The invention relates to the technical field of driving devices, in particular to a joint variable rigidity parallel elastic driving device of a jumping robot, which comprises a tibia frame and a thigh skeleton positioned above the tibia frame, the joint driving mechanism is arranged in the middle, close to the bottom end, of one side of the femoral skeleton, the power output end of the joint driving mechanism penetrates through the femoral skeleton to be fixedly connected with a transmission frame, and the bottom end of the transmission frame is detachably connected with the tibia frame; the parallel elastic mechanism is arranged between the strand framework and the transmission frame; the limiting mechanism is arranged on the transmission frame; the reset elastic force release strength of the parallel elastic mechanism can be effectively controlled through the limiting mechanism, so that the relative swing speed of the tibia frame and the thigh skeleton is switched, the jumping height of the robot can be increased when the reset elastic force is large, and normal walking can be achieved when the reset elastic force is small; therefore, the robot can be effectively and flexibly switched between the jumping gait and the walking gait, and the effect of adapting to complex road conditions is achieved.

    本发明涉及驱动装置技术领域,具体涉及一种跳跃机器人的关节可变刚度并联弹性驱动装置,包括胫骨架,以及位于胫骨架上方的股骨架;还包括:关节驱动机构,设置于股骨架的一侧中部靠近底端,所述关节驱动机构的动力输出端穿过股骨架固定连接有传动架,所述传动架底端与胫骨架可拆卸连接;并联弹性机构,设置于股骨架与传动架之间;限位机构,设置于传动架上;通过限位机构能够有效的控制并联弹性机构的复位弹力释放强度,以实现切换胫骨架与股骨架的相对摆动速度,当复位弹力大时能够提升机器人的跳跃高度,当复位弹力小时能够实现正常的行走,从而能够有效的使得机器人在跳跃步态和行走步态中灵活切换,达到适应复杂路况的效果。


    Access

    Download


    Export, share and cite



    Title :

    Joint variable rigidity parallel elastic driving device of jumping robot


    Additional title:

    一种跳跃机器人的关节可变刚度并联弹性驱动装置


    Contributors:
    SU MINGXUAN (author) / LI HUI (author) / LI HUIRU (author) / ZHAO SHANG (author) / ZHANG RUI (author) / SHEN PENGHUI (author) / ZHANG WEI (author) / XU HAIXIA (author) / JIAO WENWEN (author) / LIU LI (author)

    Publication date :

    2024-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Parallel elastic driving joint based on foot robot and driving method of parallel elastic driving joint

    JIANG LEI / SONG ZHIBIN / ZENG YI et al. | European Patent Office | 2024

    Free access

    Double-joint jumping robot

    HU SHENGHAI / GUO CHUNYANG / LU CHENJUN et al. | European Patent Office | 2015

    Free access

    Humanoid robot and variable-rigidity variable-reduction-ratio ankle joint device thereof

    MA XIAOSHUAI / CHEN XUECHAO / YU ZHANGGUO et al. | European Patent Office | 2024

    Free access

    Bionic biped robot with variable-rigidity joints and double-joint flexibility

    HUANG YAN / SANG SHENGCONG / ZHANG CHENXIANG | European Patent Office | 2025

    Free access

    Jumping robot

    YUAN MINGHAI / ZHANG ZHEN / ZHU YAPING et al. | European Patent Office | 2025

    Free access