion equation Self-resetting simultaneously, therefore mechanism significantly can strengthen the applicability that this hopping robot moves in rugged non-flat forms road environment.
(2) length of two sections that shank is divided into by two attaching partss on active adjustment shank of the present invention, or active adjustment thigh assists the length of leg, jumping height and the distance of this miniature hopping robot can be regulated, compared to the scheme of carrying out regulating on shank, thigh is regulated to assist the advantage of moving back to be only need a drive motor, robot quality can be effectively reduced, improve bounce motion performance.Compared to the centroid adjustment method regulating machine hostage's heart position, advantage based on this structural parameter method of robot body part scantling length adjustment is that the good setting range of flexible adjustment is large, make this hopping robot when the obstacle of differing heights and distance, can regulate its jumping height and distance thus clear the jumps, therefore mechanism of the present invention can strengthen the applicability of such hopping robot.
Accompanying drawing explanation
Fig. 1 is housing construction of the present invention composition schematic diagram;
Fig. 2 is the rack construction schematic diagram of body of the present invention;
Fig. 3 is bouncing mechanism of the present invention composition schematic diagram;
Fig. 4 is expansion equation Self-resetting of the present invention and course adjust structure schematic diagram;
Fig. 5 is expansion equation Self-resetting process schematic of the present invention;
Fig. 6 is course of the present invention adjustment process schematic diagram;
Fig. 7 is that the present invention bounces Distance geometry height regulation scheme one structural scheme of mechanism;
Fig. 8 is robot architecture's schematic diagram that the present invention has spring Distance geometry height regulation scheme one;
Fig. 9 is spring Distance geometry height regulation scheme two structural scheme of mechanism of the embodiment of the present invention;
Figure 10 is robot architecture's schematic diagram that the present invention has spring Distance geometry height regulation scheme two;
Figure 11 is spring Distance geometry height regulation scheme three structural scheme of mechanism of the embodiment of the present invention;
Figure 12 is robot architecture's schematic diagram that the present invention has spring Distance geometry height regulation scheme three;
Figure 13 is spring Distance geometry height regulation scheme four structural scheme of mechanism of the embodiment of the present invention;
Figure 14 is robot architecture's schematic diagram that the present invention has spring Distance geometry height regulation scheme four;
Figure 15 is that the present invention bounces Distance geometry height regulation scheme one regulating effect analogous diagram;
Figure 16 is that the present invention bounces Distance geometry height regulation scheme two regulating effect analogous diagram;
Figure 17 is that the present invention bounces Distance geometry height regulation scheme three regulating effect analogous diagram;
Figure 18 is that the present invention bounces Distance geometry height regulation scheme four regulating effect analogous diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, principle of work of the present invention and working process are described in further detail.
The athletic posture control apparatus of a kind of miniature hopping robot of the present invention, wherein athletic posture regulates to comprise the adjustment of spring Distance geometry height, course adjustment and reset and regulates.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of athletic posture control apparatus of miniature hopping robot, comprises body 1-1, bar leg motor 1-2, bar leg gear one 1-3, bar leg gear two 1-4, unilateral bearing 1-5, roller 1-6, bar leg attaching parts 1-7, bar leg 1-8, obliquity sensor 1-9, and control module 1-10, body 1-1 comprises frame 1-1-1, bouncing mechanism 1-1-2, thigh 1-1-3, thigh assists leg 1-1-4, shank 1-1-5, first attaching parts 1-1-6, second attaching parts 1-1-7 and bolt 1-1-8, bouncing mechanism 1-1-2 is arranged on frame 1-1-1, the upper end of thigh 1-1-3 is connected with position, frame posterior angle revolute pair, thigh assists the upper end of leg 1-1-4 to be connected with frame lower right corner revolute pair, shank 1-1-5 comprises two parallel poles, be fixed by socket respectively on the first attaching parts 1-1-6, its right part is fixed by socket respectively on the second attaching parts 1-1-7, first attaching parts 1-1-6 is also connected with the lower end revolute pair of thigh 1-1-3, second attaching parts 1-1-7 also assists the lower end revolute pair of leg 1-1-4 to be connected with thigh, bolt 1-1-8 at shank 1-1-5 two with in parallel between pole, and one end is socketed on the first attaching parts 1-1-6, the other end is socketed in 1-1-7 on the second attaching parts, and can rotate relative to the first attaching parts 1-1-6 and the second attaching parts 1-1-7.Frame 1-1-1, thigh 1-1-3, thigh assist leg 1-1-4 and shank 1-1-5 to form four-bar mechanism.Body 1-1 exterior contour is irregular, hopping robot is landed and only may to land or right flank lands by left surface, be convenient to Self-resetting and regulate.Bar leg motor 1-2 is arranged on the first middle part, attaching parts 1-1-6 top; Bar leg gear one 1-3 is arranged on bar leg motor 1-2 output shaft; Bar leg gear two 1-4 is arranged on described bolt 1-1-8 affixed with it, and engages with bar leg gear one 1-3; Unilateral bearing 1-5 inner ring is fixed on bolt 1-1-8; Roller 1-6 is fixed on the outer ring of unilateral bearing 1-5, and roller 1-6 outer ring protrudes from the bearing surface of the first attaching parts and the formation of the second attaching parts, thus can touch ground.Bar leg attaching parts 1-7 is fixed on bolt 1-1-8 and stretches out on the position of the second attaching parts 1-1-7.Bar leg 1-8 one end is fixed on bar leg attaching parts 1-7, and when bolt 1-1-8 sways, bar leg 1-8 can in hopping robot front end face 360 degree swing.It is parallel to the ground that obliquity sensor 1-9 is arranged on body 1-1 top; Control module 1-10 realizes sensing data process and various motion control.
With reference to Fig. 1, Fig. 3, Fig. 4 and Figure 14, bouncing mechanism 1-1-2 comprises spring motor 1-1-2-1, gear case 1-1-2-2, cam 1-1-2-3 and torque spring 1-1-2-4, spring motor 1-1-2-1 and gear case 1-1-2-2 is arranged on frame 1-1-1 right flank, cam 1-1-2-3 is arranged between frame 1-1-1 left and right side, cam outline and thigh upper end tangent, described torque spring 1-1-2-4 is arranged on the turning cylinder of frame 1-1-1 and thigh 1-1-3.
With reference to Fig. 5 and Fig. 6, the working process of expansion equation Self-resetting and continous way course regulating mechanism is: after miniature hopping robot is fallen down, detect that it to the left or the right side information of falling down by obliquity sensor 1-9, if hopping robot is to falling down as the state 2-1 in accompanying drawing 5 on the left of it, then control module 1-10 control stalk leg motor 1-2 rotates, bar leg motor 1-2 drives bolt 1-1-8 to rotate by bar leg gear one 1-3 and bar leg gear two 1-4, the bar leg 1-8 being fixed on bolt 1-1-8 end swings to the left at hopping robot front end face, through state 2-2, state 2-3, state 2-4, until the state 2-5 that hopping robot supported standing gets up by bar leg 1-8, the inclination angle of the continuous measuring robots health of obliquity sensor 1-9 in Self-resetting process, until the rotation that hopping robot rotates close to locking lever leg motor 1-2 during midstance, hopping robot finally realizes Self-resetting under gravity, if hopping robot is fallen down to the right, then control stalk leg 1-8 swings the Self-resetting finally realizing hopping robot round about, after hopping robot completes Self-resetting, start course regulate, control module 1-10 control stalk leg motor 1-2 rotates, make unilateral bearing 1-5 that roller 1-6 can be driven to rotate continuously, state 3-1 from accompanying drawing 6, through state 3-2, state 3-3, state 3-4, state 3-5 and state 3-6, until state 3-1, realize planar continuous 360 degree of courses and regulate.
With reference to Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13 and Figure 14, a kind of jumping height of structure based parameter and distance adjusting mechanism, comprise the regulating mechanism of four kinds of schemes, be respectively regulation scheme one mechanism, regulation scheme two mechanism, regulation scheme three mechanism and regulation scheme four mechanism;
With reference to Fig. 7 and Fig. 8, regulation scheme one mechanism comprises shank one 4-1, sufficient 4-2, the 3rd attaching parts 4-3, the 4th attaching parts 4-4, nut one 4-5, bolt 1-1-8, drive motor one 4-6, driven wheel one 4-7 and driven wheel two 4-8.Shank one 4-1 is two screw rods; Foot 4-2 has the tapped bore of two axis being parallel, is connected respectively with one end of two screw rods of shank one 4-1; 3rd attaching parts 4-3 has the hole of two axis being parallel, respectively socket the middle part of two screw rods at shank one 4-1, the 3rd attaching parts 4-3 is connected with the bottom revolute pair of thigh 1-1-3 simultaneously; 4th attaching parts 4-4 there is the hole of two axis being parallel, be socketed on other one end of shank one 4-1 two screw rods respectively, and be fixed on two screw rods by nut one 4-5, ensure that the 3rd attaching parts 4-3 and two screw rod only has revolute pair and without moving sets, the 4th attaching parts 4-4 also assists leg 1-1-4 revolute pair to be connected with thigh; Bolt 1-1-8 passes the middle part of the 3rd attaching parts 4-3 and the 4th attaching parts 4-4, and affixed with it, ensures that between the 3rd attaching parts 4-3 and the 4th attaching parts 4-4, relative position is fixed; Drive motor one 4-6 comprises two, is separately fixed at the two ends of the 3rd attaching parts 4-3; Driven wheel one 4-7 comprises two, is arranged on the output shaft of two drive motor one 4-6 respectively; Driven wheel two 4-8 is fixed on two screw rods of shank one 4-1, and engages respectively with two driven wheel one 4-7; The working process of regulation scheme one mechanism is: two drive motor one 4-6 synchronous axial system drive two screw rods of shank one 4-1 to rotate relative to sufficient 4-2, promote foot along the translation of shank one 4-1 axis, thus regulate the distance of shank one 4-1 between the 3rd attaching parts and foot, and the size of this distance can affect jumping height and the distance of this hopping robot, therefore regulation scheme one mechanism can realize jumping height and the distance adjustment of hopping robot.
With reference to Fig. 9 and Figure 10, regulation scheme two mechanism comprises shank two 5-1, the 5th attaching parts 5-2, the 6th attaching parts 5-3, nut two 5-4, drive motor two 5-5, driven wheel three 5-6 and driven wheel four 5-7, and shank two 5-1 is two screw rods; 5th attaching parts 5-2 is socketed on shank two, and the 5th attaching parts 5-2 is connected with the bottom revolute pair of thigh 1-1-3 simultaneously; 6th attaching parts 5-3 there is the tapped bore of two axis being parallel, be socketed on one end of shank two 5-1 two screw rods respectively, can regulate the distance between the 5th attaching parts 5-2 and the 6th attaching parts 5-3 when screw rod rotates relative to the 6th attaching parts 5-3, the 6th attaching parts 5-3 also assists leg 1-1-4 revolute pair to be connected with thigh; Two screw rods that nut two 5-4 is fixed on shank two 5-1 are positioned at the both sides of the 5th attaching parts 5-2, ensure that the 5th attaching parts 5-2 and two screw rod only has revolute pair and without moving sets; Drive motor 5-5 bis-comprises two, is separately fixed at the two ends of the 5th attaching parts 5-2; Driven wheel three 5-6 comprises two, is arranged on the output shaft of two drive motor two 5-5 respectively; Driven wheel four 5-7 is fixed on two screw rods of shank two 5-1, and engages respectively with two driven wheel three 5-6; The working process of regulation scheme two mechanism is: two drive motor two 5-5 synchronous axial system drive two screw rods of shank two 5-1 to rotate relative to the 6th attaching parts 5-3, promote the 6th attaching parts 5-3 along the translation of shank two 5-1 axis, thus regulate the distance between the 5th attaching parts 5-2 and the 6th attaching parts 5-3, and the size of this distance can affect jumping height and the distance of this hopping robot, therefore regulation scheme two mechanism can realize jumping height and the distance adjustment of hopping robot.
With reference to Figure 11 and Figure 12, regulation scheme three mechanism comprises shank three 6-1, the 7th attaching parts 6-2, the 8th attaching parts 6-3, nut three 6-4, drive motor three 6-5, driven wheel five 6-6 and driven wheel six 6-7, and shank three 6-1 is two screw rods; 7th attaching parts 6-2 has the tapped bore of two axis being parallel, be arranged on two screw rods of shank three 6-1 respectively near middle position, the 7th attaching parts 6-2 is connected with the bottom revolute pair of thigh 1-1-3 simultaneously; 8th attaching parts 6-3 has the hole of two axis being parallel, be socketed on one end of shank three 6-1 two screw rods respectively, the 8th attaching parts 6-3 also assists leg 1-1-4 revolute pair to be connected with thigh; Nut three 6-4 is fixed on both sides shank three 6-1 two screw rods being positioned at the 8th attaching parts, and its effect is that guarantee the 8th attaching parts 6-3 and two screw rod only has revolute pair and without moving sets; Drive motor three 6-5 comprises two, is separately fixed at the two ends of the 8th attaching parts 6-3; Driven wheel five 6-6 comprises two, is arranged on the output shaft of two drive motor three 6-5 respectively; Driven wheel six 6-7 is fixed on two screw rods of shank three 6-1, and engages respectively with two driven wheel five 6-6; The working process of regulation scheme three mechanism is: two drive motor three 6-5 synchronous axial system drive two screw rods of shank three 6-1 to rotate relative to the 7th attaching parts 6-2, promote the 7th attaching parts 6-2 along the translation of shank three 6-1 axis, thus regulate the distance between the 7th attaching parts 6-2 and the 8th attaching parts 6-3 to account for the ratio of shank three 6-1 total length, and the size of this ratio can affect jumping height and the distance of this hopping robot, therefore regulation scheme three mechanism can realize jumping height and the distance adjustment of hopping robot.
With reference to Figure 13 and Figure 14, regulation scheme four mechanism comprises thigh and assists leg one 7-1, the 9th attaching parts 7-2, the tenth attaching parts 7-3, nut four 7-4, drive motor four 7-5, driven wheel seven 7-6 and driven wheel eight 7-7, and thigh assists leg one 7-1 to be a screw rod; 9th attaching parts 7-2 there is a tapped bore, assist the threaded one end of leg one 7-1 to be connected with thigh; Tenth attaching parts 7-3 there is a hole, assist the other end of leg one 7-1 to be socketed with thigh; Nut four 7-4 is fixed on thigh and assists both sides leg one 7-1 being positioned at the tenth attaching parts, and its effect is that guarantee the tenth attaching parts 7-3 and thigh assist leg one 7-1 to only have revolute pair and without moving sets; Drive motor four 7-5 is fixed on the tenth attaching parts 7-3; Driven wheel seven 7-6 is arranged on the output shaft of drive motor four 7-5; Driven wheel eight 7-7 is fixed in thigh and assists on leg one 7-1, and engages with driven wheel seven 7-7; The working process of regulation scheme four mechanism is: drive motor four 7-5 rotating drive thigh assists leg one 7-1 to rotate relative to the 9th attaching parts 7-2, promote the 9th attaching parts 7-2 and assist the translation of leg one 7-1 axis along thigh, thus regulate the distance between the 9th attaching parts 7-2 and the tenth attaching parts 7-3, and this distance can affect jumping height and the distance of this hopping robot, therefore regulation scheme four mechanism can realize jumping height and the distance adjustment of hopping robot.
With reference to Figure 15, Figure 16, Figure 17 and Figure 18, the regulating effect analogous diagram of the regulating mechanism of jumping height and distance adjustment four kinds of schemes, can find out that four kinds of schemes can realize jumping height and the distance adjustment of this hopping robot, and can find out that setting range is under the same case of 1cm, by regulate thigh assist the regulating effect of leg best, the jumping height realized and distance adjustment scope maximum.
Claims (9)
1. the athletic posture control apparatus for hopping robot, comprise thigh, thigh assists leg and shank, described thigh is hinged on the primary importance of described shank, described thigh assists leg to be hinged on the second place of described shank, it is characterized in that: also comprise a screw mandrel drive mechanism, primary importance described in the angle between leg or synchronization regulation and the position of the second place on described shank is assisted for regulating described thigh and thigh, and one is connected in the described shank second place, have along assisting in the plane of leg place plane perpendicular to described thigh and thigh the bar leg for resetting doing and swing.
2. athletic posture control apparatus according to claim 1, is characterized in that: described screw mandrel drive mechanism to be arranged on described shank and to regulate described thigh and thigh to assist angle between leg by the distance adjusted between described primary importance and the second place.
3. athletic posture control apparatus according to claim 2, it is characterized in that: the primary importance of described shank is provided with the first attaching parts, the second place of described shank is provided with the second attaching parts, described thigh is hinged on described first attaching parts, described thigh assists leg to be hinged on described second attaching parts, described shank is two parallel screw mandrels, described screw mandrel drive mechanism comprises this screw mandrel, drive motor and pitch wheel pair, in described gear pair, a gear is connected on described drive motor output shaft, in described gear pair, another gear is fixed on described screw mandrel, described drive motor is arranged on one of described first attaching parts and second attaching parts, one of described first attaching parts and the second attaching parts move axially relative to the static nothing of described screw mandrel when described drive motor rotates, in described first attaching parts and the second attaching parts, another moves axially relative to described screw mandrel when described drive motor rotates, described second attaching parts is provided with a rotating shaft, described bar leg is fixed in this rotating shaft.
4. athletic posture control apparatus according to claim 3, it is characterized in that: in described rotating shaft, be also provided with a unilateral bearing, be fixed with a roller in the outer ring of this unilateral bearing, the end face of this roller protrudes from the bearing surface of described first attaching parts and the formation of the second attaching parts.
5. athletic posture control apparatus according to claim 1, is characterized in that: described screw mandrel drive mechanism is arranged on described thigh and assists on leg and to assist the length of leg to regulate described thigh and thigh to assist angle between leg by adjusting described thigh.
6. athletic posture control apparatus according to claim 5, it is characterized in that: described thigh assists leg to comprise auxiliary leg and lower auxiliary leg, described screw mandrel drive mechanism comprises screw mandrel, drive motor and pitch wheel pair, described drive motor is fixed on described auxiliary leg, what described screw mandrel upper end was rotated is arranged in described auxiliary leg, in described gear pair, a gear is connected on described drive motor output shaft, in described gear pair, another gear is fixed on described screw mandrel, internal thread hole is provided with in described lower auxiliary leg, described screw mandrel lower end is connected in the internal thread hole of described lower auxiliary leg, described second attaching parts is provided with a rotating shaft, described bar leg is fixed in this rotating shaft.
7. athletic posture control apparatus according to claim 6, it is characterized in that: in described rotating shaft, be also provided with a unilateral bearing, be fixed with a roller in the outer ring of this unilateral bearing, the end face of this roller protrudes from the bearing surface of described first attaching parts and the formation of the second attaching parts.
8. athletic posture control apparatus according to claim 1, it is characterized in that: described shank comprises the two rhizoid bars be connected on this foot being enough to and rotating, described screw body is by this screw mandrel and the first attaching parts being positioned at described primary importance, second attaching parts of the second place, drive motor and pitch wheel pair are formed, described drive motor is fixed on the first attaching parts, in described gear pair, a gear is connected on described drive motor output shaft, in described gear pair, another gear is fixed on described screw mandrel, described foot and described two rhizoid bars form screw thread pair, described first attaching parts and described screw mandrel form revolute pair, described second attaching parts and described screw mandrel form revolute pair, described second attaching parts is provided with a rotating shaft, described bar leg is fixed in this rotating shaft.
9. athletic posture control apparatus according to claim 8, it is characterized in that: in described rotating shaft, be also provided with a unilateral bearing, be fixed with a roller in the outer ring of this unilateral bearing, the end face of this roller protrudes from the bearing surface of described first attaching parts and the formation of the second attaching parts.
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| CN201510262989.8A CN104943760A (en) | 2015-05-21 | 2015-05-21 | Movement posture adjusting device for hopping robots |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107089275A (en) * | 2017-03-27 | 2017-08-25 | 西北工业大学 | It is a kind of can posture adjustment in the air and land energy regenerating sufficient roll-type interval hopping robot |
| CN107792358A (en) * | 2017-10-09 | 2018-03-13 | 东南大学 | A kind of wheel leg type runs chaser structure and flapping-wing-type robot |
| CN110281228A (en) * | 2019-06-28 | 2019-09-27 | 北京理工大学 | A kind of anthropomorphic robot crosses the planning control method of vertical obstacle |
| CN111687841A (en) * | 2020-06-15 | 2020-09-22 | 中山大学 | Robot bounce height control method, system, device and storage medium |
| CN113998021A (en) * | 2021-12-10 | 2022-02-01 | 东南大学 | Bionic search and rescue robot and space self-deployment method |
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