CN101716962B - Locust-simulated bouncing and turning robot - Google Patents
Locust-simulated bouncing and turning robot Download PDFInfo
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- CN101716962B CN101716962B CN2009102376899A CN200910237689A CN101716962B CN 101716962 B CN101716962 B CN 101716962B CN 2009102376899 A CN2009102376899 A CN 2009102376899A CN 200910237689 A CN200910237689 A CN 200910237689A CN 101716962 B CN101716962 B CN 101716962B
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- locust
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Abstract
The invention discloses a locust-simulated bouncing and turning robot. A foreleg bounce-supporting rod and a drawleg bounce-supporting rod are respectively mounted at both sides of a body, have the same length and are arranged in parallel; the front ends of the legs are respectively articulated on the body; the rear ends are mutually articulated by a parallelogram linkage; the front end of the foreleg bounce-supporting rod is fixedly connected with a transmission rod; a spring is arranged between the transmission rod and the body; the foreleg bounce-supporting rod is driven by a full gear and a notch gear which are mutually engaged to intermittently rotate, store and release energy and realize bounces; and the tail end of the transmission rod at one side of the body is fixedly connected with a turning rod piece to form a turning device. The locust-simulated bouncing and turning robot can stably bounce and can bounce again under the condition that the landed body is possible to turn up so as to uprightly land and continuously bounce and turn up. The locust-alike bouncing and turning robot consumes low energy and can realize automatic control, thereby being suitable for complicated environments.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of locust-simulated bouncing and turning robot.
Background technology
In order to solve the obstacle detouring difficult problem of microminiature mobile robot; Exploratory development at present the robot of the high obstacle detouring property of various high maneuverabilities; The mobile robot who wherein possesses layup not only possesses the locomotivity on the two dimensional surface, can also cross the obstacle that several times even number decuple self size through jump.Therefore the mobile bouncing and turning robot that has the compound motion ability has remedied the deficiency that traditional mobile robot only has the single movement mode, has expanded the field of application of micro robot greatly, has broad application prospects.Particularly in space exploration, because the moon is lower than the earth (Mars 38%, the moon 17%) with the martian surface acceleration due to gravity, can make full use of this advantage of bounce motion, reach higher jumping height to cross the surperficial obstacle of celestial body.
Nature biotechnology has formed in very long evolutionary process and has been close to perfect body structure, and in order to improve the locomitivity of robot, technical personnel obtains to inspire from natural biological motion, develops and mode of motion more efficiently through imitating them.In hopping robot's research, all be the animal that imitation has skip capability a lot, like kangaroo, frog and locust etc.Wherein locust has and moves and spring twofold motion mode, and himself bone its specific structure mechanics feature has surprising layup, also has the ability that move on land.
In the prior art, the research of bionical mobile bouncing and turning robot is obtained certain achievement, but still has been in the primary stage that laboratory principle prototype research is explored at present, at least also existed following shortcoming:
Mobile manoevreability is not strong, the Take-off Stage layup is poor, it is big and unstable to impact when landing, and the intelligent robot degree is not high simultaneously.In addition, because the restriction of self load weight, satisfactory battery can't guarantee long work cruise duration.
Summary of the invention
The purpose of this invention is to provide a kind of locust-simulated bouncing and turning robot, this robot both can be on subdued topography be main mode of motion to move, and improves the robot manoevreability, reduction robot energy power consumption; Can when running into obstacle, adopt the mode of skip motion to carry out obstacle detouring again.
The objective of the invention is to realize through following technical scheme:
Locust-simulated bouncing and turning robot of the present invention comprises body, and said body is provided with bouncer and turning device, and said bouncer comprises:
Be separately installed with foreleg jump strut bar and back leg jump strut bar in the both sides of said body, the front end of said foreleg jump strut bar and back leg jump strut bar is hinged with body respectively;
Said foreleg jump strut bar and back leg jump strut bar are isometric and laterally arrange, and the rear end of the foreleg jump strut bar of said body both sides and back leg jump strut bar is hinged through a parallelogram lindage;
The front end of the foreleg jump strut bar of said body both sides is fixed with transiting rod respectively, and the end of the transiting rod of body both sides links to each other through a connecting rod, is provided with spring between said connecting rod and the said body;
The foreleg jump strut bar of said body both sides connects through a rotating shaft, and said rotating shaft is connected with intermittently device of rotation driving.
Technical scheme by the invention described above provides can be found out; Locust-simulated bouncing and turning robot of the present invention; Because body is provided with bouncer and turning device; Be separately installed with foreleg jump strut bar and back leg jump strut bar in the both sides of body, the front end of foreleg jump strut bar and back leg jump strut bar is hinged with body respectively, and foreleg jump strut bar and back leg jump strut bar are isometric and laterally arrange; The rear end of the foreleg jump strut bar of body both sides and back leg jump strut bar is hinged through a parallelogram lindage, forms four bar bouncing mechanisms;
The front end of the foreleg jump strut bar of body both sides is fixed with transiting rod respectively; The end of the transiting rod of body both sides links to each other through a connecting rod; Be provided with spring between connecting rod and the body; The foreleg jump strut bar of body both sides connects through a rotating shaft, and rotating shaft is connected with intermittently device of rotation driving, forms energy storage and release gear.
Both can be on subdued topography be main mode of motion to move, improve the robot manoevreability, reduction robot energy power consumption; Can when running into obstacle, adopt the mode of skip motion to carry out obstacle detouring again.
Description of drawings
Fig. 1 is the construction profile schematic diagram of locust-simulated bouncing and turning robot of the present invention;
Fig. 2 is the inner structure scheme drawing of locust-simulated bouncing and turning robot of the present invention.
The specific embodiment
Locust-simulated bouncing and turning robot of the present invention, the specific embodiment that it is preferable such as Fig. 1, shown in Figure 2 comprise body, and said body is provided with bouncer and turning device, and said bouncer comprises:
Be separately installed with foreleg jump strut bar and back leg jump strut bar in the both sides of said body, the front end of said foreleg jump strut bar and back leg jump strut bar is hinged with body respectively;
Said foreleg jump strut bar and back leg jump strut bar are isometric and laterally arrange, and the rear end of the foreleg jump strut bar of said body both sides and back leg jump strut bar is hinged through a parallelogram lindage;
The front end of the foreleg jump strut bar of said body both sides is fixed with transiting rod respectively, and the end of the transiting rod of body both sides links to each other through a connecting rod, is provided with spring between said connecting rod and the said body;
Said spring has one, is connected in the middle part of said connecting rod; Or said spring has two, is connected in the two ends of said connecting rod.
The foreleg jump strut bar of said body both sides connects through a rotating shaft, and said rotating shaft is connected with intermittently device of rotation driving.
Described intermittence, device of rotation driving comprised intermeshing complete gear wheel and hypodontia gear, and said complete gear wheel and said rotating shaft are connected, and said hypodontia gear passes through motor-driven.
The output shaft of said motor is provided with ratchet, said ratchet and ratchet engagement.
Said motor is a brush direct current motor.
The front end of said rotating shaft and said foreleg jump strut bar is connected, and hinged with body.
Said turning device comprises the member bar turning of being located at said body one side, and an end and the said body of said member bar turning are hinged.
The end of the transiting rod of one end of said member bar turning and said body one side is connected.
Steadily take-off of locust-simulated bouncing and turning robot of the present invention; The jump ideal distance; Simultaneously can possibly occur overturning once more under the upset situation at body after the landing, and then the front lands, it be low to realize jumping continuously, overturn, consuming energy; Can realize automatic guidance, be applicable to the imitative locust jumping turning robot of complex environment.
In the specific embodiment, comprise bouncer and turning device, describe respectively below:
Bouncer:
Comprise body 7, be separately installed with foreleg jump strut bar 1 and back leg jump strut bar 2 in the both sides of body 7, the front end of foreleg jump strut bar 1 and back leg jump strut bar 2 is hinged with body 7 respectively.
Foreleg jump strut bar 1 and back leg jump strut bar 2 are isometric and laterally arrange, and the rear end of totally four strut bars 1,2, the both sides of body 7 are hinged through a parallelogram lindage 5, form four bar bouncing mechanisms.
The front end of the foreleg jump strut bar 1 of body 7 both sides is fixed with transiting rod 3 respectively; The end of the transiting rod 3 of both sides links to each other through a connecting rod (not shown); If a spring 6, spring 6 one ends are connected the mid point of this connecting rod, and the front end of the other end and body 7 is connected; Two springs 6 also can be set, be connected to the two ends of this connecting rod.
The foreleg jump strut bar 1 of body 7 both sides connects through a rotating shaft 8 in body 7, and rotating shaft 8 can be arranged on the hinged place of foreleg jump strut bar 1 and body 7, and rotating shaft 8 can be concentric with the hinge at this place, and the hinge that perhaps directly will locate is as rotating shaft 8.
In body 7, be provided with energy storing device, energy releasing device, control circuit and power supply etc.; Adopt the brush direct current motor 9 of high-power small size big retarding ratio to drive a hypodontia gear 11; A ratchet 13 is connected on the hypodontia gear 11; Ratchet 13 and ratchet 10 engagement limits travels direction guarantee 9 past direction motions of motor, can guarantee that like this motor 9 can not produce revolution because of spring 6 pulling force.Simultaneously hypodontia gear 11 is bitten mutually with a complete gear wheel 12 and is closed; Complete gear wheel 12 is connected with the rotating shaft 8 that in body 7, is connected both sides foreleg jump strut bar 1; The number of teeth through control hypodontia gear 11 realizes the control of the movement angle of four bar bouncing mechanisms (being connected with complete gear wheel), and then realizes the ejection and the withdrawal of bouncing mechanism.
Its jump process is such: electric machine control hypodontia gear 11 rotates; Again through with hypodontia gear 11 toothed portion ingear complete gear wheel 12 arranged; Make foreleg jump strut bar 1 and transiting rod 3 do the conter clockwise motion together, and then spring 6 is stretched the storage of realization energy; When motor is rotated further, forward hypodontia gear 11 hypodontias part and complete gear wheel 12 engagement places to, spring 6 is released; Shrink rapidly, drive strut bar 1,2 and do the cw motion, parallelogram lindage 5 contacts to earth downwards fast; Produce antagonistic force through contacting, realize the jump of whole machine body with ground.
Turning device:
Bouncing and turning robot jumps for leaping over obstacles; After jump process was accomplished, robot possibly overturn, and this switching mechanism can play robot is overturn again; The effect that its front is landed, thus the ground comformability of bouncing and turning robot increased.
Turning device is installed in the body outside, comprises member bar turning 4, and member bar turning 4 is installed in a side of robot body 7; When upset takes place in robot, the end support ground of member bar turning 4, like this; Robot just has supported at three point to land, and can rotate the rotation that drives member bar turning 4 through motor, and member bar turning 4 terminal touchdown points constantly change in ground-surface position; Robot rotates, and the center of gravity of robot constantly changes, and last robot relies on self gravitation to realize upset.
One end of concrete member bar turning 4 can be connected with the end of the transiting rod 3 of body 7 one sides.Like this member bar turning 4 can with foreleg jump strut bar 1 a shared rotating shaft 8 of bouncer, captive joint drives through motor 9, makes the shared drive motor of bouncer and turning device, simplified structure.
Can be respectively on member bar turning 4 and strut bar 1,2 and parallelogram lindage 5 and transiting rod 3 and the connecting rod thereof or be equipped with lightening hole separately, expendable weight improves the locomitivity of robot.
Turning device relies on its back leg support firmly to realize the process of the rotation upset of health from bionics thereby imitated locust, and this project organization is simple, and is efficient.
Among the present invention; Bouncing and turning robot rotates through the driven by motor member bar turning and realizes upset; Motor to driving the member bar turning rotation drives optimization, and the body of bouncing and turning robot adopts four bar bouncing mechanisms to realize the jump of robot, and four bar bouncing mechanisms use intermittent motion mechanism's hypodontia gear to carry out transmission; Through using the slow-revving DC machine of high pulling torque to drive a hypodontia gear; It is bitten with another complete gear wheel mutually close, the transmission shaft with complete gear driven four bar bouncing mechanisms rotates then, makes four-bar mechanism accomplish stretching and release spring and then realization skip motion;
Simultaneously, the shared turning cylinder of four bar bouncing mechanisms and member bar turning, both captive joints have one degree of freedom, and when the robot front landed, motor rotated, and robot is rotated realize the spring function.Jump after the completion, if robot overturn when landing, the robot reverse side lands, and member bar turning supports ground, and the motor-driven member bar turning rotates, and changes the turn over function of the pose realization robot of robot through member bar turning.
A specific embodiment:
Foreleg jump strut bar 1 is positioned in the middle of the body with the body articulated position, and with back leg jump strut bar 2 and body articulated position apart from 4.7cm, both lines and horizontal direction angle are 25 °;
Foreleg jump strut bar 1 length is 9cm, and is parallel and isometric with back leg jump strut bar 2, with strut bar 1 also be 4.7cm with strut bar 2 rear end pivotally attached length of connecting rod;
Transiting rod 3 length are 3.5cm, link to each other spring rate 8N/cm, former long 5.7cm between connecting rod mid point that it is terminal and the body with a spring.
The above; Be merely the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technical personnel of being familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
Claims (8)
1. a locust-simulated bouncing and turning robot comprises body, it is characterized in that, said body is provided with bouncer and turning device, and said bouncer comprises:
Be separately installed with foreleg jump strut bar and back leg jump strut bar in the both sides of said body, the front end of said foreleg jump strut bar and back leg jump strut bar is hinged with body respectively;
Said foreleg jump strut bar and back leg jump strut bar are isometric and laterally arrange, and the rear end of the foreleg jump strut bar of said body both sides and back leg jump strut bar is hinged through a parallelogram lindage;
The front end of the foreleg jump strut bar of said body both sides is fixed with transiting rod respectively, and the end of the transiting rod of body both sides links to each other through a connecting rod, is provided with spring between said connecting rod and the said body;
The foreleg jump strut bar of said body both sides connects through a rotating shaft, and said rotating shaft is connected with intermittently device of rotation driving.
2. locust-simulated bouncing and turning robot according to claim 1; It is characterized in that; Described intermittence, device of rotation driving comprised intermeshing complete gear wheel and hypodontia gear, and said complete gear wheel and said rotating shaft are connected, and said hypodontia gear passes through motor-driven.
3. locust-simulated bouncing and turning robot according to claim 2 is characterized in that the output shaft of said motor is provided with ratchet, said ratchet and ratchet engagement.
4. locust-simulated bouncing and turning robot according to claim 3 is characterized in that, said motor is a brush direct current motor.
5. locust-simulated bouncing and turning robot according to claim 1 is characterized in that said spring has one, is connected in the middle part of said connecting rod; Or said spring has two, is connected in the two ends of said connecting rod.
6. locust-simulated bouncing and turning robot according to claim 1 is characterized in that, the front end of said rotating shaft and said foreleg jump strut bar is connected, and hinged with body.
7. locust-simulated bouncing and turning robot according to claim 1 is characterized in that, said turning device comprises the member bar turning of being located at said body one side, and an end and the said body of said member bar turning are hinged.
8. locust-simulated bouncing and turning robot according to claim 7 is characterized in that, the end of the transiting rod of an end of said member bar turning and said body one side is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102376899A CN101716962B (en) | 2009-11-16 | 2009-11-16 | Locust-simulated bouncing and turning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102376899A CN101716962B (en) | 2009-11-16 | 2009-11-16 | Locust-simulated bouncing and turning robot |
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| Publication Number | Publication Date |
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| CN101716962A CN101716962A (en) | 2010-06-02 |
| CN101716962B true CN101716962B (en) | 2012-05-30 |
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| CN2009102376899A Expired - Fee Related CN101716962B (en) | 2009-11-16 | 2009-11-16 | Locust-simulated bouncing and turning robot |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954935B (en) * | 2010-09-27 | 2012-04-25 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN102092430B (en) * | 2010-12-31 | 2012-05-30 | 南京航空航天大学 | Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot |
| CN102602467B (en) * | 2012-05-03 | 2013-06-05 | 上海大学 | Variable-step-length continuous hopping and steering movement mechanism |
| CN103991487B (en) * | 2014-04-27 | 2016-07-06 | 湘潭大学 | Full Pneumatic vacuum adsorbed wall-climbing robot |
| CN103909528B (en) * | 2014-04-28 | 2016-05-25 | 苏州大学张家港工业技术研究院 | A kind of single motor-driven Two dimension of freedom robot vision system |
| CN103963864B (en) * | 2014-04-28 | 2016-08-24 | 北京工业大学 | A kind of bionic insect hopping robot's structure |
| CN107021143B (en) * | 2017-03-22 | 2023-01-24 | 江南大学 | Locust-simulated jumping robot |
| CN106956727B (en) * | 2017-04-05 | 2018-11-13 | 电子科技大学 | Imitative locust flight hopping robot based on metamorphic mechanisms and its flight control method |
| CN108908367B (en) * | 2018-08-01 | 2023-10-17 | 浙江理工大学 | Bionic bouncing device with adjustable jumping degree |
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| CN1994804A (en) * | 2006-12-21 | 2007-07-11 | 浙江大学 | Wheel, leg, bounce mechanism combined mobile robot |
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- 2009-11-16 CN CN2009102376899A patent/CN101716962B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2845875Y (en) * | 2005-11-25 | 2006-12-13 | 张德惠 | Ejecting mechanism |
| CN1994804A (en) * | 2006-12-21 | 2007-07-11 | 浙江大学 | Wheel, leg, bounce mechanism combined mobile robot |
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| CN101716962A (en) | 2010-06-02 |
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