CN109109997A - A kind of Three-degree-of-freedom bionic jump pedipulator - Google Patents
A kind of Three-degree-of-freedom bionic jump pedipulator Download PDFInfo
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- CN109109997A CN109109997A CN201811000292.3A CN201811000292A CN109109997A CN 109109997 A CN109109997 A CN 109109997A CN 201811000292 A CN201811000292 A CN 201811000292A CN 109109997 A CN109109997 A CN 109109997A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a kind of Three-degree-of-freedom bionic jump pedipulators, belong to bionic mechanical people field.It includes sole, mechanical shank, mechanical thigh and body, additionally includes compound ankle-joint, compound knee joint and compound hip joint；Each joint includes joint ontology, joint power device and joint energy stocking mechanism, and ankle power device is identical as knee power device, hip powerplant configuration, includes round trip memory material and heating element；Ankle-joint energy stocking mechanism is identical as knee joint energy stocking mechanism, hip joint energy stocking mechanism structure, it include elastic storage element, the hot adhesion coating A being installed on boss A, the hot adhesion coating B being installed on boss B, boss A and boss B is made of piezoelectric material, is equipped with resistance wire for heating inside hot adhesion coating A and hot adhesion coating B.The present invention is that a kind of structure is simple, jump pedipulator by memory material driving joint motions, Three-degree-of-freedom bionic.
Description
Technical field
The invention mainly relates to bionic mechanical people fields, refer in particular to a kind of Three-degree-of-freedom bionic jump pedipulator.
Background technique
With the continuous development of robot technology, the application of robot will require It to have stronger obstacle detouring energy, with suitable
Answer the geomorphological environment of nature complexity.The jump of bionic kangaroo-hopping robot mainly makes retrogress in the prior art spring realizes,
Hydraulic unit driver or spring are relied primarily on to complete, larger so as to cause volume, structure and control are complicated, are self-possessed larger, make
More energy is consumed when obtaining robot jump.
Summary of the invention
Present invention technical problem to be solved is: for technical problem of the existing technology, the present invention provides a kind of knot
Structure is simple, jump pedipulator by memory material driving joint motions, Three-degree-of-freedom bionic.
To solve the above-mentioned problems, solution proposed by the present invention are as follows: a kind of Three-degree-of-freedom bionic jump pedipulator, it
It is additionally compound between the sole and mechanical shank including being installed in including sole, mechanical shank, mechanical thigh and body
Ankle-joint, the compound knee joint being installed between the mechanical shank and the mechanical thigh, and be installed in described mechanical big
Compound hip joint between leg and the body；It is characterized by:
The compound ankle-joint includes ankle-joint ontology, ankle power device and ankle-joint energy stocking mechanism；The compound knee
Joint includes knee joint ontology, knee power device and knee joint energy stocking mechanism；The compound hip joint include hip joint ontology,
Hip power device and hip joint energy stocking mechanism；The ankle-joint ontology, the knee joint ontology and the hip joint ontology are equal
For hinge；
The ankle power device is identical as the knee power device, the hip powerplant configuration, includes that round trip is remembered
Material and heating element；
The ankle-joint energy stocking mechanism and the knee joint energy stocking mechanism, the hip joint energy stocking mechanism structure phase
It together, include elastic storage element, the hot adhesion coating A being installed on boss A, the hot adhesion coating B that is installed on boss B,
The boss A and boss B is made of piezoelectric material, is equipped with use inside the hot adhesion coating A and the hot adhesion coating B
In the resistance wire of heating.
The high temperature parent phase of the round trip memory material is linear austenite, and room temperature is U-shaped martensite；The compound ankle closes
The groove that can place the ankle power device is equipped on the sole and the mechanical shank near section；The compound knee closes
The groove that can place the knee power device is equipped on the mechanical shank and the mechanical thigh near section；It is described compound
The groove that can place the hip power device is equipped on the mechanical thigh and the body near hip joint；Described three
Joint power device can be free to slide along corresponding groove walls.
When the hot adhesion coating A and the hot adhesion coating B are bonded together, the elastic energy storage element is stored up because of compression
Elastic potential energy is deposited, corresponding elastic force is just constituted with cohesive force and balanced；The round trip memory material is in the heating element
By U-shaped martensite transfor mation it is linear austenite under effect, destroys the hot adhesion coating A and the hot adhesion coating B
Cohesive force discharges the energy of the elastic energy storage element storage.
The boss A and boss B in the ankle-joint energy stocking mechanism is installed in the sole and described respectively
On mechanical shank；The boss A and the boss B of the knee joint energy stocking mechanism be installed in respectively the mechanical shank and
On the machinery thigh；The boss A and the boss B in the hip joint energy stocking mechanism are installed in the machinery respectively
On thigh and the body.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) a kind of Three-degree-of-freedom bionic of the invention jump pedipulator, is equipped with joint power device, passes through heating element pair
The heat driven sole of round trip memory material, mechanical shank, mechanical thigh, opposite between body rotate forward, and increase joint
Angle；Stop round trip memory material after heating and drives sole, mechanical shank again in cooling procedure, between mechanical thigh body
It is opposite rotate backward, reduce joint angles.
(2) a kind of Three-degree-of-freedom bionic of the invention jumps pedipulator, be additionally provided with joint can stocking mechanism, cohesive force with
The unstable equilibrium state storage energy of elastic force, round trip memory material break this balance when deforming, and elastic force explosion type is released
It puts, to help to jump.It follows that the configuration of the present invention is simple rationally, can storage machine by round trip memory material and joint
Structure realizes the quick release of joint energy, so that the control structure for reducing arthritic volume, simplifying joint motions, improves
The skip capability of pedipulator.
Detailed description of the invention
Structure when Fig. 1 is a kind of compound knee joint storage energy of Three-degree-of-freedom bionic jump pedipulator of the invention is shown
It is intended to.
Fig. 2 is that the structure after a kind of compound knee joint of Three-degree-of-freedom bionic jump pedipulator of the invention releases energy is shown
It is intended to.
In figure, 1-sole；2-mechanical shanks；3-mechanical thighs；4-bodies；5-compound ankle-joints；52-ankle-joints
It can stocking mechanism；6-compound knee joints；611-round trip memory materials；612-heating elements；621-elastic energy storage elements；
622-hot adhesion coating A；623-hot adhesion coating B；624-boss A；625-boss B；7-compound hip joints；72-hips
It joint can stocking mechanism.
Specific embodiment
Below with reference to the drawings and specific embodiments, invention is further described in detail.
Referring to figure 1 and figure 2, a kind of Three-degree-of-freedom bionic of the invention jump pedipulator, including sole 1, machinery are small
Leg 2, mechanical thigh 3 and body 4, additionally include the compound ankle-joint 5 being installed between sole 1 and mechanical shank 2, are installed in
Compound knee joint 6 between mechanical shank 2 and mechanical thigh 3, and the compound hip being installed between mechanical thigh 3 and body 4
Joint 7.
Referring to figure 1 and figure 2, compound ankle-joint 5 includes ankle-joint ontology, ankle power device and ankle-joint energy storage machine
Structure 52；Compound knee joint 6 includes knee joint ontology, knee power device and knee joint energy stocking mechanism；Compound hip joint 7 includes hip
Joint ontology, hip power device and hip joint energy stocking mechanism 72；Ankle-joint ontology, knee joint ontology and hip joint ontology are
Hinge.
Referring to figure 1 and figure 2, ankle power device is identical as knee power device, hip powerplant configuration, includes round trip
Memory material 611 and heating element 612.
Referring to figure 1 and figure 2, ankle-joint energy stocking mechanism 52 and knee joint energy stocking mechanism, hip joint energy storage machine
72 structure of structure is identical, include elastic storage element 621, be installed on boss A624 hot adhesion coating A622, be installed in it is convex
Hot adhesion coating B623, boss A624 and boss B625 on platform B625 are made of piezoelectric material, hot adhesion coating A622 and heat
Resistance wire for heating is equipped with inside bonding coat B623.
Referring to figure 1 and figure 2, a kind of Three-degree-of-freedom bionic jump pedipulator according to claim 1, feature exist
In: the high temperature parent phase of round trip memory material 611 is linear austenite, and room temperature is U-shaped martensite；Near compound ankle-joint 5
The groove that can place ankle power device is equipped on sole 1 and mechanical shank 2；Mechanical shank 2 and machine near compound knee joint 6
The groove that can place knee power device is equipped on tool thigh 3；It is all provided on mechanical thigh 3 and body 4 near compound hip joint 7
There is the groove that can place hip power device；Three joint power devices can be free to slide along corresponding groove walls.
Referring to figure 1 and figure 2, when hot adhesion coating A622 and hot adhesion coating B623 are bonded together, elastic energy storage
Because compression stores elastic potential energy, corresponding elastic force is just constituted with cohesive force and is balanced element 621；Round trip memory material 611 exists
Under the action of heating element 612 by U-shaped martensite transfor mation be linear austenite, destroy hot adhesion coating A622 and hot adhesion
The cohesive force of coating B623, the energy that release elastic energy storage element 621 stores.
Referring to figure 1 and figure 2, the boss A in ankle-joint energy stocking mechanism 52 and boss B be installed in respectively sole 1 and
On mechanical shank 2；The boss A and boss B of knee joint energy stocking mechanism are installed in respectively on mechanical shank 2 and mechanical thigh 3；Hip
Boss A and boss B in the energy stocking mechanism 72 of joint are installed in respectively on mechanical thigh 3 and body 4.
Preferably, the metal pressure-proof spring of flexible deformation can significantly occur for the selection of elastic energy storage element；Round trip memory
The surface of material 611 can apply one layer of lubricant, reduce its frictional force in groove.
Working principle: working principle is told about by taking compound 6 quick release of energy of knee joint as an example below.Hot adhesion coating
A622 and hot adhesion coating B623 is bonded together under the action of cohesive force, and elastic energy storage element 621 is stored because of compressive deformation
A large amount of elastic potential energy, at this time cohesive force and elastic force Compositional balance；Heating element 612 starts to round trip memory material 611
Heating, round trip memory material 611 will be changed into linear by U-shaped, since to be located at compound knee joint 6 attached for round trip memory material 611
In the groove of 3 attachment of the mechanical shank 2 of part and mechanical thigh, so that mechanical shank 2 be driven to turn outward relative to mechanical thigh 3
It is dynamic；Under elastic force and the collective effect of round trip memory material 611, hot adhesion coating A622 divides suddenly with hot adhesion coating B623
It opens, 621 quick release of energy of elastic energy storage element, the relative rotation of acceleration mechanical shank 2 and mechanical thigh 3, to drive body
Body 4 bounces；After heating element 612 stops heating, 611 cooling of round trip memory material will be from straight line to being changed into U-shaped, boss A624
Piezoelectric material generates certain electric current after contact with boss B625, to internal Resistant heating, and then melts hot adhesion and applies
Layer is bonded together the hot adhesion coating A (622) again with the hot adhesion coating B (623), at the same time, elasticity
Energy-storage travelling wave tube 621 stores elastic potential energy by compression again.
Compound ankle-joint 5, compound hip joint 7 are identical with the working principle of compound knee joint 6, when three joints simultaneously
When work, it will give one, ground huge pressure, according to the mutual facies principle of power, ground gives pedipulator one upward branch
Holding force surmounts obstacles so that pedipulator empties suddenly.
Claims (4)
- The pedipulator 1. a kind of Three-degree-of-freedom bionic jumps, including sole (1), mechanical shank (2), mechanical thigh (3) and body (4), additionally include the compound ankle-joint (5) being installed between the sole (1) and mechanical shank (2), be installed in the machine Compound knee joint (6) between tool shank (2) and the mechanical thigh (3), and be installed in the mechanical thigh (3) with it is described Compound hip joint (7) between body (4)；It is characterized by:The compound ankle-joint (5) includes ankle-joint ontology, ankle power device and ankle-joint energy stocking mechanism (52)；It is described compound Knee joint (6) includes knee joint ontology, knee power device and knee joint energy stocking mechanism；The compound hip joint (7) includes hip Joint ontology, hip power device and hip joint energy stocking mechanism (72)；The ankle-joint ontology, the knee joint ontology with it is described Hip joint ontology is hinge；The ankle power device is identical as the knee power device, the hip powerplant configuration, includes round trip memory material (611) and heating element (612)；The ankle-joint energy stocking mechanism (52) and the knee joint energy stocking mechanism, the hip joint energy stocking mechanism (72) are tied Structure is identical, include elastic storage element (621), be installed on boss A (624) hot adhesion coating A (622), be installed in it is convex Hot adhesion coating B (623) on platform B (625), the boss A (624) are made of with the boss B (625) piezoelectric material, institute It states and is equipped with resistance wire for heating inside hot adhesion coating A (622) and the hot adhesion coating B (623).
- The pedipulator 2. a kind of Three-degree-of-freedom bionic according to claim 1 jumps, it is characterised in that: the round trip remembers material The high temperature parent phase for expecting (611) is linear austenite, and room temperature is U-shaped martensite；The foot of the compound ankle-joint (5) nearby The groove that can place the ankle power device is equipped on the palm (1) and the mechanical shank (2)；The compound knee joint (6) is attached The groove that can place the knee power device is equipped on the close mechanical shank (2) and the mechanical thigh (3)；It is described multiple It closes to be equipped on hip joint (7) neighbouring described mechanical thigh (3) and the body (4) and the recessed of the hip power device can be placed Slot；Three joint power devices can be free to slide along corresponding groove walls.
- The pedipulator 3. a kind of Three-degree-of-freedom bionic according to claim 1 jumps, it is characterised in that: the hot adhesion coating When A (622) and the hot adhesion coating B (623) are bonded together, the elastic energy storage element (621) is because of compression storage elasticity Potential energy, corresponding elastic force are just constituted with cohesive force and are balanced；The round trip memory material (611) is in the heating element (612) under the action of by U-shaped martensite transfor mation be linear austenite, destroy the hot adhesion coating A (622) and the heat The cohesive force of bonding coat B (623) discharges the energy of elastic energy storage element (621) storage.
- The pedipulator 4. a kind of Three-degree-of-freedom bionic according to claim 1 jumps, it is characterised in that: the ankle-joint can store up The boss A and the boss B in mechanism (52) is deposited to be installed in respectively on the sole (1) and the mechanical shank (2)；Institute The boss A and the boss B for stating knee joint energy stocking mechanism are installed in the mechanical shank (2) respectively and the machinery is big On leg (3)；The boss A and the boss B in the hip joint energy stocking mechanism (72) are installed in described mechanical big respectively On leg (3) and the body (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811000292.3A CN109109997B (en) | 2018-08-30 | 2018-08-30 | Three-degree-of-freedom bionic jumping mechanical leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811000292.3A CN109109997B (en) | 2018-08-30 | 2018-08-30 | Three-degree-of-freedom bionic jumping mechanical leg |
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| Publication Number | Publication Date |
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| CN109109997A true CN109109997A (en) | 2019-01-01 |
| CN109109997B CN109109997B (en) | 2020-10-27 |
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Citations (6)
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|---|---|---|---|---|
| JP2003225474A (en) * | 2002-02-05 | 2003-08-12 | Mitsumi Electric Co Ltd | Driving mechanism utilizing shape memory alloy member |
| WO2010126223A2 (en) * | 2009-04-30 | 2010-11-04 | 서울대학교산학협력단 | Inchworm robot |
| CN103381862A (en) * | 2013-07-30 | 2013-11-06 | 浙江工业大学 | Four-footed bionic insect robot |
| CN104590413A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Bionic jumping and walking mechanism |
| CN105235766A (en) * | 2015-11-03 | 2016-01-13 | 郑州轻工业学院 | Four-footed bio-robot single leg capable of achieving jumping function |
| CN108372517A (en) * | 2018-05-11 | 2018-08-07 | 清华大学 | The bionic wall climbing robot leg unit and robot of marmem driving |
-
2018
- 2018-08-30 CN CN201811000292.3A patent/CN109109997B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003225474A (en) * | 2002-02-05 | 2003-08-12 | Mitsumi Electric Co Ltd | Driving mechanism utilizing shape memory alloy member |
| WO2010126223A2 (en) * | 2009-04-30 | 2010-11-04 | 서울대학교산학협력단 | Inchworm robot |
| CN103381862A (en) * | 2013-07-30 | 2013-11-06 | 浙江工业大学 | Four-footed bionic insect robot |
| CN104590413A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Bionic jumping and walking mechanism |
| CN105235766A (en) * | 2015-11-03 | 2016-01-13 | 郑州轻工业学院 | Four-footed bio-robot single leg capable of achieving jumping function |
| CN108372517A (en) * | 2018-05-11 | 2018-08-07 | 清华大学 | The bionic wall climbing robot leg unit and robot of marmem driving |
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| Publication number | Publication date |
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| CN109109997B (en) | 2020-10-27 |
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