CN116588222A - High bouncing leg mechanism for foot type robot - Google Patents
High bouncing leg mechanism for foot type robot Download PDFInfo
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- CN116588222A CN116588222A CN202310734505.XA CN202310734505A CN116588222A CN 116588222 A CN116588222 A CN 116588222A CN 202310734505 A CN202310734505 A CN 202310734505A CN 116588222 A CN116588222 A CN 116588222A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 99
- 238000004146 energy storage Methods 0.000 claims abstract description 40
- 210000002414 leg Anatomy 0.000 claims abstract description 32
- 238000003475 lamination Methods 0.000 claims description 2
- 238000009963 fulling Methods 0.000 claims 1
- 239000011664 nicotinic acid Substances 0.000 abstract description 13
- 230000009191 jumping Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000003592 biomimetic effect Effects 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a high bouncing leg mechanism for a foot robot, which belongs to the technical field of bionic robots and comprises a left shank connecting rod, a left thigh connecting rod and a right thigh connecting rod, wherein one end of the left shank connecting rod is hinged with one end of the left thigh connecting rod; one end of the right-end shank connecting rod is hinged with one end of the right-end thigh connecting rod; the other end of the left-end shank connecting rod is hinged with the other end of the right-end shank connecting rod; the other end of the left thigh connecting rod is hinged with the other end of the right thigh connecting rod to form a quadrilateral structure; one end of the foot end is fixed at one end of the right-end shank connecting rod hinged with the left-end shank connecting rod, and the other end can be contacted with the ground; the coaxial driving mechanism is provided with two power output shafts which are coaxially arranged and fixedly connected with a left thigh connecting rod and a right thigh connecting rod respectively, and the rotation axis of the hinging part of the left thigh connecting rod and the right thigh connecting rod is collinear with the axis of the power output shaft; two ends of the energy storage spring are respectively arranged between two horizontal vertexes of the quadrilateral structure. The bouncing capability of the high bouncing leg mechanism can be improved.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a high bouncing leg mechanism for a foot-type robot.
Background
With the rapid development of robotics, biomimetic robots have become an important branch of robotics, and are a current research hotspot for domestic and foreign scholars. Compared with other existing robots, the bionic robot is more complex in mechanical structure and control, but can replace human beings to bear dangerous and complex specific tasks due to the fact that the bionic robot is bionic and has excellent performance. In recent years, the continuous development of bionic technology enables the bionic robot to have wider application fields, such as military reconnaissance, resource exploration, underwater detection, disease treatment, rescue and relief work and the like. Needless to say, biomimetic robots have an irreplaceable role in the development of the technology of the human industry.
Because the different disciplines fields make the bionic robot can be subdivided into a plurality of kinds, according to the difference of applicable environment, the bionic robot can be divided into aerial bionic robot, ground bionic robot, underwater bionic robot. The bionic robot can be classified into a flapping wing type, a jumping type, a foot type and a wheel type according to the traveling modes.
For the foot type robot, the foot type robot has good terrain adaptability, walking and jogging of different terrains can be achieved, but the existing foot type robot can hardly achieve obstacle surmounting with high performance.
Disclosure of Invention
In view of the above, the present invention provides a high bouncing leg mechanism for a foot robot, which can enable the foot robot to achieve high performance obstacle surmounting.
The invention adopts the following technical scheme:
the high bouncing leg mechanism for the foot robot comprises a left-end shank connecting rod, a left-end thigh connecting rod, a right-end shank connecting rod, a right-end thigh connecting rod, a foot end, a coaxial driving mechanism and an energy storage spring;
one end of the left-end shank connecting rod is hinged with one end of the left-end thigh connecting rod; one end of the right-end shank connecting rod is hinged with one end of the right-end thigh connecting rod; the other end of the left-end shank connecting rod is hinged with the other end of the right-end shank connecting rod; the other end of the left thigh connecting rod is hinged with the other end of the right thigh connecting rod to form a quadrilateral structure;
one end of the foot end is fixed at one end of the right-end shank connecting rod hinged with the left-end shank connecting rod, and the other end of the foot end can be contacted with the ground;
the coaxial driving mechanism is provided with two coaxially arranged power output shafts, the two coaxially arranged power output shafts are fixedly connected with the left thigh connecting rod and the right thigh connecting rod respectively, and the rotation axis of the hinging part of the left thigh connecting rod and the right thigh connecting rod is collinear with the axis of the power output shaft;
the two ends of the energy storage spring are respectively arranged between two horizontal vertexes of the quadrilateral structure, and when the quadrilateral structure is deformed, the energy storage spring can store/release energy.
Further, rubber is arranged at the fixed positions of the two ends of the energy storage spring and the parallelogram structure.
Further, at least two energy storage springs are symmetrically arranged on two sides of the plane where the parallelogram structure is located.
Further, the coaxial driving mechanism comprises a first driving motor, a second driving motor, a first small belt pulley, a second small belt pulley, an inner shaft, an outer shaft, a first large belt pulley and a second large belt pulley;
the output end of the first driving motor is fixedly connected with the first small belt pulley, and the first small belt pulley is connected with the first large belt pulley through a belt;
the output end of the second driving motor is fixedly connected with the second small belt pulley, and the second small belt pulley is connected with the second large belt pulley through a belt;
the inner shaft is coaxially sleeved in the outer shaft through a bearing to form the power output shaft; one end of the outer shaft is coaxially fixedly connected with the first large belt wheel, and the other end of the outer shaft is fixedly connected with the right thigh connecting rod; one end of the inner shaft is coaxially fixedly connected with the second large belt wheel, and the other end of the inner shaft is fixedly connected with the left thigh connecting rod.
Further, the diameters of the first small belt pulley and the second small belt pulley are equal;
the first large belt pulley and the second large belt pulley have the same diameter.
Further, the robot further comprises a belt wheel fixing frame which can be fixed with the waist of the four-foot obstacle crossing robot;
the belt pulley fixing frame is of an equilateral triangle structure, one corner of the equilateral triangle structure is rotationally connected with the first large belt pulley through a bearing, and the other two parts of the equilateral triangle structure are rotationally connected with the first small belt pulley and the second small belt pulley through bearings respectively.
Further, the robot waist connecting device also comprises a waist-leg connecting piece which can be connected with the robot waist;
the waist and leg connecting piece is coaxially sleeved outside the outer shaft through a bearing.
Further, the end of the foot end, which is contacted with the ground, is in an arc petal shape.
Further, the foot end comprises a sole, an intermediate rubber layer and an upper connecting rod;
the soles and the middle rubber layer are arranged in a lamination way, and the soles are arc-shaped;
one end of the upper connecting piece is fixedly connected with the middle rubber layer, and the other end of the upper connecting piece is fixed at one end of the right-end shank connecting rod, which is hinged with the left-end shank connecting rod.
Further, the hinge part of the parallelogram structure forms a revolute pair through a stopper screw and a bearing.
The beneficial effects are that:
1. one end of the left lower leg connecting rod is hinged with one end of the left thigh connecting rod; one end of the right-end shank connecting rod is hinged with one end of the right-end thigh connecting rod; the other end of the left-end shank connecting rod is hinged with the other end of the right-end shank connecting rod; the other end of the left thigh connecting rod is hinged with the other end of the right thigh connecting rod to form a quadrilateral structure; one end of the foot end is fixed at one end of the right-end shank connecting rod hinged with the left-end shank connecting rod, and the other end can be contacted with the ground; the coaxial driving mechanism is provided with two power output shafts which are coaxially arranged, and are respectively fixedly connected with a left thigh connecting rod and a right thigh connecting rod in the quadrilateral structure, and the rotation axis of the hinging part of the left thigh connecting rod and the right thigh connecting rod is collinear with the axis of the power output shaft; the two ends of the energy storage spring are respectively arranged between the two horizontal vertexes of the quadrilateral structure, and when the quadrilateral structure is deformed, the energy storage spring can store/release energy.
Therefore, before the robot jumps, the coaxial driving mechanism can drive the left thigh connecting rod and the right thigh connecting rod to rotate towards the direction of increasing the included angle through two coaxially arranged power output shafts (which means that the included angle between the left thigh connecting rod and the right thigh connecting rod is increased), so that the quadrilateral deformation structure is deformed, the energy storage spring is further extended, and the energy storage of the robot before jumping is realized; when the robot jumps, the coaxial driving mechanism can drive the left thigh connecting rod and the right thigh connecting rod to rotate towards the direction of reducing the included angle through two coaxially arranged power output shafts (the included angle between the left thigh connecting rod and the right thigh connecting rod is reduced), so that the quadrilateral structure deforms towards the opposite direction, meanwhile, the energy storage spring is shortened, the energy storage spring releases energy, and finally, the high-performance obstacle surmounting of the robot is realized; the coaxial driving mechanism is provided with two power output shafts which are coaxially arranged, so that the high-bouncing leg mechanism is simpler and more compact, the weight of the high-bouncing leg mechanism is reduced, and the jumping of the foot-type robot is facilitated.
2. The rubber is arranged at the fixed positions of the two ends of the energy storage spring and the quadrilateral structure, so that the energy storage spring has a damping effect, reduces energy loss and improves the bouncing capability of the bouncing leg mechanism.
3. The energy storage springs are at least two and are symmetrically arranged on two sides of the plane where the quadrilateral structure is located respectively, so that the energy storage effect can be improved, and the bouncing capability of the bouncing leg mechanism is further improved.
4. The output end of the first driving motor is fixedly connected with a first small belt pulley, and the first small belt pulley is connected with a first large belt pulley belt; the output end of the second driving motor is fixedly connected with a second small belt pulley, and the second small belt pulley is connected with a second large belt pulley belt; the inner shaft is coaxially sleeved in the outer shaft through a bearing to form a power output shaft; one end of the inner shaft is coaxially and fixedly connected with the first large belt wheel, and the other end of the inner shaft is fixedly connected with the left thigh connecting rod; one end of the outer shaft is coaxially and fixedly connected with the second large belt wheel, and the other end of the outer shaft is fixedly connected with the right thigh connecting rod.
Therefore, on the basis of realizing that the left thigh and the right thigh are controlled to rotate respectively through the two motors, the structure is compact, the weight of the foot-type robot is reduced, and the jumping capability of the foot-type robot is improved.
5. The diameters of the first small belt wheel and the second small belt wheel are equal, the diameters of the first large belt wheel and the second large belt wheel are equal, complexity of a control program of the first motor and the second motor is reduced, and reliability of control of the high bouncing leg mechanism is improved.
6. The one end that foot end and ground contact is the arc lamella form for this high spring leg mechanism makes four-legged obstacle crossing robot realize the forward tilting action when assembling on four-legged obstacle crossing robot, is favorable to realizing that four-legged obstacle crossing robot is the obstacle crossing, also can make four-legged obstacle crossing robot realize the backward tilting action, avoids falling behind four-legged obstacle crossing robot jumps.
7. The sole and the middle rubber layer are arranged in a laminated mode, so that the sole rigidity is far greater than the middle rubber layer rigidity, and the high-bouncing leg mechanism has good shock absorption performance and good bearing capacity through the layered design of the rigidity.
Drawings
FIG. 1 is a schematic structural view of a high bouncing leg mechanism of a four-foot obstacle surmounting robot of the present invention;
FIG. 2 is a schematic view of the mounting structure of the energy storage spring of FIG. 1;
FIG. 3 is a schematic view of the power take-off shaft side of the coaxial drive mechanism of FIG. 1;
FIG. 4 is a schematic view of the structure of the pulley holder of the coaxial drive mechanism of FIG. 1;
FIG. 5 is an exploded view of the coaxial drive mechanism of FIG. 1 (with parts omitted);
the device comprises a 1-foot end, a 2-right-end shank connecting rod, a 2A-rod section, a 2B-foot end connecting rod, a 200-inner shaft, a 201-outer shaft, a 202-hip check ring, a 203-waist and leg connecting piece, a 204-first large belt wheel, a 205-second large belt wheel, a 206-first small belt wheel, a 207-second small belt wheel, a 208-first motor connecting piece, a 209-second motor connecting piece, a 210-first driving motor, a 211-second driving motor, a 212-belt wheel fixing frame, a 213-first synchronous belt, a 214-second synchronous belt, a 3-left-end shank connecting rod, a 4-left-end thigh connecting rod, a 5-right-end thigh connecting rod, a 6-energy storage spring, a 7-coaxial driving mechanism, an 8-energy storage spring fixing piece and a 9-rubber plug.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
Referring to fig. 1 to 5, the present embodiment provides a high bouncing leg mechanism of a four-foot obstacle surmounting robot, which comprises a left end calf link 3, a left end thigh link 4, a right end calf link 2, a right end thigh link 5, a foot end 1, a coaxial driving mechanism 8 and an energy storage spring 6, wherein:
one end of the left lower leg connecting rod 3 is hinged with one end of the left thigh connecting rod 4; one end of the right-end shank link 2 is hinged with one end of the right-end thigh link 5; the other end of the left-end shank connecting rod 3 is hinged with the other end of the right-end shank connecting rod 2; the other end of the left thigh connecting rod 4 is hinged with the other end of the right thigh connecting rod 5 to form a quadrilateral structure;
one end of the right-end shank connecting rod 2 hinged with the left-end shank connecting rod 3 is also fixed with one end of the foot end 1, and the other end of the foot end 1 is contacted with the ground; the coaxial driving mechanism 7 is provided with two power output shafts which are coaxially arranged and fixedly connected with the left thigh connecting rod 4 and the right thigh connecting rod 5 respectively, and the rotation axis of the hinging part of the left thigh connecting rod 4 and the right thigh connecting rod 5 is collinear with the axis of the power output shafts;
two ends of the energy storage spring 6 are respectively installed between two horizontal vertexes of the quadrilateral structure, and in the embodiment, two sides of a plane where the quadrilateral structure is located are respectively provided with one energy storage spring 6, the two energy storage springs 6 are symmetrically arranged, one end of the energy storage spring 6 is fixedly connected to an energy storage spring fixing piece 8 arranged at the hinging position of the left-end shank connecting rod 3 and the left-end thigh connecting rod 4 through a rubber plug 9, and the other end of the energy storage spring 6 is fixedly connected to another energy storage spring fixing piece 8 arranged at the hinging position of the right-end shank connecting rod 2 and the right-end thigh connecting rod 5 through another rubber plug 9. When the quadrangular structure is deformed, the energy storage spring 6 can store/release energy, and referring to fig. 1, when the angle between the left thigh link 4 and the right thigh link 5 becomes large, the energy storage spring 6 is stretched to store energy, and when the angle between the left thigh link 4 and the right thigh link 5 becomes small, the energy storage spring 6 shortens to release energy.
In this way, before jumping, the coaxial driving mechanism 7 can drive the left thigh connecting rod 4 and the right thigh connecting rod 5 to rotate towards the direction of increasing the included angle (the included angle between the left thigh connecting rod 4 and the right thigh connecting rod 5 is increased) through two coaxially arranged power output shafts, so that the quadrilateral deformation structure is deformed, the energy storage spring 6 is further extended, and the energy storage of the foot robot before jumping is realized; when the foot robot jumps, the coaxial driving mechanism 7 can drive the left thigh connecting rod 4 and the right thigh connecting rod 5 to rotate towards the direction of reducing the included angle (the included angle between the left thigh connecting rod 4 and the right thigh connecting rod 5 is reduced) through two coaxially arranged power output shafts, so that the quadrilateral structure deforms towards the opposite direction, meanwhile, the energy storage spring 6 is shortened, the energy storage spring 6 releases energy, and finally, the high-performance obstacle surmounting of the foot robot is realized; and the coaxial driving mechanism 7 is provided with two power output shafts which are coaxially arranged, so that the high-bouncing leg mechanism is simpler and more compact, the weight of the high-bouncing leg mechanism is reduced, and the jumping of the foot-type robot is facilitated. In addition, the rubber plug 9 is arranged at the fixedly connected part of the energy storage spring 6 and the quadrilateral structure, so that the shock absorption effect is achieved, the energy loss is reduced, and the bouncing capability of the high bouncing leg mechanism is improved.
Referring to fig. 1, the foot end 1 includes a sole, an intermediate rubber layer, and an upper connecting rod, wherein the sole and the intermediate rubber layer are laminated to form an arc structure, the sole contacts with the ground, one end of the upper connecting rod is fixedly connected with the intermediate rubber layer, and the other end is fixedly connected with the right shank connecting rod 2. Therefore, one end of the foot end 1, which is in contact with the ground, is arc-shaped, so that the four-foot obstacle crossing robot can realize forward tilting action when the high-bouncing leg mechanism is assembled on the four-foot obstacle crossing robot, the four-foot obstacle crossing robot is beneficial to realizing obstacle crossing, the four-foot obstacle crossing robot can also realize backward tilting action, and the four-foot obstacle crossing robot is prevented from falling after jumping.
More specifically, as shown in fig. 1, the right-end shank link 2 includes two sections, wherein for convenience of explanation, one section as one side of a quadrangle is referred to as a pole section 2A, the other section is referred to as a foot-end connecting section 2B, the pole section 2A and the foot-end connecting section 2B form an obtuse angle of 144 ° at the junction, the pole section 2A is one side of the quadrangle structure, and the foot-end connecting section 2B is connected with the upper link in the foot end 1; the 144 ° obtuse opening of the left shank link 2 faces away from the left shank link 3.
Moreover, a threaded hole is formed at the joint of the rod section 2A and the foot end connecting section 2B, a through hole is formed at the hinged end of the left end shank connecting rod 3 and the right end shank connecting rod 2, three bearings are coaxially embedded in the through hole, after the through hole of the left end shank connecting rod 3 is centered with the threaded hole of the right end shank connecting rod 2, a stopper screw penetrates through the three bearings in the through hole of the left end shank connecting rod 3 and then is in threaded connection with the threaded hole of the right end shank connecting rod 2 through a threaded part, wherein the polish rod part of the stopper screw is positioned inside the bearings and serves as a rotating shaft of the hinged part, and a revolute pair between the left end shank connecting rod 3 and the right end shank connecting rod 2 is a first revolute pair (the principle that the corresponding hinged part is formed by the stopper screw is the same as the above). The end of the left end shank connecting rod 3, which is hinged with the left end thigh connecting rod 4, is provided with a threaded hole, correspondingly, the end of the left end shank connecting rod 4, which is hinged with the left end shank connecting rod 3, is provided with a through hole, and three bearings are coaxially embedded in the through hole, so that a plugging screw passes through the three bearings in the through hole of the left end thigh connecting rod 4 and is in threaded connection with the threaded hole of the left end shank connecting rod 3, and a second revolute pair is formed. The end of the right-end shank connecting rod 2, which is hinged with the right-end thigh connecting rod 5, is provided with a through hole, three bearings are coaxially embedded in the through hole, correspondingly, the end of the right-end shank connecting rod 5, which is hinged with the right-end shank connecting rod 2, is provided with a threaded hole, so that a plugging screw passes through the three bearings in the through hole of the right-end shank connecting rod 2 and is in threaded connection with the threaded hole of the right-end shank connecting rod 5, and a third revolute pair is formed.
The coaxial driving mechanism 7 includes a first driving motor 210, a second driving motor 211, a first small pulley 206, a second small pulley 205, an inner shaft 200, an outer shaft 201, a first large pulley 204, and a second large pulley 205, where the first driving motor 210, the first small pulley 206, the first large pulley 204, and the outer shaft 201 form a driving mechanism of the right thigh link 5, and the second driving motor 211, the second small pulley 205, the second large pulley 205, and the inner shaft 200 form a driving mechanism of the left thigh link 4, and specific connection relationships of parts are as follows:
the output end of the first driving motor 210 is fixedly connected with the first small belt pulley 206 through a first motor connecting piece 208, and the first small belt pulley 206 is connected with the first large belt pulley 204 through a first synchronous belt 213; the output end of the second driving motor 211 is fixedly connected with a second small belt pulley 207 through a second connecting piece 209, and the second small belt pulley 207 is connected with a second large belt pulley 205 through a second synchronous belt 214; the first large pulley 204 and the second large pulley 205 are coaxially disposed.
The inner shaft 200 is coaxially sleeved in the outer shaft 201 through a bearing to form two coaxially arranged power output shafts; one end of the outer shaft 201 is coaxially fixedly connected with the first large belt wheel 204, and the other end of the outer shaft is fixedly connected with the right thigh connecting rod 5 and is used for driving the right thigh connecting rod 5; one end of the inner shaft 200 is coaxially fixed to the second large pulley 205, and the other end is fixed to the left thigh link 4 for driving the left thigh link 4. The inner shaft 200 is fixedly connected with the left thigh connecting rod 4 in the following manner: the end of the left thigh connecting rod 4 hinged to the right retreating connecting rod 5 is provided with a through hole perpendicular to the plane where the quadrilateral structure is located and a bolt hole perpendicular to the through hole, and after the inner shaft 200 penetrates into the through hole, the bolt penetrates through the bolt hole to fix the left thigh connecting rod 4 to the inner shaft 200 (the end of the inner shaft 200 fixed to the left thigh connecting rod 4 is also provided with the bolt hole). The right thigh connecting rod 5 is hinged with the left thigh connecting rod 4 to form a fourth revolute pair.
The coaxial driving mechanism 7 ensures the compactness of the structure on the basis of respectively controlling the movement of the left thigh connecting rod 4 and the right thigh connecting rod 5 through two motors, is beneficial to reducing the weight of the foot-type robot and further improves the obstacle crossing capability of the foot-type robot. Also in this embodiment, the diameters of the first small pulley 206 and the second small pulley 207 are equal, and the diameters of the first large pulley 204 and the second large pulley 205 are equal, which is beneficial to reducing the complexity of the control procedure of the first driving motor 210 and the second electric driving motor 211 and improving the reliability of the foot robot.
In addition, the coaxial driving mechanism 7 further includes a belt wheel fixing frame 212 and a waist-leg connecting piece 203, which can be fixed to the waist of the quadruped obstacle surmounting robot, wherein the belt wheel fixing frame 212 is of an equilateral triangle structure, one corner of the equilateral triangle structure is rotationally connected with the first large belt wheel 204 through a bearing, and the other two corners of the equilateral triangle structure are respectively rotationally connected with the first small belt wheel 206 and the second small belt wheel 207 through bearings. The waist-leg connector 203 is coaxially sleeved outside the outer shaft 201 through a bearing. A hip check ring 202 is arranged between the waist-leg connecting piece 203 and the right thigh connecting rod 5, and the hip check ring 202 is coaxially sleeved on the outer shaft 201 for positioning the right thigh connecting rod 5.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The high bouncing leg mechanism for the foot robot is characterized by comprising a left-end shank connecting rod, a left-end thigh connecting rod, a right-end shank connecting rod, a right-end thigh connecting rod, a foot end, a coaxial driving mechanism and an energy storage spring;
one end of the left-end shank connecting rod is hinged with one end of the left-end thigh connecting rod; one end of the right-end shank connecting rod is hinged with one end of the right-end thigh connecting rod; the other end of the left-end shank connecting rod is hinged with the other end of the right-end shank connecting rod; the other end of the left thigh connecting rod is hinged with the other end of the right thigh connecting rod to form a quadrilateral structure;
one end of the foot end is fixed at one end of the right-end shank connecting rod hinged with the left-end shank connecting rod, and the other end of the foot end can be contacted with the ground;
the coaxial driving mechanism is provided with two coaxially arranged power output shafts, the two coaxially arranged power output shafts are fixedly connected with the left thigh connecting rod and the right thigh connecting rod respectively, and the rotation axis of the hinging part of the left thigh connecting rod and the right thigh connecting rod is collinear with the axis of the power output shaft;
the two ends of the energy storage spring are respectively arranged between two horizontal vertexes of the quadrilateral structure, and when the quadrilateral structure is deformed, the energy storage spring can store/release energy.
2. The high bouncing leg mechanism for a foot robot as set forth in claim 1, wherein the portions where both ends of the energy storage spring are fixed to the parallelogram structure are provided with rubber.
3. The high jump leg mechanism for a foot robot according to claim 1, wherein at least two of the energy storage springs are symmetrically disposed on both sides of the plane of the parallelogram structure.
4. The high jump leg mechanism for a foot robot of claim 1, wherein the coaxial drive mechanism comprises a first drive motor, a second drive motor, a first small pulley, a second small pulley, an inner shaft, an outer shaft, a first large pulley, and a second large pulley;
the output end of the first driving motor is fixedly connected with the first small belt pulley, and the first small belt pulley is connected with the first large belt pulley through a belt;
the output end of the second driving motor is fixedly connected with the second small belt pulley, and the second small belt pulley is connected with the second large belt pulley through a belt;
the inner shaft is coaxially sleeved in the outer shaft through a bearing to form the power output shaft; one end of the outer shaft is coaxially fixedly connected with the first large belt wheel, and the other end of the outer shaft is fixedly connected with the right thigh connecting rod; one end of the inner shaft is coaxially fixedly connected with the second large belt wheel, and the other end of the inner shaft is fixedly connected with the left thigh connecting rod.
5. The high jump leg mechanism for a foot robot according to claim 4, wherein the first small pulley and the second small pulley have equal diameters;
the first large belt pulley and the second large belt pulley have the same diameter.
6. The high jump leg mechanism for a foot robot according to claim 4, further comprising a wheeled mount capable of being secured to the waist of the four-foot obstacle-surmounting robot;
the belt pulley fixing frame is of an equilateral triangle structure, one corner of the equilateral triangle structure is rotationally connected with the first large belt pulley through a bearing, and the other two parts of the equilateral triangle structure are rotationally connected with the first small belt pulley and the second small belt pulley through bearings respectively.
7. The high jump leg mechanism for a foot robot according to claim 4, further comprising a waist-leg connector connectable with the waist of the robot;
the waist and leg connecting piece is coaxially sleeved outside the outer shaft through a bearing.
8. The high jump leg mechanism for a foot robot according to any one of claims 1 to 7, wherein the foot end is in the shape of an arc lobe at the end contacting the ground.
9. The high jump leg mechanism for a foot robot according to any one of claims 1-7, wherein the foot end comprises a sole, an intermediate rubber layer and an upper link;
the soles and the middle rubber layer are arranged in a lamination way, and the soles are arc-shaped;
one end of the upper connecting piece is fixedly connected with the middle rubber layer, and the other end of the upper connecting piece is fixed at one end of the right-end shank connecting rod, which is hinged with the left-end shank connecting rod.
10. The high jump leg mechanism for a foot robot according to any one of claims 1 to 7, wherein the hinge of the parallelogram structure forms a revolute pair by a tucking screw and a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310734505.XA CN116588222A (en) | 2023-06-20 | 2023-06-20 | High bouncing leg mechanism for foot type robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310734505.XA CN116588222A (en) | 2023-06-20 | 2023-06-20 | High bouncing leg mechanism for foot type robot |
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| Publication Number | Publication Date |
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| CN116588222A true CN116588222A (en) | 2023-08-15 |
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| CN202310734505.XA Pending CN116588222A (en) | 2023-06-20 | 2023-06-20 | High bouncing leg mechanism for foot type robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117818797A (en) * | 2024-03-04 | 2024-04-05 | 南京信息工程大学 | Series-parallel mechanical leg mechanism with energy storage bouncing function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117818797A (en) * | 2024-03-04 | 2024-04-05 | 南京信息工程大学 | Series-parallel mechanical leg mechanism with energy storage bouncing function |
| CN117818797B (en) * | 2024-03-04 | 2024-05-07 | 南京信息工程大学 | Series-parallel mechanical leg mechanism with energy storage bouncing function |
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