CN101862542B - Robot simulated jump aid - Google Patents

Abstract

A robot bionic jump aid device, the two ends of the rocker are respectively hinged with the connecting rod and the support; the leg connecting rods are respectively hinged with the support and the connecting rod to form a parallelogram connecting rod mechanism; the connecting rod mechanism is long The ratio of side to short side is 4:3. One side of the support has a sole connecting rod parallel thereto. The electromagnet control mechanism is fixed at the joint between the rocker and the support. The toe plate is hinged with one end of the sole link through the toe joint rotating shaft. A torsion spring is sleeved on the toe joint rotating shaft. The connecting body is fixed on the shaft end of the telescopic shaft of the electromagnet; one surface of the connecting body cooperates with the outer arc surface of the block. During the take-off process of the present invention, the support, the sole connecting rod and the toe board leave the ground one after another, prolonging the action time between the feet and the ground, increasing the speed of the center of mass from the ground, and playing the function of assisting jumping. The landing process is the opposite. By simulating the functions of tendons and feet during the jumping process of animals, the jumping performance of the jumping robot connected with the device can be improved.

Description

A bionic jumping aid device for a robot

technical field

The invention relates to the field of robots, in particular to a bionic jump-assisting device for a robot.

Background technique

Robots that move by jumping can cross obstacles that are several times or even tens of times their own size, and are especially suitable for complex environments with obstacles such as terrain survey, rescue, and anti-terrorism, and have become a research hotspot in the field of robotics.

The earliest jumping robot used an inverted pendulum as a principle model to realize a simple bouncing function, such as the continuous jumping robot in a single-degree-of-freedom plane of MIT. Later, people got inspiration from bionics, and developed jumping robots with bionic functions according to the movement mechanism and structural characteristics of animals, such as the frog-like intermittent jumping robot jointly developed by NASA and the California Institute of Technology, which realized the jumping process. The bionic function that the center of mass is subjected to the non-linear force of the ground improves the jumping performance of the robot. The foot of the robot is a rigid disc; the University of Tokyo in Japan designed a bionic bipedal jump by studying the jumping mechanism of biological legs. Robot, the robot is driven by artificial pneumatic muscles, the foot is a rigid rod, and the control is relatively complicated. Harbin Engineering University in China has invented a locust-like jumping robot, which has obtained a national patent (CN 101058036A). The feet of this robot are claws with a small area.

The jumping robot designed or invented above basically realizes the bionic jumping performance. However, due to the simplified and rigid treatment of the feet, the bionic function of the feet has not been brought into play. During the jumping process of the animal, the soles of the feet rotate around the toes. The soles of the feet mainly play the role of supporting the body, and the function of the toes is to prolong the time when the ground exerts force on the feet, thereby prolonging the acceleration process, so that the center of mass is separated from the feet. The ground instantly obtains the maximum speed and realizes a larger long jump distance. From the perspective of bionics, using the functions of the soles and toes during the jumping process can further exert the obstacle-surpassing advantages of the jumping robot.

Contents of the invention

In order to overcome the shortcomings existing in the prior art that the feet are simplified and rigidly treated and the bionic functions of the feet are not brought into play, the present invention proposes a robot bionic jump-assisting device.

The present invention comprises leg connecting rod, rocking bar, connecting rod, bearing, toe plate and electromagnet control mechanism, is characterized in that, leg connecting rod, rocking bar, connecting rod and bearing form the connecting rod mechanism of parallelogram, The ratio of the long side to the short side of the link mechanism is 4:3. In the linkage mechanism, one end of the rocker is hinged with the connecting rod through the rocker shaft, and the other end is hinged with the support through the ankle joint shaft; one end of the leg connecting rod is hinged with the support through the shaft , the middle part of the leg connecting rod is hinged with the connecting rod through the connecting rod rotating shaft. There is a sole connecting rod parallel to it on one side of the support, and one end of the sole connecting rod is also hinged with the ankle joint rotating shaft. Below the hinge hole where the ankle joint rotating shaft is installed on the support, there is a stop shaft for limiting the position of the connecting rod on the sole of the foot. The electromagnet control mechanism consists of an electromagnet, a block, an electromagnet support and a connecting body, and is located at the joint between the rocker and the support, and is fixed on the side of the rocker by the electromagnet support. The toe plate is hinged with one end of the sole link through the toe joint rotating shaft. A torsion spring is sleeved on the toe joint rotating shaft. The connecting body is fixed on the shaft end of the telescopic shaft of the electromagnet; one surface of the connecting body cooperates with the outer arc surface of the block.

The two ends of the connecting rod of the legs are respectively provided with hinged holes for the rotating shaft of the support and mounting holes fixedly connected with the jumping robot.

There are connection holes at both ends of the rocker. There is a protruding wedge-shaped clamping block at one end of the side perpendicular to the connecting holes at both ends, and the angle and height of the wedge-shaped clamping block match the cross-section of the stopper. There is a mounting hole for the electromagnet support below the wedge-shaped clamp block, and the center line of the mounting hole is parallel to the connection holes on the planes at both ends of the rocking bar.

There are two bosses on the surface of the support, and there are hinge holes for the ankle joint shaft and the support shaft on the two bosses; the distance between the two hinge holes should meet the long side and short side of the parallelogram linkage mechanism. ratio requirements. The centers of the two hinged holes are all parallel to the surface of the support. The installation holes of the toe rotating shaft, the torsion spring fixing pin and the ankle joint rotating shaft are respectively on the bosses on the surface of the sole connecting rod.

One end of the sole connecting rod has a mounting hole for the toe rotating shaft and the torsion spring fixing pin; the other end of the sole connecting rod has a mounting hole for the ankle joint rotating shaft; parallel. There is a scalloped notch on the sole connecting rod on the inside of the ankle joint shaft mounting hole, and the center line of the two arc surfaces of the scalloped notch 18 coincides with the axis of the ankle joint rotating shaft 20; connected block. The installation holes of the toe rotating shaft, the torsion spring fixing pin and the ankle joint rotating shaft are respectively on the bosses on the surface of the sole connecting rod.

There is a pair of protruding torsion spring fixed supports on the middle surface of the toe board, and torsion spring sockets are arranged on the torsion spring fixed supports. Symmetrical projections are arranged on both sides of one end of the toe plate, and mounting holes for toe joint rotating shafts are arranged on the projections.

One end of the electromagnet support in the electromagnet control mechanism has a ring for installing the electromagnet; the middle part of the electromagnet support has a mounting hole for being fixedly connected with the rocking bar; the centerline of the mounting hole is in line with the The centers of the thin-walled rings are parallel.

The stopper is arc-shaped, and the radius of the arc surface is greater than the outer diameter of the joint hole of the rotating shaft at one end of the sole connecting rod; the outer arc surface of the stopper is matched with the arc surface of the connecting body located at the shaft end of the electromagnet; The angle and shape are respectively the same as those of the wedge-shaped clamping block and the connecting block. The circle center of the inner arc surface of the block is concentric with the center of the ankle joint rotating shaft.

Working process of the present invention is:

Before take-off, the electromagnet acts, the telescopic shaft retracts, and drives the block to move along its axis from above the fan-shaped gap to the area surrounded by the working surface of the wedge-shaped clamping block and the working surface of the connecting block. At this time, the working surface of the wedge-shaped clamping block coincides with the working surface of the stopper, and the stopper and the connecting block are not in contact. Then, the jumping robot starts to jump, and drives the leg connecting rod to rotate around the bearing rotating shaft on the support. The supports form a planar four-bar mechanism. When the leg connecting rod rotates around the support, the electromagnet and the stopper fixedly connected on the rocking bar will rotate around the ankle joint rotating shaft on the support. When the working surface of the stopper and the connecting block working surface on the sole connecting rod coincide, the rocking bar and the sole connecting rod become the same component. The toe board forms a series-parallel linkage with the above-mentioned plane four-bar mechanism and the sole connecting rod. With the rotation of the leg connecting rod around the support and the movement of the center of mass of the jumping robot, the support gradually leaves the ground, and the rods in contact with the ground become the sole link and the toe plate. The contact point of the bar with the ground is constantly moving towards the toe board. In the final stage of take-off, the jump-aid device described in the present invention will be supported by the toe board, and rotate around the toe joint rotating shaft until the toe board is out of contact with the ground. During the take-off process, due to the relative movement between the toe board and the sole link, a certain amount of energy is stored in the torsion spring, and this energy will be released when the toe board leaves the ground.

After the toe board leaves the ground, the jump aid device will be in the air state. Due to the gravitational effect of the sole connecting rod and the toe board, the connecting block on the sole connecting rod will be out of contact with the stopper, and the rocking bar and the sole connecting rod will be out of contact, so that the electromagnetic The iron is powered off, and the telescopic shaft stretches out, and the stopper working surface is out of contact with the wedge-shaped clamping block working surface on the rocking bar. Due to the effect of the retaining shaft on the support, the sole link and the toe plate are not perpendicular to the ground along their respective length directions in the vacated state. The ankle joint shaft turns to the initial position of take-off when it is in contact with the ground; the leg connecting rod, connecting rod, rocker and support can land on the ground smoothly according to the predetermined posture, and return to the initial state before the next take-off.

In the present invention, the change in the structure of the jump aid is realized by the electromagnet control mechanism: after the electromagnet is energized on the rocking bar and the sole connecting rod, when the stopper in the electromagnet control mechanism contacts the connecting block on the sole connecting rod, the rocking bar It is connected with the foot connecting rod as a whole; when the jump-aid device is in the air after take-off, the electromagnet is powered off, and the rocker and the foot connecting rod are separated, becoming two independent components without contact, which realizes the structure of the jump-aid device. Change. This variable structure has a certain bionic function: when the electromagnet is energized, when the working surface of the stopper contacts the connecting block, the leg connecting rod, connecting rod, rocker, support, sole connecting rod and toe board form a series-parallel connection. Linkage. The links resemble the tendons between the animal's lower leg and the foot, transmitting the force and motion of the leg links to the rocker and the foot links; the mounts resemble the animal's heel; the foot links resemble the animal's sole; and the toe plates resemble The toes of the animal; the torsion springs that are emptied on the toe joint shaft are similar to ligaments, and the energy generated by the deformation of the torsion springs is released when the toe board leaves the ground, further playing the role of jumping aid. After the electromagnet is de-energized, the stopper breaks away from the contact with the wedge-shaped clamping piece and the connecting piece, and the sole link and the rocking bar become two independent components that are not coupled to each other. When landing on the ground, the toe board touches the ground first, and the torsion spring can play the role of cushioning and shock absorption. Then, the sole connecting rod touches the ground and rotates freely around the ankle joint until it is in full contact with the ground. During the rotation, the fan-shaped notch on the sole connecting rod can ensure that the sole connecting rod does not interfere with the rocker. The leg connecting rods, connecting rods, rockers and supports can be adjusted to land smoothly through the attitude of the jumping robot, and return to the initial state before the next jump. During the take-off process, the support, the sole connecting rod and the toe plate leave the ground one after another, which prolongs the action time between the front foot and the ground, thereby increasing the ground-lifting speed of the center of mass and playing the function of jump-assist. The landing process is the opposite. This is the same process as the heel, ball and toe of an animal when it jumps off the ground and touches the ground. The bionic jump-aiding device involved in the present invention can improve the jumping performance of a jumping robot fixedly connected with the device by simulating the functions of tendons and feet in the jumping process of animals.

Description of drawings

Fig. 1 is the front view when the jump-assisting device of the present invention is in an initial state before take-off;

Fig. 2 is a three-dimensional view of the initial state of the jump-aid device of the present invention before take-off;

Fig. 3 (a) is the schematic diagram when the electromagnet is powered off before the jump-assisting device of the present invention takes off, and (b) is the schematic diagram when the electromagnet of the jump-assisting device is energized;

Fig. 4 is a schematic diagram of the leg connecting rod in Fig. 2;

Fig. 5 is a schematic diagram of the rocker in Fig. 2;

Fig. 6 is a schematic diagram of the connecting rod in Fig. 2;

Fig. 7 is the schematic diagram of electromagnet support in Fig. 2;

Fig. 8 is the schematic diagram of block in Fig. 2;

Fig. 9 is a schematic diagram of the sole connecting rod in Fig. 2;

Figure 10 is a schematic diagram of the toe board in Figure 2;

Fig. 11 is the schematic diagram of support in Fig. 2;

Fig. 12 is a partially enlarged schematic diagram near the ankle joint during the vacated stage of the jump-aid device of the present invention after take-off;

Figure 13 (a) is a schematic diagram of the toe board in contact with the ground during the take-off stage of the jump-aid device of the present invention, (b) is a schematic diagram of the vacated stage of the jump-aid device after take-off, and (c) is when the toe board of the jump-aid device touches the ground during the landing stage schematic diagram.

In the picture:

1. Leg connecting rod 2. Rocker 3. Connecting rod 4. Wedge clamp 5. Connecting body 6. Electromagnet support

7. Electromagnet 8. Block 9. Block shaft 10. Connecting block 11. Foot connecting rod 12. Torsion spring fixing pin

13. Torsion spring fixed support 14. Toe board 15. Torsion spring 16. Toe joint shaft 17. Support shaft

18. Scalloped notch 19. Support 20. Ankle joint shaft 21. Connecting rod shaft 22. Rocker shaft

23. Electromagnet telescopic shaft

Detailed ways

This embodiment is a bionic jump-aiding device, which is mainly composed of a planar linkage mechanism with variable structure to prolong the contact time between the feet and the ground during take-off, obtain a higher ground-off speed, and improve the bionic effect of jumping performance.

As shown in Figures 1 to 2, this embodiment includes a parallelogram linkage mechanism composed of leg connecting rod 1, rocker 2, connecting rod 3 and support 19, and the long side and short side of the parallelogram linkage mechanism The ratio of the sides is 4:3; in the linkage mechanism, one end of the rocker 2 is hinged with the connecting rod 3 through the rocker shaft 22, and the other end is hinged with the support 19 through the ankle joint shaft 20; the legs One end of the connecting rod 1 is hinged with the bearing 19 through the bearing rotating shaft 17, and the middle part of the leg connecting rod 1 is hinged with the connecting rod 3 through the connecting rod rotating shaft 21. On one side of the bearing 19 there is a sole connecting rod 11 parallel thereto, and one end of the sole connecting rod 11 is also hinged with the ankle joint rotating shaft 20 . The electromagnet control mechanism is composed of an electromagnet 7, a fan-shaped block 8, an electromagnet support 6 and a connecting body 5. It is located at the joint between the rocker 2 and the support 19, and is fixed on the rocker 2 On the side; the fan shape of the block 8 is concentric with the axis of rotation of the ankle joint. The toe plate 14 is hinged with one end of the sole connecting rod 11 through the toe joint rotating shaft 16; a torsion spring 15 is sleeved on the toe joint rotating shaft 16.

As shown in Fig. 2 and Fig. 4, the leg connecting rod 1 is a strip plate. There is a small hole at both ends of the leg connecting rod 1, one of which is a hinged hole for installing the bearing rotating shaft 17, and the leg connecting rod 1 is hinged with the bearing 19 through the bearing rotating shaft 17; The installation hole that the jumping device is fixedly connected with the jumping robot. The middle part of leg connecting rod 1, near the side of bearing rotating shaft 17 hinged holes, is processed with the hinged hole that connecting rod rotating shaft 21 is installed, and leg connecting rod 1 is hinged with connecting rod 3 by connecting rod rotating shaft 21. A plurality of through holes are also arranged on the leg connecting rod 1, which are used for mounting holes for the leg connecting rod to be fixedly connected with the jumping robot, and simultaneously reduce the weight of the leg connecting rod.

As shown in FIG. 5 , the rocker 2 is a rod, and there are connection holes on both ends of the plane. There is a protruding wedge clamp 4 at one end of the side perpendicular to the connecting holes at both ends, and the angle and height of the wedge clamp 4 cooperate with the cross section of the stopper 8, and the rectangular plane of the wedge clamp 4 near the stopper 8 is Working face of the wedge. There is a fixed installation hole below the wedge-shaped clamp block 4, and the center line of the fixed installation hole is parallel to the connection holes on the planes at both ends of the rocker, and the electromagnet support 6 is fixedly connected with the rocker 2 through the installation hole.

As shown in FIG. 11 , the support 19 is also a plate. There are two bosses on the surface of the bearing 19, and there are hinged holes for the ankle joint shaft 20 and the bearing shaft 17 on the two bosses; the distance between the two hinged holes should meet the requirements of the parallelogram linkage mechanism. The ratio requirements of the long side and the short side; the hole centers of the two hinged holes are all parallel to the surface of the support 19. Below the hinge hole where the ankle joint rotating shaft 20 is installed on the bearing 19, there is a stop shaft 9, which is used to limit the position of the sole connecting rod 11 by the stop shaft 9 after the jump-aid device is off the ground.

As shown in FIG. 9 , the sole connecting rod 11 is a bar-shaped rod. There is a boss on the surface of one end of the sole connecting rod 11, and there are mounting holes for the toe rotating shaft and the torsion spring fixing pin on the side of the boss; The axes of the mounting holes of the toe shaft, the torsion spring fixing pin and the ankle joint shaft 20 are parallel to each other. There is a scalloped notch 18 on the foot connecting rod 11 inside the installation hole of the ankle joint rotating shaft 20, and the center line of the two arc surfaces of the scalloped notch 18 coincides with the axis of the ankle joint rotating shaft 20; 11 side surfaces have protruding connecting blocks 10. The surface of the connecting block 10 close to the electromagnet 7 is the working surface of the connecting block 10, and the working surface is attached to the stopper 8 during the take-off process.

As shown in Figure 10, the toe board 14 is a "U" shaped board. A pair of protruding torsion spring fixed supports are arranged on the middle surface of the toe plate 14, and torsion spring jacks are arranged on the torsion spring fixed supports. Symmetrical projections are arranged on both sides of one end of the toe plate 14, and there are mounting holes for the toe joint rotating shaft 16 on the projections. The lower surface of the other end portion of the toe plate 14 is arc-shaped, so as to improve the ability of the toe plate to adapt to the terrain during the take-off process.

As shown in Figure 7, the electromagnet support 6 in the electromagnet control mechanism is a bar bar, and there is a thin-walled ring on one end of the bar bar, and this thin-walled ring is used to install the electromagnet 7. In the middle part of the strip bar of the electromagnet support 6, there is a mounting hole for fixed connection with the rocking bar 2; the center line of the mounting hole is parallel to the center of the thin-walled ring.

The electromagnet 7 is a telescopic electromagnet, and the outer diameter of the electromagnet 7 is the same as the inner diameter of the electromagnet support 6 thin-walled rings. The electromagnet 7 is packed and fixed in the thin-walled ring of the electromagnet support 6. When the electromagnet 7 is in a non-energized state, the length of its telescopic shaft 23 stretching out from the housing is equal to the thickness of the rocking bar 2 .

As shown in Figure 8, the block 8 is an arc bar, and the radius of its inner arc is greater than the outer diameter of the hinged hole of the rotating shaft 20 at one end of the sole connecting rod 11; arc fit. The angle and the shape of the same wedge-shaped clamp block 4 are the angle and the shape of the end face of the block 8, and the angle and the shape of the connecting block 10 of the same sole connecting rod 11 one end of the angle and the shape of the other end face. The circle center of the inner arc surface of the block 8 is concentric with the center of the ankle joint rotating shaft 20 .

The connecting body 5 is block-shaped, and is welded on the shaft end of the telescopic shaft 23 of the electromagnet. One surface of the connecting body 5 is an arc surface for matching with the outer arc surface of the block 8 .

As shown in FIGS. 12 to 13 , the electromagnet support 6 is fixedly connected with the rocker 2 through the installation hole in the middle of the strip bar. The electromagnet 7 is located on one side of the rocker 2, and is set and fixed in the ring of the electromagnet support 6, and the connecting body 5 of the telescopic shaft end of the electromagnet 7 is located above the outer arc surface of the stopper 8; the stopper 8 The outer arc surface is fixedly connected with the arc surface of the connecting body 5 . After the electromagnet 7 was energized, the jump-assisting device started to jump. In the take-off process, the electromagnet telescopic shaft 23 is retracted, and an end face of the block 8 fits with the working surface of the wedge-shaped clamp block 4, and the other end face fits with the working surface of the connecting block 10 on the sole connecting rod 11, so that the rocker Rod 2 is magnetically connected with sole link 11, and the power of rocking bar 2 motion is transmitted to toe board 14 through sole link 11, prolongs the ground contact time of jump aid device, thereby obtained bigger ground-off speed. After take-off, the electromagnet is powered off, and the telescopic shaft 23 of the electromagnet 7 stretches out, so that the stopper 8 is disengaged from the wedge clamp 4, and the stopper 8 moves to the top of the fan-shaped gap 18 on the sole connecting rod 11; 2. The connection with the sole connecting rod 11 is disconnected, so that the impact force produced when the jump-aid device lands has the least impact on the device.

The working process of the jump-assisting device is as follows: the jump-assisting device is fixedly connected with the jumping robot performing jumping motion through the leg connecting rod 1 . Before the robot takes off, the electromagnet 7 is energized, and the electromagnet telescopic shaft 23 retracts (as shown in Figure 3 (b)). Drive the block 8 to move from above the fan-shaped notch 18 to between the working surface of the wedge-shaped clamping block 4 and the working surface of the connecting block 10 along the axis of the telescopic shaft. When the electromagnet telescopic shaft 23 retracted to the end position, the working surface of the wedge clamp block 4 coincided with the working surface of the block 8, and the other working surface of the blocking block 8 did not contact with the working surface of the connecting block 10. Then, the jumping robot starts to jump, and drives the leg connecting rod 1 to rotate around the support 19 with the support rotating shaft 17 as the center of rotation. Rod 1, connecting rod 3, rocker 2 and support 19 form a planar four-bar mechanism. While the leg connecting rod 1 rotates relatively around the support 19, the electromagnet control mechanism fixed on the rocking bar 2 rotates around the ankle joint rotating shaft 20 on the support 19 together. When the block 8 and the connecting block 10 on the sole link 11 were in contact, the rocking bar 2 and the sole link 11 were connected as one. Leg connecting rod 1, connecting rod 3, bearing 19, toe plate 14, rocking bar 2 and foot connecting rod 11 form a series-parallel mechanism, wherein, leg connecting rod 1, connecting rod 3, bearing 19, rocking bar 2 It forms a plane parallel four-bar mechanism with the sole connecting rod 11, and the toe plate 14 forms a series mechanism with the four-bar mechanism. Along with the rotation of leg connecting rod 1 around the bearing 19 and the forward movement of the center of mass of the jumping robot, the bearing 19 breaks away from the ground gradually, and the rods in contact with the ground become the sole connecting rod 11 and the toe plate 14, and with the movement of the center of mass of the robot Further moving forward, the contact point of the sole link 11 with the ground constantly moves to the toe board 14 . In the final stage of jumping, only the toe board 14 keeps in contact with the ground (as shown in Figure 13 (a)), and the jumping robot and its jump-assisting device described in the present invention will be supported by the toe board 14 around the toe joint 16 rotate until the toe board 14 is out of contact with the ground. During the take-off process, since the sole connecting rod 11 and the toe board 14 are out of contact with the ground successively, the sole connecting rod 11 rotates relative to the toe board 14, and a certain amount of energy is stored in the torsion spring, and these energy will be released in the process of the toe board leaving the ground. be released.

After the toe board 14 is off the ground, this jump aid device will be in the vacated state (as shown in Figure 13 (b)), due to the gravitational effect of the sole connecting rod 11 and the toe board 14, the connecting block 10 on the sole connecting rod 11 will be in the same block. Block 8 disengages, rocking bar 2 and sole link 11 separate. At this time, the electromagnet 7 is powered off, and the telescopic shaft 23 of the electromagnet protrudes from the housing of the electromagnet 7, and the stroke it protrudes is equal to the stroke retracted under the energized state. The working surface of the stopper 8 is out of contact with the working surface of the wedge-shaped clamp 4 on the rocker, and the stopper 8 returns to the position when the electromagnet 7 is powered off, that is, the stopper 8 is located at the wedge-shaped clamp 4 and the connecting block 10. Outside the area, above the fan-shaped gap. Due to the effect of the retaining shaft 9 on the bearing 19 (as shown in Figure 12), the sole connecting rod 11 and the toe board 14 are not perpendicular to the ground along their respective length directions in the vacated state, so that the jump-aid device is on the ground (as shown in FIG. Shown in Fig. 13 (c), the foot connecting rod 11 as an independent component will turn around the ankle joint rotating shaft 20 to the position before take-off when in contact with the ground; the jumping robot can change the leg connecting rod by adjusting the posture of the leg 1 position, and then realize that the whole jump-aid device lands smoothly according to the predetermined posture, and returns to the initial state before the next take-off.

In the jump-aiding device involved in the present invention, the rocker 2 and the sole connecting rod 11 are connected to each other as a whole within a period of time after the electromagnet 7 is energized, and are separated in the vacated state after take-off, which reflects the structure of the jumping device. Change. This variable structure has a certain bionic function: when the electromagnet 7 is energized, when the block 8 contacts the connecting block 10, the leg connecting rod 1, the connecting rod 3, the rocker 2 support 19, the foot connecting rod 11 and Toe plate 14 forms series-parallel mechanism. The connecting rod 3 is similar to the tendon of an animal, and transmits the power and motion of the leg connecting rod 1 to the rocker 2 and the sole connecting rod 11; the support 19, the sole connecting rod 11 and the toe plate 14 are similar to the flexible feet of an animal, wherein, Bearing 19 is similar to the heel of animal, and sole connecting rod 11 is similar to the sole of animal, and toe plate 14 is similar to the toe of animal; Release when leaving the ground to further play the role of jumping aid. After the toe plate 14 is off the ground, the electromagnet 7 is powered off, and the sole link 11 and the rocking bar 2 become two independent components. When landing on the ground, the toe plate 14 first touches the ground, and the torsion spring 15 can play a role in buffering rigid impact and reducing vibration. Then, the sole link 11 touches the ground and freely rotates around the ankle joint shaft 20 until it is fully in contact with the ground. Leg connecting rod 1, connecting rod 3, rocking bar 2 and bearing 19 can then be adjusted to the ground smoothly by jumping robot attitude, and return to the initial state before taking off next time. In the process of taking off the ground, the bearing 19, the sole connecting rod 11 and the toe board 14 leave the ground one after another, prolonging the action time between the front foot and the ground before leaving the ground, and then improving the ground speed of the center of mass. The landing process is the opposite. This is exactly the same as the heel, sole and toe of an animal when it jumps off the ground and lands on the ground.

According to the principle of bionics, the bionic jump-aiding device involved in the present invention imitates the functions of tendons and feet in the jumping process of animals, and is easy to control, and can improve the jumping performance of a jumping robot fixedly connected with the device.

Claims (9)

1. A robot bionic jump-assisting device, comprising leg connecting rod (1), rocking bar (2), connecting rod (3), bearing (19), sole connecting rod (11), toe plate (14) and The electromagnet control mechanism is characterized in that: a. The leg connecting rod (1), the rocker (2), the connecting rod (3) and the support (19) form a parallelogram connecting rod mechanism, and the connecting rod (1) and the rocking rod (2) are opposite sides, The connecting rod (3) and the support (19) are opposite sides; the ratio of the long side to the short side of the connecting rod mechanism is 4:3; in the described connecting rod mechanism, one end of the rocking rod (2) passes through the The rotating shaft (22) is hinged with the connecting rod (3), and the other end is hinged with the support (19) through the ankle joint rotating shaft (20); one end of the leg connecting rod (1) is connected with the support through the support rotating shaft (17) (19) hinged, the middle part of the leg connecting rod (1) is hinged with the connecting rod (3) by the connecting rod rotating shaft (21); there is a sole connecting rod (11) parallel to it on the support (19) side , and one end of the sole link (11) is also hinged with the ankle joint shaft (20); below the hinged hole where the ankle joint shaft (20) is installed on the support (19) there is a limiter for the sole link (11) Blocking shaft (9); b. The electromagnet control mechanism is composed of an electromagnet (7), a stopper (8), an electromagnet support (6) and a connecting body (5), and is located at the joint between the rocker (2) and the support (19). And be fixed on the side of rocking bar (2) by electromagnet bearing (6); Toe plate (14) is spliced with an end of sole connecting rod (11) by toe joint rotating shaft (16); 16) upper sleeve is equipped with torsion spring (15). 2. A kind of robot bionic jump-assisting device as claimed in claim 1, is characterized in that, the two ends of described leg connecting rod (1) have respectively the hinged hole of bearing rotating shaft (17) and the jumping robot fixed hole. Connected mounting holes. 3. A kind of robot bionic jump-assisting device as claimed in claim 1, is characterized in that, described rocking bar (2) two ends all have connection holes; The wedge clamp (4), and the angle and height of the wedge clamp (4) match the section of the block (8); there is a mounting hole for the electromagnet support (6) below the wedge clamp (4), and The center line of the mounting hole is parallel to the center line of the connection hole on the planes at both ends of the rocker. 4. A kind of robot bionic jumping aid device as claimed in claim 1, is characterized in that, described support (19) surface has two bosses, and ankle joint rotating shaft (20) is arranged on two bosses respectively and the hinged hole of the support shaft (17); the distance between the two hinged holes should meet the ratio requirements of the long side and the short side of the parallelogram linkage mechanism; The surfaces are parallel. 5. a kind of robot bionic jump-assisting device as claimed in claim 1, is characterized in that, described foot connecting rod (11) one end has toe joint rotating shaft (16) and the installation hole of torsion spring fixed pin; (11) the other end has the mounting hole of ankle joint rotating shaft (20); There is a scalloped notch (18) on the foot connecting rod (11) inside the hole, and the center line of the two arc surfaces of the scalloped notch (18) coincides with the axis of the ankle joint shaft (20); There is a protruding rectangular connecting block (10) on the side surface of the sole connecting rod (11). 6. A kind of robot bionic jump-assisting device as claimed in claim 1, is characterized in that, the middle part surface of described toe plate (14) has a pair of protruding torsion spring fixed support, on this torsion spring fixed support A torsion spring jack is arranged; Symmetrical projections are arranged on both sides of one end of the toe plate (14), and the mounting holes of the toe joint rotating shaft (16) are arranged on this projection. 7. A kind of robot bionic jump aid device as claimed in claim 1, is characterized in that, one end of the electromagnet support (6) in the described electromagnet control mechanism has a circular ring for installing the electromagnet (7) ; The middle part of the electromagnet support (6) has a mounting hole for being fixedly connected with the rocking bar (2); the center line of the mounting hole is parallel to the center of the ring. 8. A kind of robot bionic jump-assisting device as claimed in claim 5, is characterized in that, described stopper (8) is arc-shaped, and the radius of its inner arc surface is greater than sole connecting rod (11) one end ankle joint rotating shaft ( 20) Outer diameter of the hinged hole; the outer arc surface of the block (8) matches the arc surface of the connecting body located at the shaft end of the electromagnet (7); the angle and shape of the two ends of the block (8) are the same as that of the wedge (4) and the angle and shape of the connecting block (10); the center of circle of the inner arc surface of the block (8) is concentric with the center of the ankle joint rotating shaft (20). 9. a kind of robot bionic jump-assisting device as claimed in claim 4, is characterized in that, the installation hole of described toe joint rotating shaft (16), torsion spring fixed pin and ankle joint rotating shaft (20) is respectively in sole connecting rod ( 11) On the boss on the surface.

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