CN202827835U - Robot mechanism capable of jumping with one leg - Google Patents

Robot mechanism capable of jumping with one leg Download PDF

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Publication number
CN202827835U
CN202827835U CN 201220505549 CN201220505549U CN202827835U CN 202827835 U CN202827835 U CN 202827835U CN 201220505549 CN201220505549 CN 201220505549 CN 201220505549 U CN201220505549 U CN 201220505549U CN 202827835 U CN202827835 U CN 202827835U
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CN
China
Prior art keywords
hip
knee
bearing
thigh
robot
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Withdrawn - After Issue
Application number
CN 201220505549
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Chinese (zh)
Inventor
朱秋国
陈杰
熊蓉
褚健
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN 201220505549 priority Critical patent/CN202827835U/en
Application granted granted Critical
Publication of CN202827835U publication Critical patent/CN202827835U/en
Withdrawn - After Issue legal-status Critical Current
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Abstract

The utility model discloses a robot mechanism capable of jumping with one leg. The robot mechanism capable of jumping with one leg is composed of a body, a thigh and a lower leg. The body is connected with the thigh through a hip joint, and the thigh is connected with the lower leg through a knee-joint. A first harmonic reducer and a second harmonic reducer of the hip joint and the knee-joint are both arranged on a hip. Drive motors are all arranged close to the hip. A robot is capable of being close to ideal inverted pendulum model to reduce control difficulty. The knee-joint is transmitted through a thigh steel wire tope. Adjustment of tension degree of the steel wire rope is achieved due to the fact that the tight steel wire rope adopts a slope mechanism and a sliding block adjusting mechanism. A spring is compressed when the knee-joint bends, and gravity is transformed into potential energy of the spring to save energy for stretching movement. A force sensor is arranged at a pelma of the robot and used for sensing information of touching ground. A rubber blanket of the pelma is capable of cushioning impact of touching the ground. Due to the fact that center of the gravity is reasonably distributed and a spring energy storage mechanism is in series, the robot mechanism capable of jumping with one leg has the advantages of being conducive to improving flexibility, plasticity and efficiency of movement of the robot.

Description

A kind of single-leg jumping robot mechanism
Technical field
The utility model belongs to the Robotics field, relates to a kind of single-leg jumping robot mechanism.
Background technology
In the last few years, Robotics had obtained developing rapidly, and more and more tightr with daily life.People wish that robot can be as the mankind itself, have locomitivity, the good interaction capabilities of quick dexterity and supply with efficiently power.Particularly along with the developing rapidly of anthropomorphic robot, service robot, people have proposed requirements at the higher level to quick, the flexible and efficient locomitivity of robot.
At present, the most of legged mobile robot of China can only be realized similar walking or the action of creeping, and the speed of walking or creeping has been subject to the constraint of the drivings such as motor.In the last few years, people begin to pay close attention to hopping robot's research, and the energy design by the joint, so that robot is by the impact that absorbs the outside or the Action of Gravity Field that utilizes self, change into the output energy in joint, this mechanism is applicable to single-leg jumping robot, thereby realizes quick, the dexterous and efficient motion of robot.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, a kind of single-leg jumping robot mechanism is provided, mode by serial spring, improve the output energy in joint, mode by rope traction, through the reasonable distribution of weight, make the robot center of gravity near hip joint, to improve the feasibility of robot skip motion.
The purpose of this utility model is achieved through the following technical solutions: a kind of single-leg jumping robot mechanism, formed by health, thigh and shank three parts, and be connected with knee joint by hip joint respectively between health and thigh, thigh and the shank.The body part of single robot leg has comprised the compositions such as right body side plate, left side of body plate, health flat board, union lever, actuator, driver block and hip motor, hip driving wheel, hip Timing Belt, the right body side plate is connected the dull and stereotyped connection of health with the left side of body plate, actuator is installed on the driver block, and be fixed on the health flat board, union lever is by health clutch shaft bearing and health second bearings of right body side plate and left side of body plate, the hip motor of hip is installed on the right body side plate, carries out transmission of power by the hip driving wheel through the hip Timing Belt; Leg portion is comprised of thigh right side board, thigh left side board, thigh union lever, knee motor, knee driving wheel and knee Timing Belt etc., the thigh right side board is connected the thigh union lever and connects with the thigh left side board, the knee motor carries out transmission of power by knee driving wheel and knee Timing Belt; Lower leg portion is comprised of little leg support, shank, power sensor, vola rubber-sole etc., and little leg support is connected with shank with the knee power wheel, and medial leg is equipped with spring, and strong sensor and vola rubber pad are installed in the bottom; Hip joint is partly realized the motion of hip and knee, hip joint first harmonic retarder is installed on the right body side plate, hip the first main shaft is inputted by the hip flower wheel, drive the harmonic speed reducer motion through the first flat key, hip the first main shaft two ends are by hip clutch shaft bearing and hip the second bearings, and by the first sleeve axial limiting, the hip clutch shaft bearing is installed in hip the first end cap, hip the second bearing one end is equipped with the clutch shaft bearing cover, the harmonic speed reducer outside is equipped with the first backup bearing through the clutch shaft bearing sleeve, the first backup bearing is embedded in the thigh right side board, and harmonic speed reducer transmits motion to the hip output flange, drives the motion of leg portion; Hip joint second harmonic retarder is installed on the left side of body plate, hip the second main shaft is inputted by the knee flower wheel, drive the harmonic speed reducer motion through the second flat key, hip the second main shaft two ends are by hip the 3rd bearing and hip the 4th bearings, and by the second sleeve axial limiting, hip the 3rd bearing is installed in hip the second end cap, hip the 4th bearing one end is equipped with the second bearing carrier ring, the harmonic speed reducer outside is equipped with the second backup bearing through the second bearing sleeve, the second backup bearing is embedded in the thigh left side board, harmonic speed reducer transmits motion to the hip power wheel, drive motion of knee joint through the thigh steel rope, fastener head is equipped with respectively at the two ends of steel rope, one end is installed on the inclined-plane, and the other end is installed on the inclined-plane of slide block, and screw is installed on the slide block, whole locking bed is fixed by screws on the hip power wheel, between hip power wheel and the hip output flange midship mounting bearing is installed; The knee joint part is by the knee main shaft, the knee power wheel, the compositions such as knee auxiliary wheel, knee main shaft two ends are equipped with knee clutch shaft bearing and knee the second bearing, the knee clutch shaft bearing is installed in the knee bearing flange, the knee bearing flange is connected with the thigh right side board, knee the second bearing is installed in the thigh left side board, the rotational angle of knee main shaft detects by the potentiometer that is installed on the potentiometer seat, the knee power wheel is installed on the knee main shaft, the knee power wheel drives the shank frame by the shank steel rope and rotates, be connected by screw between knee power wheel and the little leg support, the knee auxiliary wheel is installed on the knee main shaft by the midship mounting bearing, the midship mounting bearing is by knee sleeve and flange axial limiting, the shank steel rope is installed on the knee auxiliary wheel, the two ends of shank steel rope are separately installed with fastener head, one end is installed on the knee auxiliary wheel, the knee auxiliary wheel is undertaken spacing by the block and the rubber cap that are installed on the thigh pipe link, little leg support and shank link together, spring and spring perch are installed in the shank, and the other end of steel rope is fixed on the bottom of spring perch.
The beneficial effects of the utility model are, the single-leg jumping robot mechanism of the utility model design, one end of union lever is connected with the connecting rod of constrained robot's plane motion, robot is jumped around circumferential plane, the lever that the other end can make things convenient for the commissioning staff to do and lift robot uses, convenient elemental height to a jump of robot, the first harmonic retarder of hip joint, the second harmonic retarder, hip motor and knee motor etc. can make the center of gravity of robot as far as possible near hip joint, make physical model more close to desirable inverted pendulum model, be conducive to improve the robustness of control, kneed Double Motor Control, with the kneed output torque of Effective Raise robot, jump provides energy compensating to robot; Steel rope has adopted the inclined-plane catch gear, this mechanism is conducive to steel rope is advanced heart pretension, movable sliding block will help to regulate the tensioning degree of steel rope, the steel rope of shank passes through serial spring, so that robot is at the effect compression knee joint that lands and rely on weight constantly, by the block compressing knee auxiliary wheel is rotated, and through steel rope spring is compressed, the effective potential energy that impact energy must be converted into spring of the method for this dependence self gravitation, for kneed stretching routine has been laid in energy, improved the efficient of motion, the rubber cap of block has reduced the concussion damage between knee auxiliary wheel and the block, has promoted the reliability of robot.
Description of drawings
Fig. 1 is the block diagram of single-leg jumping robot;
Fig. 2 is analysing and observe of hip joint;
Fig. 3 is kneed cutaway view;
Fig. 4 is the block diagram of steel rope locking mechanism;
Fig. 5 is the fixing block diagram of steel cord ends;
Fig. 6 is the cutaway view of knee joint spring energy agency;
Among the figure, health flat board 1, drive plate 2, actuator 3, right body side plate 4, health clutch shaft bearing 5, pipe link 6, hip driving wheel 7, hip Timing Belt 8, hip flower wheel 9, hip output flange 10, left side of body plate 11, health the second bearing 12, hip motor 13, knee Timing Belt 14, knee driving wheel 15, knee motor 16, thigh right side board 17, thigh steel rope 18, thigh pipe link 19, thigh left side board 20, knee bearing flange 21, knee main shaft 22, potentiometer 23, knee power wheel 24, knee auxiliary wheel 25, shank steel rope 26, shank frame 27, shank 28, power sensor 29, vola rubber 30, hip the second main shaft 31, hip the 3rd bearing 32, the second end cap 33, the second flat key 34, hip power wheel 35, midship mounting bearing 36, the first end cap 37, the first flat key 38, hip the first main shaft 39, hip clutch shaft bearing 40, first harmonic retarder 41, the first backup bearing 42, the first sleeve 43, hip the second bearing 44, clutch shaft bearing cover 45, hip the 4th bearing 46, the second bearing carrier ring 47, the second sleeve 48, the second bearing sleeve 49, the second backup bearing 50, second harmonic retarder 51, clutch shaft bearing sleeve 52, knee clutch shaft bearing 53, knee the second bearing 54, potentiometer flange 55, screw 56, knee sleeve 57, flange 58, knee middle bearing 59, locking bed 60, screw 61, inclined-plane 62, slide block 63, set screw 64, fastener head 65, block 66, rubber cap 67, spring 68, spring perch 69.
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing.
As shown in the figure, a kind of single-leg jumping robot of the utility model mechanism is comprised of health, thigh and shank three parts, is connected by hip joint between health and the thigh, is connected by knee joint between thigh and the shank.
The body part of single robot leg has comprised right body side plate 4, left side of body plate 11, health flat board 1, union lever 6, actuator 3, driver block 2, and hip motor 13, hip driving wheel 7, hip Timing Belt 8 compositions such as grade, right body side plate 4 is connected with the left side of body plate by dull and stereotyped 1 connection of health, actuator 3 is installed on the driver block 4, and be fixed on the health flat board 1, union lever 6 is supported by health clutch shaft bearing 5 and health second bearing 12 of right body side plate 4 and left side of body plate 11, one end of union lever 6 can be connected with the connecting rod of constrained robot's plane motion, robot can be jumped around circumferential plane, the lever that the other end can make things convenient for the commissioning staff to do and lift robot uses, convenient elemental height to a jump of robot; The hip motor 13 of hip is installed on the right body side plate 4, carry out transmission of power by hip driving wheel 7 through hip Timing Belt 8, the first harmonic retarder 41 of hip joint, second harmonic retarder 51, hip motor 13 and knee motor 16 etc. can make the center of gravity of robot as far as possible near hip joint, make physical model more close to desirable inverted pendulum model, be conducive to improve the robustness of control, simultaneously, kneed Double Motor Control, with the kneed output torque of Effective Raise robot, jump provides energy compensating to robot; Leg portion is comprised of thigh right side board 17, thigh left side board 20, thigh union lever 19, knee motor 16, knee driving wheel 15 and knee Timing Belt 14 etc., thigh right side board 17 is connected with the thigh left side board by 19 connections of thigh union lever, and knee motor 16 carries out transmission of power by knee driving wheel 15 and knee Timing Belt 14; Lower leg portion is comprised of shank frame 27, shank 28, power sensor 29, vola rubber-sole 30 etc., and shank frame 27 is connected with shank with the knee power wheel and is connected, and shank 28 installed inside have spring 68, and strong sensor 29 and vola rubber pad 30 are installed in the bottom; Hip joint is partly realized the motion of hip and knee, hip joint first harmonic retarder 41 is installed on the right body side plate 4, hip the first main shaft 39 is by 9 inputs of hip flower wheel, drive harmonic speed reducer 41 motions through the first flat key 38, hip the first main shaft 39 two ends are supported by hip clutch shaft bearing 40 and hip the second bearing 44, and by the first sleeve 43 axial limitings, hip clutch shaft bearing 40 is installed in hip the first end cap 37, hip the second bearing 44 1 ends are equipped with clutch shaft bearing cover 45, harmonic speed reducer 41 outsides are equipped with the first backup bearing 42 through clutch shaft bearing sleeve 52, the first backup bearing 42 is embedded in the thigh right side board 17, harmonic speed reducer 41 transmits motion to hip output flange 10, to drive the motion of leg portion; Hip joint second harmonic retarder 51 is installed on the left side of body plate 20, hip the second main shaft 31 is by 30 inputs of knee flower wheel, drive harmonic speed reducer 51 motions through the second flat key 34, hip the second main shaft 31 two ends are supported by hip the 3rd bearing 32 and hip the 4th bearing 46, and by the second sleeve 48 axial limitings, hip the 3rd bearing 32 is installed in hip the second end cap 33, hip the 4th bearing 46 1 ends are equipped with the second bearing carrier ring 47, harmonic speed reducer 51 outsides the second bearing sleeve 49 is equipped with the second backup bearing 50, the second backup bearing 50 is embedded in the thigh left side board 20, harmonic speed reducer 51 transmits motion to hip power wheel 35, between hip power wheel 35 and the hip output flange 10 midship mounting bearing 36 is installed, hip power wheel 35 drives motion of knee joint through thigh steel rope 18, steel rope 18, fastener head 65 is equipped with respectively at 26 two ends, one end is installed on the inclined-plane 62, the other end is installed on the inclined-plane 62 of slide block 63, screw 64 is installed on the slide block 63, whole locking bed 60 is fixed on the hip power wheel 35 by screw 61, thigh steel rope 18 has adopted the inclined-plane catch gear, this mechanism is conducive to thigh steel rope 18 is advanced heart pretension, and movable sliding block 63 will help to regulate the tensioning degree of thigh steel rope 18; The knee joint part is by knee main shaft 22, knee power wheel 24, knee auxiliary wheel 25 compositions such as grade, knee main shaft 22 two ends are equipped with knee clutch shaft bearing 53 and knee the second bearing 54, knee clutch shaft bearing 53 is installed in the knee bearing flange 21, knee bearing flange 21 is connected with thigh right side board 17, knee the second bearing 20 is installed in the thigh left side board 20, the rotational angle of knee main shaft 22 detects by the potentiometer 23 that is installed on the potentiometer seat 55, knee power wheel 24 is installed on the knee main shaft 22, knee power wheel 24 drives shank frame 27 by shank steel rope 26 and rotates, be connected by screw 56 between knee power wheel 24 and the shank frame 27, knee auxiliary wheel 25 is installed on the knee main shaft 22 by midship mounting bearing 59, midship mounting bearing 59 is by knee sleeve 57 and flange 58 axial limitings, shank steel rope 26 is installed on the knee auxiliary wheel 25, the two ends of shank steel rope 26 are separately installed with fastener head 65, one end is installed on the knee auxiliary wheel 25, knee auxiliary wheel 25 is undertaken spacing by the block 66 and the rubber cap 67 that are installed on the thigh pipe link 19, shank frame 27 and shank 28 link together, spring 68 and spring perch 69 are installed in the shank 28, the other end of shank steel rope 26 is fixed on the bottom of spring perch 69, shank steel rope 26 is by serial spring 68, so that robot is at the effect compression knee joint that lands and rely on weight constantly, by block 66 compressings knee auxiliary wheel 25 is rotated, and compress through 26 pairs of springs 68 of shank steel rope, the effective potential energy that impact energy must be converted into spring 68 of the method for this dependence self gravitation, for kneed stretching routine has been laid in energy, improved the efficient of motion, the rubber cap 67 of block 66 has reduced the concussion damage between knee auxiliary wheel 25 and the block 66, has promoted the reliability of robot.

Claims (1)

1. a single-leg jumping robot mechanism is characterized in that, it is comprised of health, thigh and shank three parts, is connected with knee joint by hip joint respectively between health and thigh, thigh and the shank; Single robot leg right body side plate (4) is connected 11 with the left side of body plate) connect by health dull and stereotyped (1), actuator (3) is installed on the driver block (2), and is fixed on the health flat board (1); Union lever (6) is supported by the health clutch shaft bearing (5) of right body side plate (4) and health second bearing (12) of left side of body plate (11), the hip motor (13) of hip joint is installed on the right body side plate (4), carries out transmission of power by hip driving wheel (7) through hip Timing Belt (8); Thigh right side board (17) is connected 20 with the thigh left side board) connect by thigh union lever (19), knee motor (16) carries out transmission of power by knee driving wheel (15) and knee Timing Belt (14); Little leg support (27) is connected 28 with knee power wheel (24) with shank) be connected, shank (28) installed inside has spring (68), and strong sensor (29) and vola rubber pad (30) are installed in the bottom; Hip joint first harmonic retarder (41) is installed on the right body side plate (4), hip the first main shaft (39) is inputted by hip flower wheel (9), drive harmonic speed reducer (41) motion through the first flat key (38), hip the first main shaft (39) two ends are supported by hip clutch shaft bearing (40) and hip the second bearing (44), and by the first sleeve (43) axial limiting, hip clutch shaft bearing (40) is installed in hip the first end cap (37), hip the second bearing (44) one ends are equipped with clutch shaft bearing cover (45), harmonic speed reducer (41) outside is equipped with the first backup bearing (42) through clutch shaft bearing sleeve (52), the first backup bearing (42) is embedded in the thigh right side board (17), and harmonic speed reducer (41) transmits motion to hip output flange (10); Hip joint second harmonic retarder (51) is installed on the left side of body plate (20), hip the second main shaft (31) is inputted by knee flower wheel (30), drive harmonic speed reducer (51) motion through the second flat key (34), hip the second main shaft (31) two ends are supported by hip the 3rd bearing (32) and hip the 4th bearing (46), and by the second sleeve (47) axial limiting, hip the 3rd bearing (32) is installed in hip the second end cap (33), hip the 4th bearing (46) one ends are equipped with the second bearing carrier ring (47), harmonic speed reducer (51) outside is equipped with the second backup bearing (50) through the second bearing sleeve (49), the second backup bearing (50) is embedded in the thigh left side board (20), harmonic speed reducer (51) transmits motion to hip power wheel (35), drive motion of knee joint through thigh steel rope (18), fastener head (65) is equipped with respectively at the two ends of thigh steel rope (18), one end is installed on the inclined-plane (62), the other end is installed on the inclined-plane (62) of slide block (63), screw (64) is installed on the slide block (63), whole locking bed (60) is fixed on the hip power wheel (35) by screw (61), between hip power wheel (35) and the hip output flange (10) midship mounting bearing (36) is installed; Knee main shaft (22) two ends are equipped with knee clutch shaft bearing (53) and knee the second bearing (54), knee clutch shaft bearing (53) is installed in the knee bearing flange (21), knee bearing flange (21) is connected with thigh right side board (17), knee the second bearing (54) is installed in the thigh left side board (20), the rotational angle of knee main shaft (22) detects by the potentiometer (23) that is installed on the potentiometer seat (55), knee power wheel (24) is installed on the knee main shaft (22), knee power wheel (24) drives little leg support (27) by shank steel rope (26) and rotates, be connected by screw (56) between knee power wheel (24) and the little leg support (27), knee auxiliary wheel (25) is installed on the knee main shaft (22) by midship mounting bearing (59), midship mounting bearing (59) is by knee sleeve (57) and flange (58) axial limiting, shank steel rope (26) is installed on the knee auxiliary wheel (25), the two ends of shank steel rope (26) are separately installed with fastener head (65), one end is installed on the knee auxiliary wheel (25), knee auxiliary wheel (25) is undertaken spacing by the block (66) and the rubber cap (67) that are installed on the thigh pipe link (19), little leg support (27) and shank (28) link together, spring (68) and spring perch (69) are installed in the shank (28), and the other end of shank steel rope (26) is fixed on the bottom of spring perch (69).
CN 201220505549 2012-09-27 2012-09-27 Robot mechanism capable of jumping with one leg Withdrawn - After Issue CN202827835U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220505549 CN202827835U (en) 2012-09-27 2012-09-27 Robot mechanism capable of jumping with one leg

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220505549 CN202827835U (en) 2012-09-27 2012-09-27 Robot mechanism capable of jumping with one leg

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102874339A (en) * 2012-09-27 2013-01-16 浙江大学 Hopping robot mechanism
CN103264733A (en) * 2013-04-24 2013-08-28 浙江大学 Single-leg robot in-place jumping mechanism with power energy storage function
CN103738427A (en) * 2014-01-10 2014-04-23 桂林电子科技大学 Continuous hopping robot with single leg and adjustable overhead postures
CN104648507A (en) * 2015-01-22 2015-05-27 哈尔滨工程大学 Double-joint jumping robot
CN105059420A (en) * 2015-07-24 2015-11-18 榆林学院 Humanoid robot capable of moving with wheels, and working method
CN111152861A (en) * 2020-01-10 2020-05-15 燕山大学 Eight-connecting-rod structure jumping robot with adjustable aerial posture

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102874339A (en) * 2012-09-27 2013-01-16 浙江大学 Hopping robot mechanism
CN102874339B (en) * 2012-09-27 2015-01-14 浙江大学 Hopping robot mechanism
CN103264733A (en) * 2013-04-24 2013-08-28 浙江大学 Single-leg robot in-place jumping mechanism with power energy storage function
CN103264733B (en) * 2013-04-24 2015-08-19 浙江大学 A kind of single robot leg of power energy storage is caprioled mechanism
CN103738427A (en) * 2014-01-10 2014-04-23 桂林电子科技大学 Continuous hopping robot with single leg and adjustable overhead postures
CN103738427B (en) * 2014-01-10 2016-03-23 桂林电子科技大学 Aerial statue is adjustable single leg vertical jump in succession robot
CN104648507A (en) * 2015-01-22 2015-05-27 哈尔滨工程大学 Double-joint jumping robot
CN105059420A (en) * 2015-07-24 2015-11-18 榆林学院 Humanoid robot capable of moving with wheels, and working method
CN111152861A (en) * 2020-01-10 2020-05-15 燕山大学 Eight-connecting-rod structure jumping robot with adjustable aerial posture
CN111152861B (en) * 2020-01-10 2021-03-02 燕山大学 Eight-connecting-rod structure jumping robot with adjustable aerial posture

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Granted publication date: 20130327

Effective date of abandoning: 20150114

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