CN203381702U - One-legged jumping robot - Google Patents
One-legged jumping robot Download PDFInfo
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- CN203381702U CN203381702U CN201320424223.1U CN201320424223U CN203381702U CN 203381702 U CN203381702 U CN 203381702U CN 201320424223 U CN201320424223 U CN 201320424223U CN 203381702 U CN203381702 U CN 203381702U
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- thigh
- shank
- attaching parts
- spring
- health
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Abstract
The utility model discloses a one-legged jumping robot. The one-legged jumping robot comprises a body (1), a thigh (2) and a shank (3), wherein the body (1) and the thigh (2) are connected through a hip joint (4), and the thigh (2) and the shank (3) are connected through a knee joint (5). The one-legged jumping robot is driven by a direct-current motor, and a thigh driving motor (21) and a shank driving motor (22) are on one same shaft but not coaxial, so that the inertia of the robot in an advancing direction is reduced, and the realized driving force is reduced; and secondly, the thigh (2) of the one-legged jumping robot transfers angles to an angle sensor (9) installed on the body (1) in a meshing ratio of 50:40, so that 1.25-time mechanical magnification of the micro angles is realized, and the accuracy of angle control is improved.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to a kind of single-leg jumping robot.
Background technology
Single-leg jumping robot is mainly used to research and the verification platform as spring mechanism.Various physical constructions are all arranged both at home and abroad, wherein there are hydraulic-driven, hydraulic pressure and rope to combine the type of drive such as driving, but adopt hydraulically powered robot, complex structure, high expensive, research for generality spring mechanism is not calculated very much, and the robot that rope drives is due to needs rotating bi-directional drive, required drive source quantity is double on the one hand, makes on the other hand the robot architecture very complicated.
The utility model content
The purpose of this utility model is to overcome the problems referred to above that prior art exists, provide a kind of physical construction simply, easily control, be convenient to the single-leg jumping robot that experiment is carried out.
For solving the problems of the technologies described above, the utility model by the following technical solutions:
A kind of single-leg jumping robot, comprise health, thigh and shank three parts, between health and thigh, by hip joint, is connected, and between thigh and shank, by knee joint, is connected, and it is characterized in that:
Health comprises two blocks of bodily protection plates, body-support plate and health drive motor, bodily protection plate and body-support plate are connected to a support, the health drive motor is positioned at described support, the afterbody of health drive motor is equipped with the motor code-disc, the front end of health drive motor is equipped with reductor, the output shaft of reductor is connected with engaging gear by gear coupling, engaging gear and the engaged gear identical with the described engaging gear transmitting ratio engagement with 1:1, engaged gear is connected with the health turning cylinder with the gear coupling identical with engaging gear, the health turning cylinder, health revolute pair bearing and hip joint revolute pair bearing form the health revolute pair, hip joint revolute pair bearing is fixedly connected with the branch to hip joint fagging,
Hip joint comprises the thigh drive motor, the shank drive motor, hip joint thigh attaching parts, hip joint sprocket wheel and hip joint revolute pair bearing, the installation site of thigh drive motor and shank drive motor coaxially but not coaxial, the afterbody of two drive motor all is equipped with the motor code-disc, reductor all is equipped with in front portion, the output shaft of reductor is respectively by thigh axle drive shaft taper pin, shank axle drive shaft taper pin and thigh axle drive shaft, the shank axle drive shaft is fixedly connected with, the thigh axle drive shaft, the shank axle drive shaft is fixed on the axle drive shaft support by screw, the thigh axle drive shaft, shank axle drive shaft two ends are respectively by thigh revolute pair bearing, shank revolute pair bearing, motor bearings and thigh revolute pair bearing bearing, shank revolute pair bearing bearing, the motor bearings bearing forms revolute pair, hip joint thigh attaching parts is fixed on the thigh axle drive shaft by tack general flat key and circlip, the hip joint sprocket wheel is fixed on the shank axle drive shaft by tack general flat key and circlip,
Knee joint comprises knee joint thigh attaching parts, knee joint shank attaching parts and knee joint turning cylinder, knee joint shank attaching parts by tack general flat key and screw be connected on the knee joint turning cylinder, knee joint thigh attaching parts part is connected on the knee joint turning cylinder and forms revolute pair by the knee joint bearing, the knee joint turning cylinder is fixedly connected with the knee joint sprocket wheel by tack general flat key, circlip, and the knee joint sprocket wheel is connected by chain with the hip joint sprocket wheel;
Thigh is comprised of an aluminum pipe, and the two ends of aluminum pipe are connected with knee joint thigh attaching parts, hip joint thigh attaching parts respectively by screw, add Japanese Datong District spring in hip joint thigh attaching parts; The end that aluminum pipe connects hip joint thigh attaching parts also is provided with the aluminium gear of 50 teeth, and the gear of 40 teeth that arrange on described aluminium gear and health meshes, the gear of the 40 teeth angular transducer that is connected with a joggle.
Shank comprises spring, titanium pipe and shank attaching parts, and the end of shank connects the toe of a rubber hemisphere, the upper end linking springs of toe, and the upper end of spring connects the titanium pipe by the shank attaching parts, and the titanium pipe is connected with knee joint shank attaching parts; The centre of spring and described toe is equipped with pressure sensor, and described pressure sensor outside is provided with the pressure sensor guard member.
Further, described single-leg jumping robot also comprises that spring prevents unstability guide groove, spring anti-unstability guide rod, linear bearing and round guide, the anti-unstability guide groove of described spring is connected with pressure sensor by bolt, the anti-unstability guide rod of described spring is positioned at spring inner, linear bearing is positioned at the anti-unstability guide rod of spring inside, round guide is positioned at linear bearing inside, and an end of round guide is connected by the anti-unstability guide groove of screw thread and spring, and the other end of round guide is the outside at linear bearing by bolt card; Spring prevents that unstability guide rod, linear bearing and shank attaching parts are connected by screw as a whole.
Further, described pressure sensor is not connected with the pressure sensor contact jaw by screw with the end that the anti-unstability guide groove of spring is connected, and the pressure sensor contact jaw is connected with the toe attaching parts by screw, and the toe attaching parts is connected with toe by screw.
Further, described single-leg jumping robot also comprises anti-lost of toe, and the end that toe is anti-lost is connected by screw and the anti-unstability guide groove of spring, and the other end inserts in the gap of pressure sensor contact jaw and the formation of toe attaching parts.
Further, described health drive motor, thigh drive motor and shank drive motor are all DC machine.
Compared with prior art, the beneficial effects of the utility model are as follows:
At first, single-leg jumping robot described in the utility model adopts DC machine health, thigh and shank to be driven, and reduces experimental cost;
Secondly, the thigh drive motor of single-leg jumping robot described in the utility model and the installation site of shank drive motor be not for coaxially coaxial, reduce to greatest extent the inertia of robot in working direction, reduced robot required propulsive effort when working direction is jumped;
Again, the thigh of single-leg jumping robot described in the utility model passes to than by angle the angular transducer be installed on health by the engagement of 50:40, realizes 1.25 times of mechan-amplifiers of minute angle, has improved the accuracy rate that angle is controlled;
Finally, the shank of single-leg jumping robot described in the utility model is indirectly to drive by sprocket wheel, pin after the angle of shank and thigh angle just can realize by the angle of only regulating thigh shank vertical pedal take-off, the control inconvenience of having avoided the angle synchronization regulation of thigh and calf to bring;
In addition, single-leg jumping robot described in the utility model, as research and the verification platform of spring mechanism, is convenient to set up system of axes, is easy to control motor, very favourable for carrying out of the loading of algorithm and experiment.
The accompanying drawing explanation
The structural representation that Fig. 1 is single-leg jumping robot of the present utility model;
The body structure schematic diagram that Fig. 2 is the utility model single-leg jumping robot;
The hip joint structural representation that Fig. 3 is the utility model single-leg jumping robot;
The knee joint structure schematic diagram that Fig. 4 is the utility model single-leg jumping robot;
The shank structural representation that Fig. 5 is the utility model single-leg jumping robot.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
As shown in Figure 1, the single-leg jumping robot in the present embodiment, comprise health 1, thigh 3 and shank 5 three parts, between health 1 and thigh 3, by hip joint 2, is connected, and between thigh 3 and shank 5, by knee joint 4, is connected.
As shown in Figure 2, health 1 comprises two blocks of bodily protection plates 11, body-support plate 12 and health drive motor 13, bodily protection plate 11 and body-support body 12 are connected to a support, health drive motor 13 is positioned at described support, the afterbody of health drive motor 13 is equipped with motor code-disc 31, the front end of health drive motor 13 is equipped with reductor 132, the output shaft 133 of reductor 132 is connected with engaging gear 15 by gear coupling 14, engaging gear 15 and the engaged gear 16 identical with engaging gear 15 are with the transmitting ratio engagement of 1:1, engaged gear 16 is connected with health turning cylinder 18 with the gear coupling 17 identical with engaging gear 15, health turning cylinder 18, health revolute pair bearing 19 forms the health revolute pair with hip joint revolute pair bearing 25, hip joint revolute pair bearing 25 is fixedly connected with the branch to hip joint fagging.
As shown in Figure 3, hip joint 2 comprises thigh drive motor 21, shank drive motor 22, hip joint thigh attaching parts 23, hip joint sprocket wheel 24 and hip joint revolute pair bearing 25, the installation site of thigh drive motor 21 and shank drive motor 22 coaxially but not coaxial, two drive motor 21, 22 afterbody all is equipped with motor code- disc 211, 221, reductor 212 all is equipped with in front portion, 222, reductor 212, 222 output shaft 213, 223 respectively by thigh axle drive shaft taper pin 214, shank axle drive shaft taper pin 224 and thigh axle drive shaft 26, shank axle drive shaft 27 is fixedly connected with, thigh axle drive shaft 26, shank axle drive shaft 27 is fixed on the axle drive shaft support by screw, thigh axle drive shaft 26, shank axle drive shaft 27 two ends are respectively by thigh revolute pair bearing 261, shank revolute pair bearing 271, motor bearings 215, 225 with thigh revolute pair bearing bearing, shank revolute pair bearing bearing 262, motor bearings bearing 216, 226 form revolute pair, hip joint thigh attaching parts 23 is fixed on thigh axle drive shaft 26 by tack general flat key and circlip, hip joint sprocket wheel 24 is fixed on shank axle drive shaft 27 by tack general flat key and circlip.
As shown in Figure 4, knee joint 4 comprises knee joint thigh attaching parts 41, knee joint shank attaching parts 42 and knee joint turning cylinder 43, knee joint shank attaching parts 42 by tack general flat key and screw be connected on knee joint turning cylinder 43, knee joint thigh attaching parts 41 is connected on knee joint turning cylinder 43 and forms revolute pair by knee joint bearing 44, knee joint turning cylinder 43 is fixedly connected with knee joint sprocket wheel 45 by tack general flat key, circlip, and knee joint sprocket wheel 45 is connected by chain 6 with hip joint sprocket wheel 24.
As shown in Figure 3, Figure 4, thigh 3 is comprised of an aluminum pipe, and the two ends of aluminum pipe are connected with knee joint thigh attaching parts 41, hip joint thigh attaching parts 23 respectively by screw, add Japanese Datong District spring 31 in hip joint thigh attaching parts 23; The end that aluminum pipe connects hip joint thigh attaching parts 23 also is provided with the aluminium gear 7 of 50 teeth, gear 8 engagements of 40 teeth that arrange on described aluminium gear 32 and health, the gear 8 of the 40 teeth angular transducer 9 that is connected with a joggle.
As shown in Figure 5, shank 5 comprises spring 51, titanium pipe 52 and shank attaching parts 53, and the end of shank 5 connects the toe 54 of a rubber hemisphere, the upper end linking springs 51 of toe 54, the upper end of spring 51 connects titanium pipe 52 by shank attaching parts 53, and titanium pipe 52 is connected with knee joint shank attaching parts 42; The centre of spring 51 and toe 54 is equipped with pressure sensor 55, and pressure sensor 55 outsides are provided with pressure sensor guard member 551.
As shown in Figure 5, single-leg jumping robot in the present embodiment also comprises that spring prevents unstability guide groove 56, spring anti-unstability guide rod 57, linear bearing 58 and round guide 59, the anti-unstability guide groove 56 of spring is connected with pressure sensor 55 by bolt, the anti-unstability guide rod 57 of spring is positioned at spring 51 inside, linear bearing 58 is positioned at the anti-unstability guide rod of spring 57 inside, round guide 59 is positioned at the inside of linear bearing 58, one end of round guide 59 is connected by the anti-unstability guide groove 56 of screw thread and spring, and the other end of round guide 59 is the outside at linear bearing 58 by bolt card; Spring prevents that unstability guide rod 57, linear bearing 58 and shank attaching parts 53 are connected by screw as a whole; Pressure sensor 55 is not connected with pressure sensor contact jaw 552 by screw with the end that the anti-unstability guide groove 56 of spring is connected, and pressure sensor contact jaw 552 is connected with toe attaching parts 541 by screw, and toe attaching parts 541 is connected with toe 54 by screw.
Single-leg jumping robot in the present embodiment also comprises anti-lost 542, toe, and the end that toe is anti-lost 542 is connected by screw and the anti-unstability guide groove 56 of spring, and the other end inserts in the gap of pressure sensor contact jaw 552 and 541 formation of toe attaching parts.
For the ease of controlling motor, the health drive motor 13 in the present embodiment, thigh drive motor 21 and shank drive motor 22 are all DC machine.
Although with reference to best interpretations embodiment of the present utility model, the utility model is described here, but, should be appreciated that, those skilled in the art can design a lot of other modification and embodiments, and these are revised and within embodiment will drop on the disclosed principle scope and spirit of the application.More particularly, in the scope of, accompanying drawing open in the application and claim, can carry out multiple modification and improvement to constituent elements and/or the layout of subject combination layout.Except modification that constituent elements and/or layout are carried out with improving, to those skilled in the art, other purposes will be also obvious.
Claims (5)
1. a single-leg jumping robot, comprise health (1), thigh (2) and shank (3) three parts, be connected by hip joint (4) between health (1) and thigh (2), be connected by knee joint (5) between thigh (2) and shank (3), it is characterized in that:
Health (1) comprises two blocks of bodily protection plates (11), body-support plate (12) and health drive motor (13), bodily protection plate (11) and body-support body (12) are connected to a support, health drive motor (13) is positioned at described support, the afterbody of health drive motor (13) is equipped with motor code-disc (31), the front end of health drive motor (13) is equipped with reductor (132), the output shaft (133) of reductor (132) is connected with engaging gear (15) by gear coupling (14), engaging gear (15) and the engaged gear (16) identical with engaging gear (15) are with the transmitting ratio engagement of 1:1, engaged gear (16) is connected with health turning cylinder (18) with the gear coupling (17) identical with engaging gear (15), health turning cylinder (18), health revolute pair bearing (19) forms the health revolute pair with hip joint revolute pair bearing (25), hip joint revolute pair bearing (25) is fixedly connected with the branch to hip joint fagging,
Hip joint (2) comprises thigh drive motor (21), shank drive motor (22), hip joint thigh attaching parts (23), hip joint sprocket wheel (24) and hip joint revolute pair bearing (25), the installation site of thigh drive motor (21) and shank drive motor (22) coaxially but not coaxial, two drive motor (21), (22) afterbody all is equipped with motor code-disc (211), (221), reductor (212) all is equipped with in front portion, (222), reductor (212), (222) output shaft (213), (223) respectively by thigh axle drive shaft taper pin (214), shank axle drive shaft taper pin (224) and thigh axle drive shaft (26), shank axle drive shaft (27) is fixedly connected with, thigh axle drive shaft (26), shank axle drive shaft (27) is fixed on the axle drive shaft support by screw, thigh axle drive shaft (26), shank axle drive shaft (27) two ends are respectively by thigh revolute pair bearing (261), shank revolute pair bearing (271), motor bearings (215), (225) with thigh revolute pair bearing bearing (262), shank revolute pair bearing bearing (262), motor bearings bearing (216), (226) form revolute pair, hip joint thigh attaching parts (23) is fixed on thigh axle drive shaft (26) by tack general flat key and circlip, hip joint sprocket wheel (24) is fixed on shank axle drive shaft (27) by tack general flat key and circlip,
Knee joint (4) comprises knee joint thigh attaching parts (41), knee joint shank attaching parts (42) and knee joint turning cylinder (43), knee joint shank attaching parts (42) is connected on knee joint turning cylinder (43) by tack general flat key and screw, knee joint thigh attaching parts (41) is connected to the upper revolute pair that forms of knee joint turning cylinder (43) by knee joint bearing (44), knee joint turning cylinder (43) is by the tack general flat key, circlip is fixedly connected with knee joint sprocket wheel (45), knee joint sprocket wheel (45) is connected by chain (6) with hip joint sprocket wheel (24),
Thigh (3) is comprised of an aluminum pipe, and the two ends of aluminum pipe are connected with knee joint thigh attaching parts (41), hip joint thigh attaching parts (23) respectively by screw, add Japanese Datong District spring (31) in hip joint thigh attaching parts (23); One end of aluminum pipe connection hip joint thigh attaching parts (23) also is provided with the aluminium gear (7) of (a 50) tooth, gear (8) engagement of (40) tooth arranged on described aluminium gear (32) and health, the gear (8) of (40) tooth angular transducer (9) that is connected with a joggle;
Shank (5) comprises spring (51), titanium pipe (52) and shank attaching parts (53), the end of shank (5) connects the toe (54) of a rubber hemisphere, the upper end linking springs (51) of toe (54), the upper end of spring (51) connects titanium pipe (52) by shank attaching parts (53), and titanium pipe (52) is connected with knee joint shank attaching parts (42); The centre of spring (51) and toe (54) is equipped with pressure sensor (55), and pressure sensor (55) outside is provided with pressure sensor guard member (551).
2. single-leg jumping robot according to claim 1, it is characterized in that: also comprise that spring prevents unstability guide groove (56), spring is prevented unstability guide rod (57), linear bearing (58) and round guide (59), the anti-unstability guide groove (56) of spring is connected with pressure sensor (55) by bolt, the anti-unstability guide rod (57) of spring is positioned at spring (51) inside, linear bearing (58) is positioned at the anti-unstability guide rod (57) of spring inside, round guide (59) is positioned at the inside of linear bearing (58), one end of round guide (59) is connected by the anti-unstability guide groove (56) of screw thread and spring, the other end of round guide (59) is the outside in linear bearing (58) by bolt card, spring prevents that unstability guide rod (57), linear bearing (58) and shank attaching parts (53) are connected by screw as a whole.
3. single-leg jumping robot according to claim 1, it is characterized in that: described pressure sensor (55) is not connected with pressure sensor contact jaw (552) by screw with the end that the anti-unstability guide groove (56) of spring is connected, pressure sensor contact jaw (552) is connected with toe attaching parts (541) by screw, and toe attaching parts (541) is connected with toe (54) by screw.
4. single-leg jumping robot according to claim 1, it is characterized in that: also comprise anti-lost of toe (542), one end of toe anti-lost (542) is connected by screw and the anti-unstability guide groove (56) of spring, and the other end inserts in the gap of pressure sensor contact jaw (552) and toe attaching parts (541) formation.
5. according to the described single-leg jumping robot of claim 1 to 4 any one claim, it is characterized in that: described health drive motor (13), thigh drive motor (21) and shank drive motor (22) are all DC machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320424223.1U CN203381702U (en) | 2013-07-17 | 2013-07-17 | One-legged jumping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320424223.1U CN203381702U (en) | 2013-07-17 | 2013-07-17 | One-legged jumping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203381702U true CN203381702U (en) | 2014-01-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320424223.1U Expired - Fee Related CN203381702U (en) | 2013-07-17 | 2013-07-17 | One-legged jumping robot |
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| Country | Link |
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| CN (1) | CN203381702U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480321A (en) * | 2015-12-15 | 2016-04-13 | 中国北方车辆研究所 | Three degree-of-freedom small-inertia bionic leg for armed robot based on wire transmission |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN109606498A (en) * | 2019-01-30 | 2019-04-12 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
-
2013
- 2013-07-17 CN CN201320424223.1U patent/CN203381702U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480321A (en) * | 2015-12-15 | 2016-04-13 | 中国北方车辆研究所 | Three degree-of-freedom small-inertia bionic leg for armed robot based on wire transmission |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN109606498A (en) * | 2019-01-30 | 2019-04-12 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
| CN109606498B (en) * | 2019-01-30 | 2024-03-19 | 清华大学 | Robot deformation leg with wheel foot transformation capability |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140108 Termination date: 20150717 |
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| EXPY | Termination of patent right or utility model |