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。
Joint variable rigidity parallel elastic driving device of jumping robot
一种跳跃机器人的关节可变刚度并联弹性驱动装置
2024-07-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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