CN114408048B - Leg-foot robot mouse active spring damping waist simulation device and robot - Google Patents
Leg-foot robot mouse active spring damping waist simulation device and robot Download PDFInfo
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- CN114408048B CN114408048B CN202210119810.3A CN202210119810A CN114408048B CN 114408048 B CN114408048 B CN 114408048B CN 202210119810 A CN202210119810 A CN 202210119810A CN 114408048 B CN114408048 B CN 114408048B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a leg-foot robot mouse active spring damping waist simulation device, which relates to the technical field of leg-foot robots and can comprise: the driving module is arranged on the mounting bottom plate; the two output modules are respectively arranged at two ends of the mounting bottom plate and can be respectively connected with the upper limb part and the lower limb part of the robot; and the driving module is connected with the output module through the spring damping transmission module. The invention also discloses a robot comprising the leg-foot robot mouse active spring damping waist simulation device. The invention can solve the problems of poor walking attitude bionic property, low walking speed, low energy efficiency and the like of the leg-foot robot in the prior art.
Description
Technical Field
The invention relates to the technical field of leg-foot robots, in particular to a leg-foot robot active spring damping waist simulation device and a robot.
Background
The leg-foot robot has shown excellent environment adaptability and is widely applied to the fields of field reconnaissance, pipeline inspection and the like.
The waist mechanism of the existing leg-foot robot is a four-foot bionic robot (CN 201610373938.7) which uses a planar four-bar metamorphic mechanism at the waist, invented by Tianjin university, and the mechanism comprises a closed chain and four open chains, wherein the closed chain is a planar four-bar metamorphic rod mechanism consisting of first to fourth bars; the lengths of the first, second, third and fourth rods are the same; each open chain is of the same structure, each open chain is a 2R series mechanism and is hinged with one rod piece in the closed chain through a rotating hinge, and all the rods in each open chain are located in the same plane. The plane four-bar metamorphic mechanism is applied to the waist of the quadruped bionic robot, and deformation of the waist of the quadruped bionic robot is achieved, so that the waist structure of quadruped animals is better simulated, and the flexibility and the adaptability to different terrain environments of the quadruped bionic robot are improved.
However, the waist of the existing legged robot does not usually have the freedom of active movement and the freedom of pitching and swinging along the long direction of the robot body, which causes the actual movement flexibility of the legged robot to be reduced, the bionic expression to be deficient, and the walking speed and the energy utilization efficiency to be low. Meanwhile, the waist of the existing legged robot does not have the single-input and multi-output function generally, so that the whole waist is too large.
The rat has the flexible movement capability as a representative of a small legged animal in nature, and the rat can move quickly and flexibly through the cooperation of waist movement and leg and foot movement in a complex scene; inspired by the bionics, a leg-foot robot mouse active spring damping waist simulation device and a robot are provided to solve the technical problems.
Disclosure of Invention
The invention aims to provide a leg-foot robot mouse active spring damping waist simulation device and a robot, and solves the problems that in the prior art, a leg-foot robot is poor in walking posture imitativeness, low in walking speed, low in energy efficiency and the like.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a leg-foot robot mouse active spring damping waist simulation device, which comprises:
the driving module is arranged on the mounting bottom plate;
the two output modules are respectively arranged at two ends of the mounting bottom plate and can be respectively connected with the upper limb part and the lower limb part of the robot;
and the driving module is connected with the output module through the spring damping transmission module.
Preferably, the spring damping transmission module comprises a first spring damping transmission module and a second spring damping transmission module, the first spring damping transmission module and the second spring damping transmission module are respectively arranged at the upper side and the lower side of the mounting base plate, and the first spring damping transmission module and the second spring damping transmission module are arranged in central symmetry about the central point of the mounting base plate; the driving module is respectively connected with the two output modules through the first spring damping transmission module and the second spring damping transmission module.
Preferably, the first spring damping transmission module and the second spring damping transmission module each include a rod connecting shaft, a first rod, a second rod, a sliding cross shaft and a fixing cross shaft, two ends of the rod connecting shaft are connected with two ends of the sliding cross shaft through the two first rods respectively, and two ends of the rod connecting shaft are connected with two ends of the fixing cross shaft through the two second rods respectively;
the two sides of one end of the mounting bottom plate are both provided with sliding grooves, the two ends of the sliding transverse shaft are respectively arranged in the sliding grooves on the two sides, one end of the first rod piece is rotatably connected with the rod piece connecting shaft, and the other end of the first rod piece is rotatably connected with the sliding transverse shaft;
the both sides of the mounting plate other end all are provided with revolute pair base, the both ends of fixed cross axle are rotated respectively and are installed in the revolute pair base of both sides, the one end of second member with the member connecting axle rotates to be connected, the other end of second member with fixed cross axle rotates to be connected.
Preferably, both ends of the sliding cross shaft are connected with both ends of the fixed cross shaft through springs.
Preferably, the output module is a linear output module, the linear output module comprises a linear output connecting piece, the linear output connecting piece comprises an outer side connecting plate and a connecting part which are connected, the sliding cross shaft penetrates through the connecting part and forms a revolute pair with the connecting part, and the center position of the outer side connecting plate is collinear with the axis of the mounting bottom plate in the length direction;
the linear output connecting piece is further connected with a damping element, the linear output connecting piece and the damping element form a moving pair, and the damping element is fixed on the mounting base plate.
Preferably, the output module adopts a rotation output module, and the rotation output module comprises a rotation output connecting piece, an output rotating shaft, a driving connecting rod and a damping rod; the damping rod is fixedly connected with the sliding transverse shaft and is also connected with a damping element, the damping rod and the damping element form a moving pair, and the damping element is fixed on the mounting bottom plate; two ends of the driving connecting rod respectively form a revolute pair with the rotary output connecting piece and the sliding transverse shaft, and the rotary output connecting piece forms a revolute pair with a rotary shaft mounting rack arranged on the mounting bottom plate through the output rotary shaft;
and two sides of the rotation output connecting piece protrude out of the connecting holes of the revolute pair.
Preferably, the driving module adopts a double-shaft motor, a mounting groove is formed in the center of the mounting base plate, and two sides of the mounting groove are hollowed out; the double-shaft motor is arranged in the mounting groove and is fixed on the mounting bottom plate through a motor fixing plate; and two ends of the double-shaft motor are both connected with pull rope connecting pieces, and the pull rope connecting pieces at the two ends are respectively connected with two ends of the rod piece connecting shaft through pull ropes.
Preferably, the pull rope connecting piece adopts a driving rocker arm, and one end of the pull rope, which is far away from the rod piece connecting shaft, is connected with the tail end of the driving rocker arm;
or the stay rope connecting piece adopts a stay wire gear, two ends of the double-shaft motor are both connected with driving gears, the driving gears are meshed with the stay wire gear, and the stay wire gear is rotatably installed on the installation bottom plate.
Preferably, one double-shaft motor is arranged, two sides of the double-shaft motor are both connected with one pull rope connecting piece, the pull rope connecting pieces are connected with two pull ropes, and the two pull ropes are respectively connected with rod connecting shafts of the first spring damping transmission module and the second spring damping transmission module; or two pull rope connecting pieces are connected to two sides of the double-shaft motor, and the two pull rope connecting pieces on each side are respectively connected with rod connecting shafts of the first spring damping transmission module and the second spring damping transmission module through pull ropes;
or the two double-shaft motors are symmetrically arranged on the upper side and the lower side of the mounting bottom plate, the two sides of each double-shaft motor are connected with one pull rope connecting piece, and the pull rope connecting pieces of the two double-shaft motors are respectively connected with the rod connecting shafts of the first spring damping transmission module and the second spring damping transmission module through pull ropes.
The invention also discloses a robot comprising the active spring damping waist simulation device for the leg-foot robot mouse, and the robot further comprises a head part, an upper limb part and a lower limb part, wherein the active spring damping waist simulation device for the leg-foot robot mouse is arranged between the upper limb part and the lower limb part.
Compared with the prior art, the invention has the following beneficial technical effects:
the waist simulation device for the active spring damping of the leg-foot robot mouse adopts a scientific method to design a mechanical structure and an appearance, converts the rotation of a driving motor into the periodic linear motion and the periodic rotation of output modules at two sides through a connecting rod transmission system with spring damping in a linear output configuration at two ends and a rotary output configuration at two ends, and solves the problems of poor simulation of the walking posture, low walking speed, low energy efficiency and the like of the leg-foot robot mouse by matching with the movement of the foot end of the leg-foot robot mouse.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a front view of an active spring-damped lumbar simulator of a legged robot according to an embodiment;
FIG. 2 is a top view of an active spring-damped lumbar simulator of a legged robot according to an embodiment;
FIG. 3 is a schematic structural diagram of an active spring damping waist simulator of a legged robot mouse according to an embodiment;
FIG. 4 is a schematic structural diagram of a mounting base according to an embodiment;
FIG. 5 is a schematic diagram of a driving module;
FIG. 6 is a schematic diagram of a linear output module according to an embodiment;
FIG. 7 is a schematic view of the installation of the active spring damping waist simulator of the one-legged robot mouse according to the embodiment;
FIG. 8 is a front view of an active spring-damped lumbar simulator of an embodiment bipedal robot;
FIG. 9 is a top view of an active spring damped lumbar simulator of a bipedal robot mouse according to an embodiment;
FIG. 10 is a schematic structural diagram of an active spring damping waist simulator of a bipedal robot mouse according to an embodiment;
FIG. 11 is a schematic structural view of a mounting base plate according to a second embodiment;
FIG. 12 is a schematic structural diagram of a second linear output module according to an embodiment;
FIG. 13 is a first schematic illustration of an embodiment bipedal robot active spring-damped lumbar simulator;
FIG. 14 is a second installation schematic of an active spring-damped lumbar simulator of a bipedal robot according to an embodiment;
FIG. 15 is a schematic structural diagram of an active spring damping waist simulator of a robot mouse with three middle legs and feet according to an embodiment;
FIG. 16 is a front view of an active spring-damped lumbar simulator of a midfoot-trilegged robot according to an embodiment;
FIG. 17 is a first angle schematic of a third embodiment of a stay wire gear;
FIG. 18 is a second angle schematic view of a third example tension gear;
FIG. 19 is a schematic structural view of a stay gear supporting bracket in the third embodiment;
FIG. 20 is a schematic view showing a structure of a mounting baseplate in a third embodiment;
description of reference numerals: 101 is an installation base plate, 102 is an installation base plate, 103 is an installation base plate, 2 is a driving module, 201 is a biaxial motor, 202 is a driving rocker arm, 203 is a motor fixing plate, 204 is a driving gear, 205 is a pull wire gear, 206 is a pull wire gear supporting frame, 3 is a pull rope, 4 is a rod connecting shaft, 5 is a 1-type rod, 6 is a Y-type rod, 7 is a spring, 801 is a linear output module, 8011 is a linear output connecting piece, 8021 is a rotary output connecting piece, 8022 is an output rotating shaft, 8023 is a driving connecting rod, 8024 is a damping rod, 9 is a sliding transverse shaft, 10 is a damping element, and 11 is a fixing transverse shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a leg-foot robot mouse active spring damping waist simulation device and a robot, and solves the problems that in the prior art, a leg-foot robot is poor in walking posture imitativeness, low in walking speed, low in energy efficiency and the like.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 7, the present embodiment provides an active spring damping waist simulation device for a leg-foot robot mouse, which is in a two-end linear output configuration and mainly includes a driving module 2, a spring damping transmission module, and a linear output module 801.
In this embodiment, two spring damping transmission modules are provided, including a first spring damping transmission module and a second spring damping transmission module, which are respectively disposed on the upper and lower sides of the mounting base plate 101, and are disposed in a central symmetry manner with respect to a central point of the mounting base plate; the driving module 2 drives the two linear output modules 801 to move through the first spring damping transmission module and the second spring damping transmission module respectively; or, a spring damping transmission module can be further arranged according to the working requirement, and the two linear output modules 801 are driven to move simultaneously through the spring damping transmission module.
In this embodiment, the first spring damping transmission module and the second spring damping transmission module have the same structure, and each of the first spring damping transmission module and the second spring damping transmission module comprises a rod connecting shaft 4, a first rod, a second rod, a sliding cross shaft 9 and a fixing cross shaft 11, wherein two ends of the rod connecting shaft 4 are connected with two ends of the sliding cross shaft 9 through the two first rods respectively, and two ends of the rod connecting shaft 4 are connected with two ends of the fixing cross shaft 11 through the two second rods respectively; the two sides of one end of the mounting bottom plate 101 are both provided with sliding grooves, the two ends of the sliding transverse shaft 9 are respectively arranged in the sliding grooves on the two sides, one end of the first rod piece is rotatably connected with the rod piece connecting shaft 4, and the other end of the first rod piece is rotatably connected with the sliding transverse shaft 9; and revolute pair bases are arranged on two sides of the other end of the mounting bottom plate 101, two ends of the fixed transverse shaft 11 are respectively and rotatably mounted in the revolute pair bases on the two sides, one end of the second rod is rotatably connected with the rod connecting shaft 4, and the other end of the second rod is rotatably connected with the fixed transverse shaft 11.
The first rod piece is a 1-shaped rod piece 5, the second rod piece is a Y-shaped rod piece 6,Y-shaped rod piece 6, the open end of the Y-shaped rod piece 6 is rotatably connected with the rod piece connecting shaft 4, and one end, connected with the rod piece connecting shaft 4, of the 1-shaped rod piece 5 is located in the middle of the open end of the Y-shaped rod piece 6; the first rod piece and the second rod piece can also select rod pieces with other structures according to requirements.
In this embodiment, the driving module 2 is fixed at the center of the installation base plate 101, and the form that the upper and lower side mechanisms of the installation base plate 101 are driven by the dual-shaft motor 201 in a coupling manner is adopted, so that single input and multiple output are realized; but not limited to this form, the form of arranging the biaxial motor 201 symmetrically on the upper and lower sides can be adopted as required for the non-coupling driving.
Specifically, the driving module 2 includes a two-axis motor 201, a driving swing arm 202, and a motor fixing plate 203, and the two-axis motor 201 is fixed on the mounting base plate 101 by the motor fixing plate 203 through screw connection. The double-shaft motor 201 drives the driving rocker arms 202 (pull rope connecting pieces) at two sides to rotate, two pull ropes 3 are sleeved at the tail end of each driving rocker arm 202, and the other ends of the pull ropes 3 are sleeved on the rod connecting shafts 4 at the upper side and the lower side of the installation bottom plate 101; among them, the elastic cord is preferably used as the pull cord 3. The two ends of the rod connecting shaft 4 are connected with the 1-type rod 5 and the other end of the Y-type rod 6,Y through the revolute pair, the other end of the Y-type rod 6 is connected with the mounting base plate 101 through the revolute pair, and the 1-type rod 5 drives the linear output module 801; the 1-type rod 5 is connected with a sliding transverse shaft 9 through a rotating pair, and two ends of the sliding transverse shaft 9 and a sliding groove of the mounting bottom plate 101 form a moving pair.
In this embodiment, the linear output connector 8011 is connected to the sliding horizontal shaft 9 through a revolute pair, the linear output connector 8011 and the damping element 10 form a moving pair, and the damping element 10 is fixed to the mounting base plate 101 through a screw connection; both ends of the sliding cross shaft 9 are connected with both ends of the fixed cross shaft 11 through springs 7, and when the pull rope 3 does not exert pulling force on the rod connecting shaft 4, the springs 7 can tighten the sliding cross shaft 9 on the inner side of the sliding groove of the installation bottom plate 101 through pretightening force.
The working principle of the two-end linear output configuration in the embodiment is as follows:
when the double-shaft motor 201 drives the driving rocker arm 202 to rotate, the pull ropes 3 on the upper side and the lower side enter a cycle of tensioning and releasing along with the rotation of the driving rocker arm 202, the rod connecting shaft 4 is pulled to drive the sliding transverse shaft 9 to move towards the outer side of the mounting base plate 101 when the tensioning cycle is started, the spring 7 is stretched, and the linear output connecting piece 8011 is pushed to move towards the outer side of the mounting base plate 101 in a linear mode. When the release cycle is started, the pull rope 3 loses tension, the spring 7 starts to contract, the sliding transverse shaft 9 is pulled to move towards the inner side of the mounting base plate 101, and the linear output connecting piece 8011 is pulled to move towards the inner side of the mounting base plate 101 in a linear mode. Wherein, the ratio of the tightening and releasing periods can be adjusted by adjusting the lengths of the pull ropes 3 and the initial position of the double-shaft motor 201.
In this embodiment, the upper and lower sides of the mounting base plate 101 are centrosymmetric, and the two ends of the upper and lower sides of the mounting base plate 101 are respectively provided with a chute and a revolute pair base for connecting with two groups of spring damping transmission modules; the central position of the mounting base plate 101 is provided with a protruding bending structure to form a mounting groove for mounting the dual-shaft motor 201, and the two sides of the bending structure are hollowed out, so that the driving rocker 202 has enough working space.
In this embodiment, the linear output connecting piece 8011 is bent such that the center of the outer connecting plate is collinear with the longitudinal axis of the mounting base plate 101, so that the motion output of the linear output module 801 is along the longitudinal direction of the mounting base plate 101, and the stability of the center of mass of the robot during motion can be maintained to the maximum.
Example two
As shown in fig. 8-14, this embodiment is an improvement on the first embodiment, and the improvement is that: the leg-foot robot mouse active spring damping waist simulation device adopts a two-end rotation output configuration.
In this embodiment, the mounting base plate 102 with two-end rotation output configuration is provided with a rotating shaft mounting rack on both sides, and the output module with two-end rotation output configuration mainly includes a rotation output connecting piece 8021, an output rotating shaft 8022, a driving connecting rod 8023 and a damping rod 8024; the damping rod 8024 is fixed to the sliding cross shaft 9 and forms a sliding pair with the damping element 10, both ends of the driving link 8023 form a rotating pair with the rotation output connecting member 8021 and the sliding cross shaft 9, respectively, and the rotation output connecting member 8021 forms a rotating pair with the mounting base plate 102 through the output rotating shaft 8022.
The working principle of the two-end rotation output configuration in the embodiment is as follows:
when the dual-axis motor 201 drives the driving rocker arm 202 to rotate, the pull ropes 3 on the upper side and the lower side enter a cycle of tensioning and releasing along with the rotation of the driving rocker arm 202, when the pull ropes enter the tensioning cycle, the rod connecting shaft 4 is pulled to drive the sliding cross shaft 9 to move towards the outer side of the mounting base plate 101, the spring 7 is stretched, and the driving connecting rod 8023 drives the rotating output connecting piece 8021 to rotate around the output rotating shaft 8022. When the releasing period is started, the pulling rope 3 loses the pulling force, the spring 7 starts to contract, the sliding transverse shaft 9 is pulled to move towards the inner side of the mounting bottom plate 101, and the driving connecting rod 8023 can drive the rotating output connecting piece 8021 to rotate reversely around the output rotating shaft 8022.
In this embodiment, the amplitude of the vertical rotation angle about the mounting base plate 102 can be adjusted by adjusting the lengths of the rotary output connection member 8021 and the driving link 8023, and the ratio of the tightening period to the releasing period can be adjusted by adjusting the lengths of the upper and lower pulling ropes 3 and the initial position of the biaxial motor 201.
In this embodiment, the two sides of the rotary output connecting piece 8021 protrude out of the rotary pair connecting holes, and a space is left in the middle, so that the sliding cross shaft 9 has a larger moving distance to interfere with the rotary pair connecting holes, and the compactness of the structural design along the length direction of the installation bottom plate 102 is ensured to the greatest extent.
EXAMPLE III
The embodiment is an improvement on the basis of the second embodiment, and the improvement is as follows: as shown in fig. 15-20, in this embodiment, the pull rope connecting piece adopts a pull rope gear 205, two ends of the dual-shaft motor 201 are both connected with a driving gear 204, the upper and lower sides of the driving gear 204 are both connected with a pull rope gear 205 in a meshing manner, and the pull rope gears 205 on the upper and lower sides are respectively connected with the rod connecting shafts 4 on the upper and lower sides through the pull ropes 3; the wire gear 205 is rotatably mounted on the mounting baseplate 103.
Specifically, a bracing wire gear support frame 206 is arranged in the middle of the upper side of the mounting base plate 103, a rotating shaft of the bracing wire gear 205 on the upper side forms a revolute pair connection with the bracing wire gear support frame 206, and a rotating shaft of the bracing wire gear 205 on the lower side forms a revolute pair with a central hole of a boss in the middle of the lower side of the mounting base plate 103; wherein, the boss can be installed in the below of motor mounting groove.
In this embodiment, the mechanisms on the lower sides of the mounting base plate 103 are driven by two different components, and the ratio of the tensioning and releasing periods of the mechanisms on the upper and lower sides is realized by adjusting the initial meshing position of the stay wire gear 205, so that the adjustment is simpler and more convenient.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (5)
1. The utility model provides a sufficient robot mouse initiative spring damping waist analogue means of leg which characterized in that: the method comprises the following steps:
the driving module is arranged on the mounting bottom plate;
the two output modules are respectively arranged at two ends of the mounting bottom plate and can be respectively connected with the upper limb part and the lower limb part of the robot;
the driving module is connected with the output module through the spring damping transmission module; the spring damping transmission module comprises a first spring damping transmission module and a second spring damping transmission module, the first spring damping transmission module and the second spring damping transmission module are respectively arranged at the upper side and the lower side of the mounting bottom plate, and the first spring damping transmission module and the second spring damping transmission module are arranged in central symmetry about the central point of the mounting bottom plate; the driving module is respectively connected with the two output modules through the first spring damping transmission module and the second spring damping transmission module;
the first spring damping transmission module and the second spring damping transmission module respectively comprise a rod connecting shaft, a first rod, a second rod, a sliding transverse shaft and a fixed transverse shaft, two ends of the rod connecting shaft are respectively connected with two ends of the sliding transverse shaft through the two first rods, two ends of the rod connecting shaft are also respectively connected with two ends of the fixed transverse shaft through the two second rods, and two ends of the sliding transverse shaft are connected with two ends of the fixed transverse shaft through springs; the two sides of one end of the mounting bottom plate are both provided with sliding grooves, the two ends of the sliding transverse shaft are respectively arranged in the sliding grooves on the two sides, one end of the first rod piece is rotatably connected with the rod piece connecting shaft, and the other end of the first rod piece is rotatably connected with the sliding transverse shaft; two sides of the other end of the mounting bottom plate are respectively provided with a revolute pair base, two ends of the fixed transverse shaft are respectively rotatably mounted in the revolute pair bases on the two sides, one end of the second rod piece is rotatably connected with the rod piece connecting shaft, and the other end of the second rod piece is rotatably connected with the fixed transverse shaft;
the output module adopts a rotation output module, and the rotation output module comprises a rotation output connecting piece, an output rotating shaft, a driving connecting rod and a damping rod; the damping rod is fixedly connected with the sliding transverse shaft and is also connected with a damping element, the damping rod and the damping element form a moving pair, and the damping element is fixed on the mounting bottom plate; two ends of the driving connecting rod respectively form a revolute pair with the rotary output connecting piece and the sliding transverse shaft, and the rotary output connecting piece forms a revolute pair with a rotary shaft mounting rack arranged on the mounting bottom plate through the output rotary shaft;
and two sides of the rotation output connecting piece protrude out of the connecting holes of the revolute pair.
2. The active spring damping lumbar simulator for legged robotic rats according to claim 1, wherein: the driving module adopts a double-shaft motor, a mounting groove is formed in the center of the mounting bottom plate, and two sides of the mounting groove are hollowed out; the double-shaft motor is arranged in the mounting groove and is fixed on the mounting bottom plate through a motor fixing plate; and two ends of the double-shaft motor are both connected with pull rope connecting pieces, and the pull rope connecting pieces at the two ends are respectively connected with two ends of the rod piece connecting shaft through pull ropes.
3. The active spring-damped lumbar simulator of a legged robot mouse according to claim 2, characterized in that:
the pull rope connecting piece adopts a driving rocker arm, and one end of the pull rope, which is far away from the rod piece connecting shaft, is connected with the tail end of the driving rocker arm;
or the stay rope connecting piece adopts a stay wire gear, two ends of the double-shaft motor are both connected with driving gears, the driving gears are meshed with the stay wire gear, and the stay wire gear is rotatably installed on the installation bottom plate.
4. The active spring damping lumbar simulator for legged robotic rats according to claim 3, wherein:
the two sides of the double-shaft motor are both connected with one pull rope connecting piece, the pull rope connecting pieces are connected with two pull ropes, and the two pull ropes are respectively connected with rod connecting shafts of the first spring damping transmission module and the second spring damping transmission module; or two pull rope connecting pieces are connected to two sides of the double-shaft motor, and the two pull rope connecting pieces on each side are respectively connected with rod connecting shafts of the first spring damping transmission module and the second spring damping transmission module through pull ropes;
or the two double-shaft motors are symmetrically arranged on the upper side and the lower side of the mounting bottom plate, the two sides of each double-shaft motor are connected with one pull rope connecting piece, and the pull rope connecting pieces of the two double-shaft motors are respectively connected with the rod connecting shafts of the first spring damping transmission module and the second spring damping transmission module through pull ropes.
5. A robot comprising the legged robot active spring damped lumbar simulator as claimed in any one of claims 1-4, wherein: still include head, upper limbs and lower limbs, leg and foot robot mouse initiative spring damping waist analogue means install in upper limbs with between the lower limbs.
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| CN202210119810.3A CN114408048B (en) | 2022-02-09 | 2022-02-09 | Leg-foot robot mouse active spring damping waist simulation device and robot |
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| CN202210119810.3A CN114408048B (en) | 2022-02-09 | 2022-02-09 | Leg-foot robot mouse active spring damping waist simulation device and robot |
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| CN114408048B true CN114408048B (en) | 2023-03-14 |
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| CN107575518B (en) * | 2017-10-16 | 2023-07-04 | 河北建筑工程学院 | Active and passive parallel input parallel posture adjustment vibration isolation platform |
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