The invention discloses a frog-jumping-imitating robot with adjustable stored energy and a motion control method. The frog-jumping-imitating robot comprises a driving device, a transmission device, an execution connecting rod mechanism and a triggering device. The transmission device comprises an output shaft, an input pinion, a reduction gear set, an output gear, a torsion spring and a torsion spring support, the input pinion, the reduction gear set and the output gear are all rotatably arranged on the rack, the output shaft is connected with the output end of the driving device, the input pinion is connected with the output shaft and meshed with the reduction gear set, and the torsion spring support is connected with the output gear. The reduction gear set is meshed with the output gear, the output gear is fixedly connected with the torsion spring support, the torsion spring is sleeved on an outer ring of the torsion spring support, two ends of the torsion spring are fixedly connected with the output gear and an input rod of the execution connecting rod mechanism respectively, and the trigger device is arranged on the machine frame and enables the execution connecting rod mechanism to leave a dead point position during actuation. And leg stretching and jumping exercises are performed. The energy storage device is light and handy in structure, adjustable in energy storage size and better in controllability.
一种储能可调的仿青蛙跳跃机器人及运动控制方法,它包含驱动装置、传动装置、执行连杆机构和触发装置;传动装置包含输出轴、输入小齿轮、减速齿轮组、输出齿轮、扭转弹簧和扭转弹簧支架,输入小齿轮、减速齿轮组和输出齿轮均可转动地设置在机架上,输出轴与驱动装置的输出端相连,输入小齿轮与输出轴连接,并与减速齿轮组啮合,减速齿轮组与输出齿轮啮合,输出齿轮与扭转弹簧支架固连,扭转弹簧套在扭转弹簧支架外圈上,且扭转弹簧的两端分别与输出齿轮和执行连杆机构的输入杆固接,触发装置设置在机架上,作动时使执行连杆机构离开死点位置,做伸腿跳跃运动。本发明结构轻巧,储能大小可调,具有更好可控性。
Energy-storage-adjustable frog-jumping-imitating robot and motion control method
一种储能可调的仿青蛙跳跃机器人及运动控制方法
2023-04-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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