本发明公开了一种双关节驱动的仿生自平衡连续跳跃机器人,属于仿生机器人领域,包括支撑板、传动单元和双关节跳跃单元;支撑板下端对称连接有两个连接销;两组自平衡单元呈垂直分布在支撑板前后两侧;每组双关节跳跃单元包括大腿,大腿上端与其中一个连接销转动连接,大腿下端通过膝关节连接轴与小腿上端转动连接,小腿下端通过踝关节连接轴与脚掌转动连接,拉绳的下端通过绳钩与小腿后侧下端固定连接,一个扭簧的两端分别与大腿下端和小腿上端固定连接,另一个扭簧的两端分别与小腿前侧和脚掌固定连接;利用缺齿齿轮与小齿轮之间周期性的啮合与断开,并通过拉绳控制双关节跳跃单元的能量蓄积与释放,实现跳跃机器人连续跳跃。
The invention discloses a bionic self-balancing continuous jumping robot driven by double joints, which belongs to the field of bionic robots and comprises a support plate, a transmission unit and a double-joint jumping unit. The lower end of the supporting plate is symmetrically connected with two connecting pins; the two groups of self-balancing units are vertically distributed on the front and rear sides of the supporting plate; each double-joint jumping unit comprises a thigh, the upper end of the thigh is rotationally connected with one connecting pin, the lower end of the thigh is rotationally connected with the upper end of a shank through a knee joint connecting shaft, and the lower end of the shank is rotationally connected with a sole through an ankle joint connecting shaft. Two ends of one torsional spring are fixedly connected with the lower ends of the thighs and the upper ends of the shanks respectively, and two ends of the other torsional spring are fixedly connected with the front sides of the shanks and the soles respectively; the continuous jumping of the jumping robot is realized by utilizing periodic meshing and disconnection between the tooth-missing gear and the pinion and controlling energy accumulation and release of the double-joint jumping unit through the pull rope.
一种双关节驱动的仿生自平衡连续跳跃机器人
2024-07-05
Patent
Electronic Resource
Chinese