CN100482301C - Bionic locust jumping robot - Google Patents
Bionic locust jumping robot Download PDFInfo
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- CN100482301C CN100482301C CN 200710072236 CN200710072236A CN100482301C CN 100482301 C CN100482301 C CN 100482301C CN 200710072236 CN200710072236 CN 200710072236 CN 200710072236 A CN200710072236 A CN 200710072236A CN 100482301 C CN100482301 C CN 100482301C
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- shank
- grab
- control circuit
- thigh
- steering wheel
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Abstract
The invention provides a bionic grasshopper jumping robot, comprising body, front leg support damping device and back leg jump device. Said front leg support damping device comprises sleeve hinged on the body, one end is on the sleeve, the other end is on the brace; the brace is equipped with compression spring. Said back leg jump device comprises body brace, transition link rod, thigh, shank and treadle sheet; body brace is fixed on body, one end is connected with thigh, the other end is connected with transition link rod, the middle part of shank is connected with transition link rod, one end is connected with thigh, terminal end is connected with treadle sheet, a spring is located between the connection point of thigh and shank and connection point of body brace and transition link point; the shanks on the two sides of body are connected together through shank link rod, the body is equipped with energy storage device, energy release device, control circuit and power. The invention is characterized by accordance with grasshopper jumping feature, simple structure, high efficiency, fast and continuous jump.
Description
(1) technical field
What the present invention relates to is a kind of robot, specifically a kind of hopping robot.
(2) background technology
At present, still be in the research sexual stage in the world, also only have indivedual colleges and universities to carry out relevant important function for of research in recent years in China for the research of jumping type robot.
Spring robot the earliest is successful at MIT machine people laboratory development in 1980 by Raibert, this robot belongs to the continuity hopping mechanism, Raibert has analyzed monopodia hopping robot's take-off attitude control and the foot location algorithm problem when landing, and has obtained some theoretical research result at present.In the laboratory, realized independently stablizing functions such as jump, obstacle detouring, and can finish action such as turn a somersault.A lot of scholars have carried out mathematical analysis and emulation from all angles to similar means.
The subordinate's of American National aviation NASA (NASA) jet power laboratory (JPL) and California Inst. of Technology's joint research and development serial spring machine, be used for enlarging the scope of activities of space exploration roaming car.Wherein a kind of frog shape spring machine weighs 1.3 kilograms, and a drive motors is by solar cell for supplying power, is furnished with microcam and various sensor is used to gather external information, and maximum jump height can reach 1.8 meters, estimates to reach 5-6 rice on Mars.This achievement is published on the U.S.'s " discovery " magazine then.Univ Minnesota-Twin Cities USA developed a kind of spring robot in 2000, and 4 centimetres of diameters can jump, roll and stop, by radio and other " scout " contact.Spring mechanism in the robot leg produces by being positioned in jump, and similar people's hop is moving.This robot can going upstairs, also can skip little barrier, also have two independently wheel help robot to be rolled into certain position when needed.This robot is mainly towards indoor environment, and two-wheel structure and centre of gravity are highly suitable on the smooth floor it and move.The inferior National Laboratory in the U.S. Holy Land, the Massachusetts Institute of Technology in addition, Univ Zurich Switzerland also manufactures experimently out the robot with spring function respectively.Utah, USA university also held the contest of spring robot calendar year 2001 specially.
At home, at the beginning of 2003, professor Zhu Jianying of Nanjing Aero-Space University takes the lead in leading its team to begin to carry out hopping robot's correlative study, and the project verification that has obtained project of national nature science fund project and Commission of Science, Technology and Industry for National Defence is subsidized, it mainly carries out systematic research to hopping robot's scheme of now having announced in the world, and, test, but effect is not fine according to the theoretical model machine of having made several hopping robots of part.Northwestern Polytechnical University also carried out relevant research project in nearly 2 years with Harbin Institute of Technology, the former mainly imitates the jump mechanism of kangaroo, be subjected to grant of national natural science foundation, carried out a large amount of theoretical researches, the latter mainly imitates the jump mechanism of locust, and the analysis of launching a campaign of the comparatively ripe in the world jump theory of utilization obtains many experimental datas, but it differs tens of times according to the experimental prototype jump effect extreme difference that theory is made with simulation value.
Also having the part hopping mechanism, mainly is to be applied in on the simple and easy products such as a little toys, and for example number of patent application is 93205905.8, and name is called in the utility model patent of " simple and easy great-jump-forward Walking toy " disclosed technical scheme etc.It is a leg mechanism before and after installing on body, drives by human body and realizes simple the jump.These structures can not be used for automatic machinery people's design.
(3) summary of the invention
The object of the present invention is to provide a kind of steadily take-off, the skip distance ideal simultaneously can grease it in, realizes jumping continuously, and it is low to consume energy, and can realize automatic control, is applicable to the robot bionic locust jumping robot of complex environment.
The object of the present invention is achieved like this: it comprises body, foreleg is installed in body front end both sides supports damping, and back leg take-off mechanism is installed in the body rear end both sides; The support bar 12 that foreleg supports that damping comprises that sleeve 10, one ends that are hinged on the body are through on the sleeve, the other end and palm sheet 13 are fixed is with stage clip 11 on the support bar; Back leg take-off mechanism comprises body support bar 4, transition connecting rod 5, shank 6, thigh 7, pedals ground calvus 8, the body support bar is fixed on the body 1, one end of body support bar and thigh is hinged, the other end of body support bar and transition rod hinge connection, mid calf and transition rod hinge connection, shank one end is hinged with thigh, shank is terminal with pedal the ground calvus links to each other, and is connected with spring 21 between the pin joint of the pin joint of thigh and shank and body support bar and transiting rod; The shank of body both sides links together by shank connecting rod 18; Be provided with energy accumulating device, energy releasing device, control circuit and power supply in body, little leg connecting rod links to each other with energy releasing device with energy accumulating device, and power supply links to each other with control circuit, and control circuit connects energy accumulating device and energy releasing device.
The present invention can also comprise some architectural features like this:
1, the shaft hole present position at described mid calf and transition rod hinge connection place accounts for 1/4 of shank integral stem length apart from the distance of shank and thigh pin joint.
2, be hinged long ratio of each bar of the four-bar mechanism formed of the body support bar (4) in the back leg take-off mechanism, transition connecting rod (5), shank (6), thigh (7) is 1.1:1.5:2:1.
3, described energy accumulating device comprises reel 3 and spiral motor 2, little leg connecting rod is connected on the reel 3 by backguy 9, reel is installed on the spiral motor 2, and described control circuit connects energy accumulating device and is meant that control circuit links to each other with spiral motor in the energy accumulating device.
4, described energy releasing device comprises grab and miniature steering wheel, grab 14 is installed on the body 1, be fixed with backguy 15 and rubber band 16 on the grab, the grab head links to each other with miniature steering wheel 17 by backguy, the grab other end is connected on the body by rubber band, miniature steering wheel is fixed on the body, and described control circuit connects energy releasing device and is meant that control circuit links to each other with miniature steering wheel in the energy releasing device.
The present invention is according to bionics principle, and the mechanism of design meets the jumping characteristics of locust, and is simple in structure, efficient.By setting program, this robot can realize take-off immediately, bounds forward continuously.
The course of work of the present invention is at first analyzed understanding to topographic features of living in, and jump angle, elevation information are offered control section 19.After providing signal instruction, control section 19 beginnings are carried out according to preset program, spiral motor 2 rotates, driving reel 3 is wrapped in nylon wire 9 on the reel, making shank connecting rod 18 drive shank 6 receives to body, transition connecting rod 5, thigh 7 make spring 21 open storage power according to the predetermined curve relative motion; When shank connecting rod 18 is received to grab 14 places, snap in the grab, realize mechanical position limitation, at this moment, 2 counter-rotatings of spiral motor discharge nylon wire 9 from reel 3 fully; In the time will jumping, give control section 19 1 signals, control section 19 sends position signalling and gives steering wheel 17, steering wheel rotates predetermined angular, and pulling backguy 15 drives grab 14, with 18 instantaneous relases of shank connecting rod, spring 21 drives transition connecting rod 5, thigh 7, shank 6 relative rapid movements, pedals the ground pawl 8 anxious ground of pedaling, and realizes take-off.
Bionic locust jumping robot is with a wide range of applications in a lot of fields: the landform exploration in complex environment place, investigation, urgent danger prevention etc.; Interspace section passes the examination as carrier, carries related facility and carries out scientific investigation etc.The present invention plays an important role in scientific investigation, national defense applications, and its high efficiency, energy saving, reliability all are to have very much realistic meaning.
(4) description of drawings
Fig. 1 is an external structure schematic diagram of the present invention;
Fig. 2 is an internal structure schematic diagram of the present invention;
The structural representation of Fig. 3 foreleg damping;
The structural representation of Fig. 4 energy releasing device.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1 and Fig. 2, it comprises body the composition of bionic locust jumping robot, foreleg is installed in body front end both sides supports damping, and back leg take-off mechanism is installed in the body rear end both sides; Simultaneously in conjunction with Fig. 3, the support bar 12 that foreleg supports that damping comprises that sleeve 10, one ends that are hinged on the body are through on the sleeve, the other end and palm sheet 13 are fixed is with stage clip 11 on the support bar; Back leg take-off mechanism comprises body support bar 4, transition connecting rod 5, shank 6, thigh 7, pedals ground calvus 8, the body support bar is fixed on the body 1, an end and hinged, other end of thigh and transition rod hinge connection, mid calf and transition rod hinge connection, an end is hinged with thigh, terminal with pedal the ground calvus links to each other, and is connected with spring 21 between the pin joint of the pin joint of thigh and shank and body support bar and transiting rod; The shank of body both sides links together by shank connecting rod 18; In body, be provided with energy accumulating device, energy releasing device, control circuit 19 and power supply 20, little leg connecting rod links to each other with energy releasing device with energy accumulating device, power supply links to each other with control circuit, and control circuit connects energy accumulating device and energy releasing device.Described energy accumulating device comprises reel 3 and spiral motor 2, and little leg connecting rod is connected on the reel 3 by backguy 9, and reel is installed on the spiral motor 2, and it is to link to each other with the spiral motor that described control circuit connects energy accumulating device.Described energy releasing device, as shown in Figure 4, comprise grab and miniature steering wheel, grab 14 is installed on the body 1, be fixed with backguy 15 and rubber band 16 on the grab, the grab head links to each other with miniature steering wheel 17 by backguy, and the grab other end is connected on the body by rubber band, steering wheel is fixed on the body, and it is to link to each other with steering wheel that described control circuit connects energy releasing device.
Wherein body connecting rod 4, transition connecting rod 5, shank 6, thigh 7 proportionally 1.1:1.5:2:1 interconnect, form four-bar mechanism, body 1 both sides shank 6 is connected with each other by shank connecting rod 18 at root; Shank connecting rod 18 is connected on the reel 3 by nylon backguy 9; 17 of control section and spiral motor 2 and steering wheels are for being electrically connected, use pin to be connected between spiral motor 2 output shafts and the reel 3, steering wheel 17 output rudder angle sheets and backguy 15 are bonding, grab 14 is fixed on the body 1 by bearing pin, one end is worn rubber band 16 and is linked to each other with body, and the other end is worn backguy 15 and is connected on the steering wheel 17 output rudder angle sheets; Spiral motor 2, steering wheel 17, control circuit board 19, power supply 20 are fixed on the body inboard.
Claims (6)
1, a kind of bionic locust jumping robot, it comprises body, foreleg is installed in body front end both sides supports damping, and back leg take-off mechanism is installed in the body rear end both sides; It is characterized in that: foreleg supports damping and comprises the sleeve (10) that is hinged on the body, and the support bar (12) that an end is through on the sleeve, the other end and palm sheet (13) are fixed is with stage clip (11) on the support bar; Back leg take-off mechanism comprises body support bar (4), transition connecting rod (5), shank (6), thigh (7), pedals ground calvus (8), the body support bar is fixed on the body (1), one end of body support bar and thigh is hinged, the other end of body support bar and transition rod hinge connection, mid calf and transition rod hinge connection, shank one end is hinged with thigh, shank is terminal with pedal the ground calvus links to each other, and is connected with spring (21) between the pin joint of the pin joint of thigh and shank and body support bar and transition connecting rod; The shank of body both sides links together by little leg connecting rod (18); Be provided with energy accumulating device, energy releasing device, control circuit and power supply in body, little leg connecting rod links to each other with energy releasing device with energy accumulating device, and power supply links to each other with control circuit, and control circuit connects energy accumulating device and energy releasing device.
2, bionic locust jumping robot according to claim 1 is characterized in that: the shaft hole present position at described mid calf and transition rod hinge connection place accounts for 1/4 of shank integral stem length apart from the distance of shank and thigh pin joint.
3, bionic locust jumping robot according to claim 2 is characterized in that: be hinged long ratio of each bar of the four-bar mechanism formed of the body support bar (4) in the back leg take-off mechanism, transition connecting rod (5), shank (6), thigh (7) is 1.1:1.5:2:1.
4, according to any one described bionic locust jumping robot in the claim 1,2 or 3, it is characterized in that: described energy accumulating device comprises reel (3) and spiral motor (2), little leg connecting rod is connected on the reel (3) by backguy (9), reel is installed on the spiral motor (2), and described control circuit connects energy accumulating device and is meant that control circuit links to each other with spiral motor in the energy accumulating device.
5, according to any one described bionic locust jumping robot in the claim 1,2 or 3, it is characterized in that: described energy releasing device comprises grab and miniature steering wheel, grab (14) is installed on the body (1), be fixed with backguy (15) and rubber band (16) on the grab, the grab head links to each other with miniature steering wheel (17) by backguy, the grab other end is connected on the body by rubber band, miniature steering wheel is fixed on the body, and described control circuit connects energy releasing device and is meant that control circuit links to each other with miniature steering wheel in the energy releasing device.
6, bionic locust jumping robot according to claim 4, it is characterized in that: described energy releasing device comprises grab and miniature steering wheel, grab (14) is installed on the body (1), be fixed with backguy (15) and rubber band (16) on the grab, the grab head links to each other with miniature steering wheel (17) by backguy, the grab other end is connected on the body by rubber band, miniature steering wheel is fixed on the body, and described control circuit connects energy releasing device and is meant that control circuit links to each other with miniature steering wheel in the energy releasing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710072236 CN100482301C (en) | 2007-05-22 | 2007-05-22 | Bionic locust jumping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710072236 CN100482301C (en) | 2007-05-22 | 2007-05-22 | Bionic locust jumping robot |
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| Publication Number | Publication Date |
|---|---|
| CN101058036A CN101058036A (en) | 2007-10-24 |
| CN100482301C true CN100482301C (en) | 2009-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710072236 Expired - Fee Related CN100482301C (en) | 2007-05-22 | 2007-05-22 | Bionic locust jumping robot |
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| CN (1) | CN100482301C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
Families Citing this family (18)
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| CN101423076B (en) * | 2007-11-02 | 2011-08-10 | 江南大学 | Expansion muscle driven double-flexibility joint bouncing robot |
| CN102050157B (en) * | 2009-11-05 | 2013-04-03 | 西北工业大学 | Energy storage and release device of hopping robot |
| CN102050156B (en) * | 2009-11-05 | 2013-04-03 | 西北工业大学 | Bionic hopping robot with two degrees of freedom |
| CN101716962B (en) * | 2009-11-16 | 2012-05-30 | 北京航空航天大学 | Locust-simulated bouncing and turning robot |
| CN101850798B (en) * | 2010-03-29 | 2011-11-16 | 北京航空航天大学 | Bionic cockroach robot based on double-four link mechanism |
| CN101797937B (en) * | 2010-04-12 | 2012-02-29 | 北京航空航天大学 | Bionic galloping robot based on connecting rod mechanism |
| CN101862542B (en) * | 2010-05-27 | 2012-07-04 | 西北工业大学 | Robot simulated jump aid |
| CN101972547B (en) * | 2010-10-19 | 2012-03-14 | 哈尔滨工程大学 | Foreleg mechanism of bionic frog-jumping robot |
| CN102092428B (en) * | 2011-02-11 | 2012-05-30 | 北方工业大学 | Four-bar mechanism based wheel-type hopping mechanism |
| CN102114880B (en) * | 2011-03-04 | 2012-10-17 | 东北大学 | Shape memory alloy spring-driven jumping robot |
| CN102556195B (en) * | 2012-02-24 | 2013-06-19 | 东北大学 | Locust bounce imitation robot driven by memory alloy |
| CN102602467B (en) * | 2012-05-03 | 2013-06-05 | 上海大学 | Variable-step-length continuous hopping and steering movement mechanism |
| CN103963864B (en) * | 2014-04-28 | 2016-08-24 | 北京工业大学 | A kind of bionic insect hopping robot's structure |
| CN107415618A (en) * | 2017-07-19 | 2017-12-01 | 太原科技大学 | A kind of imitative automobile-used suspension of kangaroo leg |
| CN108773427B (en) * | 2018-06-15 | 2023-12-22 | 河海大学常州校区 | Jumping robot |
| CN109292023A (en) * | 2018-11-08 | 2019-02-01 | 西北工业大学 | A kind of bio-robot of repeatable spring |
| CN113264128A (en) * | 2021-05-24 | 2021-08-17 | 常州机电职业技术学院 | Locust-simulated jumping robot rear leg mechanism |
| CN114211510B (en) * | 2022-01-27 | 2024-01-19 | 吉林大学 | Bionic rigid impact type tumbler jumping robot and jumping method thereof |
-
2007
- 2007-05-22 CN CN 200710072236 patent/CN100482301C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN101954935B (en) * | 2010-09-27 | 2012-04-25 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
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| Publication number | Publication date |
|---|---|
| CN101058036A (en) | 2007-10-24 |
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