The invention provides a locust-jumping-imitating robot rear leg mechanism. The mechanism comprises a rack, driving assemblies, a connecting assembly, a thigh assembly, a shank assembly, a torsional spring and an energy storage pull rope, the driving assemblies are installed on the two sides of the rack, the connecting assembly is installed at the front end of the rack, the thigh assembly is installed at the rear end of the rack, the thigh assembly is connected with the shank assembly through the torsional spring, one end of the energy storage pull rope is arranged in the rack, and the other end is connected with the shank assembly; and the driving assembly drives the energy storage pull rope to pull the shank assembly to move, the torsional spring twists, the robot conducts energy storage squatting, and when energy storage of the torsional spring reaches the limit, the torsional spring releases torsional force, and the robot releases energy to jump. The mechanism is light in weight, small in size, rapid in energy release, low in cost and convenient to operate, and solves the problems that: an existing rear leg mechanism of a jumping robot is simple and cannot simulate the jumping performance of locusts, and the structure is too complex due to the fact that the number of driving and transmission chain links is large.

    本发明提供了一种仿蝗虫跳跃机器人后腿机构,包括机架、驱动组件、连接组件、大腿组件、小腿组件、扭簧和储能拉绳,所述驱动组件安装在机架的两侧,所述连接组件安装在机架前端,所述大腿组件安装在机架后端,所述大腿组件通过所述扭簧与所述小腿组件连接,所述储能拉绳一端置于机架内,另一端与小腿组件相连;驱动组件带动储能拉绳拉动小腿组件运动,扭簧扭转,机器人进行储能下蹲,扭簧储能达到极限时,扭簧释放扭转力,机器人释能跳跃。本发明重量轻,体积小,能量释放迅速,成本低廉,便于操作,解决现有跳跃机器人后腿机构存在机构简单,无法模仿蝗虫的跳跃性能,且驱动和传动链环节较多,使得结构过于复杂的问题。


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    Title :

    Locust-jumping-imitating robot rear leg mechanism


    Additional title:

    一种仿蝗虫跳跃机器人后腿机构


    Contributors:
    BAI YING (author) / MO LIPING (author) / JIN XUDONG (author) / WANG QING (author)

    Publication date :

    2021-08-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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