The invention discloses a coupling-driven force-storage-adjustable jumping leg-foot mechanism and a coupling driving method, and relates to the technical field of robots, the coupling-driven force-storage-adjustable jumping leg-foot mechanism comprises a shell, a driving device and two walking and jumping units, and the driving device is fixedly arranged in the shell; each walking and jumping unit comprises a driving shaft, a driving swing rod, a driven shaft, a leg guide rail connecting rod, a third connecting rod, a fourth connecting rod, a foot connecting rod, a first spring, a second spring and a force storage rope. When the coupling-driven force-storage-adjustable jumping leg and foot mechanism works, a quadrilateral connecting rod can be pulled through a force storage rope, so that the quadrilateral connecting rod mechanism deforms, a first spring and a second spring store energy, after a driven gear and the force storage rope are released, the stored energy of the first spring and the second spring is released, and jumping action is achieved; meanwhile, the leg guide rail connecting rods can drive the quadrilateral connecting rods to swing, so that the walking gait is achieved; therefore, coupling of the walking gait and the jumping gait of the leg-foot mechanism is achieved.
本发明公开一种耦合驱动的蓄力可调节跳跃腿足机构及耦合驱动方法,涉及机器人技术领域,包括壳体、驱动装置和两个行走跳跃单元,所述驱动装置固设在所述壳体中;每个所述行走跳跃单元都包括驱动轴、驱动摆杆、从动轴、腿部导轨连杆、第三连杆、第四连杆、足部连杆、第一弹簧、第二弹簧和蓄力绳。本发明的耦合驱动的蓄力可调节跳跃腿足机构在工作时能够通过蓄力绳拉动四边形连杆,使得四边形连杆机构变形,从而使第一弹簧和第二弹簧蓄能,在释放从动齿轮和蓄力绳之后,第一弹簧和第二弹簧的蓄能释放,从而实现了跳跃动作;同时利用腿部导轨连杆能够驱动四边形连杆摆动,从而实现行走步态;从而实现了腿足机构行走步态与跳跃步态的耦合。
Coupling-driven stored-force-adjustable jumping leg-foot mechanism and coupling driving method
一种耦合驱动的蓄力可调节跳跃腿足机构及耦合驱动方法
2023-08-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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