CN101734299A - Gliding robot capable of autonomously flying in salutatory mode - Google Patents
Gliding robot capable of autonomously flying in salutatory mode Download PDFInfo
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- CN101734299A CN101734299A CN200910263292A CN200910263292A CN101734299A CN 101734299 A CN101734299 A CN 101734299A CN 200910263292 A CN200910263292 A CN 200910263292A CN 200910263292 A CN200910263292 A CN 200910263292A CN 101734299 A CN101734299 A CN 101734299A
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Abstract
The invention discloses a gliding robot capable of autonomously flying in a salutatory mode, which comprises a frame, a bouncing device arranged on the frame and a bouncing drive device used for driving the bouncing device. A pair of gliding devices and a gliding drive device for driving the gliding devices are also arranged on the frame; each gliding device comprises a front framework, a rear framework, a wing and a folding mechanism; the wings are fixed between the front framework and the rear framework; the front framework and the rear framework are connected with the folding mechanism; and the folding mechanism is connected with the gliding drive device for unfolding the wings. A take-off angle adjustment mechanism of the invention enables the robot to adjust take-off angles autonomously so as to adjust bouncing heights, bouncing distances and achieve stable landing; and therefore, the flexibility of actions of the robot is improved.
Description
Technical field
The present invention relates to bounce robot, flying robot, wireless sensor network field, the gliding machine people that particularly a kind of independently great-jump-forward takes off.
Background technology
Mobile robot's a development lifting that outstanding problem is a motion landform adaptive capacity to be solved.Wheeled robot and caterpillar type robot often can not be smoothly when running into than big obstacle of self size or gully by or kinematic accuracy low.Walking and climbing robot degree of freedom are many, control is complicated, motion is slow, and be powerless equally when running into big obstacle or gully.And hop robot has that range of movement is big, obstacle climbing ability strong and hide characteristics such as dangerous fast, can strengthen the adaptive capacity to environment of robot, overcomes the rugged and obstacle in ground and stops the difficulty of bringing.Present hop robot also exists jump height low, and take-off angle can not be adjusted, and problem such as can not steadily land.
Summary of the invention
Technical matters technical matters to be solved by this invention is, overcomes the defective and the deficiency of existing hop robot, designs the gliding machine people that a kind of independently great-jump-forward takes off.
The gliding machine people that a kind of independently great-jump-forward of technical scheme takes off, comprise frame and be arranged on bouncer on the frame, be used to drive the spring actuating device of bouncer, on described frame, also be provided with the glide actuating device that a pair of glider system and drives glider system, described glider system comprises: the front skeleton, the back skeleton, wing and open-and-close mechanism, described wing is fixed between front skeleton and the back skeleton, described front skeleton is connected with open-and-close mechanism with the back skeleton, and open-and-close mechanism is connected with described glide actuating device and is used to launch described wing; Described bouncer comprises: thigh, thigh auxiliary leg, shank and first torque spring, one end of described thigh is connected with frame, the other end is connected with shank, one end of the auxiliary leg of described thigh is connected with frame, the other end is connected with shank, the coupling end of the coupling end of the coupling end of described thigh and frame, thigh and shank, the auxiliary leg of thigh and frame, the coupling end of auxiliary leg of thigh and shank, four coupling ends constitute quadrangle, the arm of force and the frame of described torque spring are fixed, and another arm of force is fixed on the thigh; Described spring actuating device comprises steering wheel, speed reduction gearing and a cam, and the outline line of this cam is near the involute of circle, and described cam is connected with the output shaft of speed reduction gearing, and the action of cam face acts on thigh) on.
At auxiliary leg of described thigh and shank coupling end the auxiliary leg shank attaching parts of thigh is set, at thigh and shank coupling end thigh shank attaching parts is set, described thigh shank attaching parts is enclosed within on the described shank.
On described bouncer, also be provided with the take-off angle regulating mechanism, this regulating mechanism comprises a screw rod, motor and speed reducing gear pair, described screw rod is fixed on the output shaft of speed reducing gear pair, described thigh shank attaching parts is provided with tapped bore, and this tapped bore and screw rod constitute screw drive.
Described frame fixedly is made up of front end face shelf and side shelf.
The coupling end of described thigh and frame is in the bottom of the side of frame shelf, and the auxiliary leg of described thigh is in the bottom of the front end face shelf of frame.
Described open-and-close mechanism comprises: the gear and second torque spring, described second torque spring is enclosed within on the described gear wheel shaft, its first arm of force is fixed on the frame, its second arm of force is connected with the front skeletal fixation, described front skeletal fixation is on gear, described back skeletal fixation is on frame, described glide actuating device is by second steering wheel, wing gear one, wing gear two, wing gear three and wing gear four are formed, described wing gear one and two engagements of wing gear, described wing gear one is connected with the output shaft of second steering wheel (521), described wing gear three and wing gear four are quadrant gear, and be fixed on the wing gear two, described wing gear three and wing gear three respectively with a pair of described gear mesh.
Beneficial effect (1) take-off device of the present invention adopts fan-shaped cam, and the quickreturn characteristics of utilization cam has designed cam profile, has realized the high capacity energy storage and the abrupt release of springing.The present invention is slowed down through train of reduction gears with steering wheel and is obtained high pulling torque, drive camming action in springing, realize the compressed energy-storage and the abrupt release of torsion spring, finish spring-like movement, the appropriate design of cam profile has obtained big elastic potential energy and high quickreturn characteristics.
(2) the present invention will jump and glide combines, and jump to vertex and spread the wings and glide.Glide mechanism is slowed down and the umbrella gear break-in through one-level by steering wheel, gear mesh with the wing plane, the drive wing opens and draws in, umbrella gear adopts the sector structure of hypodontia, driving wing when the gear mesh on the part of tooth and wing plane rotates draws in, wing moment opens when reaching hypodontia, has realized that robot jumps to behind the vertex moment of wing and opens gliding function.Glide can prolong robot lowering time and parallel motion distance, slows down robot and ground-surface bump, improves the stability of landing.
(3) take-off angle regulating mechanism of the present invention makes that robot can be from the main regulation take-off angle, thereby regulates jumping height, spring distance and steadily land, and has increased the alerting ability of robot movable.
Description of drawings
Fig. 1 is the robot system block diagram of the embodiment of the invention.
Fig. 2 is the robot assembly drowing leading flank figure of the embodiment of the invention.
Fig. 3 is the robot assembly drowing trailing flank figure of the embodiment of the invention.
Fig. 4 is the robot assembly drowing right elevation of the embodiment of the invention.
Fig. 5 is the rack construction scheme drawing of the embodiment of the invention.
Fig. 6 is the bouncing mechanism scheme drawing of the embodiment of the invention.
Fig. 7 is the glide structural scheme of mechanism of the embodiment of the invention.
Fig. 8 is the take-off angle regulating mechanism scheme drawing of the embodiment of the invention.
Fig. 9 is the driver train scheme drawing of the embodiment of the invention.
Figure 10 is an overall system block diagram of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, principle of work of the present invention and working process are described in further detail.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the gliding machine people that a kind of independently great-jump-forward takes off is made up of frame 1, bouncing mechanism 2, glide mechanism 3, take-off angle regulating mechanism 4, driver train 5, supply unit 6 and control setup 7, it is characterized in that: frame is used for installing, fixing other mechanisms and device; Bouncing mechanism is finished robot and is stood and bounce function; Glide mechanism finishes the robot gliding function; The take-off angle regulating mechanism is finished the take-off angle regulatory function; Actuating device is divided into spring actuating device, glide actuating device and take-off angle and regulates actuating device three parts, and regulating for spring, glide and the take-off angle of robot provides propulsive effort; Supply unit provides all energy of robot motion; The various piece coordination of control setup control robot, finish that jump, glide, take-off angle are regulated, the environmental information collection and with the radio network gateway radio communication function.This robot adopts to jump and adds the gliding type mode of motion and can overcome the difficulty that pavement roughness, obstacle, gully stop, adopt the network communication of wireless sensor technology to carry out remote monitoring control, enter for what realize complex environment that monitoring provides sound assurance with environmental information.
With reference to Fig. 5, described frame 1 is linked together by front end face shelf 11, side shelf 12 usefulness screws, constitutes the mechanical installation site of other devices.With reference to Fig. 6, described bouncing mechanism is by thigh 21, thigh is assisted leg 22, shank 23, bearing 24, torque spring shelf 25, torque spring 26, thigh attaching parts 27, thigh shank attaching parts 28, thigh is assisted leg front end face shelf attaching parts 29, thigh is assisted leg shank attaching parts 210, thigh is assisted leg attaching parts 211, the axle of iron wire 212 and each several part is formed, a left side, the upper end of right thigh is enclosed within a left side respectively, constituting revolute pair on the right thigh axle connects, the thigh axle is fixed on the bottom of two side shelfs, a left side threadably, the lower end of right thigh constitutes revolute pair with shank by thigh shank attaching parts and is connected; The auxiliary leg of thigh upper end constitutes revolute pair with attaching parts and is connected on the front end face, and the lower end is fixed on the auxiliary leg attaching parts of thigh, and constitutes revolute pair with shank by the auxiliary leg shank attaching parts of thigh and be connected; Shank one end is connected with thigh with attaching parts, and an other end leaves the iron wire sky, is connected on the auxiliary leg shank attaching parts of thigh with iron wire, constitutes the plane revolute pair; Two bearings are separately fixed at the bearing hole position on thigh top by bearing axle; The torque spring shelf is an I shape, and two of I-shaped is square toes, and the outside has one section screw rod, and square toes are enclosed within on the shelf of left and right side, and the outside is fixed with nut again; Four torque springs are installed side by side, an arm of force of two torsion springs in the left and right outside is installed in the inside, torsion spring hole on the shelf of left and right side respectively, another arm of force is installed in the inside, torsion spring hole of left and right thigh respectively, on the torsion axis shelf, the another one arm of force was installed in the inside, torsion spring hole of left and right thigh respectively in the middle of arm of force of two torsion springs of left and right inboard was installed in.With reference to Fig. 7, symmetry fully about described glide mechanism is made up of front skeleton 31, back skeleton 32, wing 33, torque spring 34, gear 35, gear wheel shaft 36 front skeleton torsion spring attaching partss 37, iron wire 38, and the back skeletal fixation is on the top of side shelf; The front shelf is connected by skeleton torsion spring attaching parts with an arm of force of torque spring, and is fixed on iron wire on the flank of tooth of gear; Fan-shaped, rugosity wing two straight flanges of papery are separately fixed on front skeleton and the back skeleton; Torque spring is enclosed within on the gear wheel shaft, and an arm of force is connected by attaching parts with the front skeleton, and another arm of force is fixed on the inside, torsion spring hole on the shelf of side; Geared sleeve is on gear wheel shaft, and gear surface and front skeleton torsion spring attaching parts are fixed into an integral body by iron wire, is convenient to the gear driven wing and opens and draw in; The gear wheel shaft two ends have one section screw thread respectively, and an end is fixed in the tapped bore on the front end face shelf, nut of other end assembling, and geared sleeve is between the shelf upper surface, front and nut on the gear wheel shaft; Whole glide mechanism is installed in the robot top.Form by screw rod 4, thigh shank attaching parts 28, the auxiliary leg shank attaching parts 210 of thigh with reference to the described take-off angle regulating mechanism of Fig. 8, screw rod one end is threaded with thigh shank attaching parts, and the auxiliary leg shank attaching parts of the other end and thigh is rotationally connected and is installed in the bottom of robot.Be divided into spring actuating device, glide actuating device, angular adjustment actuating device 3 parts with reference to Fig. 9 actuating device, the spring actuating device is made up of the axle of steering wheel 1, reducing gear 1, reducing gear 2 513, reducing gear three shelfs 514, reducing gear 3 515, reducing gear 4 516, cam 517, reducing gear four-cam attaching parts 518 and each several part, steering wheel 1 usefulness screw is fixed on the shelf of front, and reducing gear one usefulness screw is fixed on the steering wheel shelf of steering wheel; Reducing gear two axle sleeves are in the axis hole on left and right end face the inside, and reducing gear two is enclosed within on two of the reducing gear, and with reducing gear one engagement; Reducing gear three fixedly shelf two ends is processed into square toes and has one section screw thread, square toes are enclosed within on the shelf of side, the outside is fixed with nut, reducing gear three axle sleeves are in the fixing the inside of the axis hole on the shelf of reducing gear three, reducing gear three is enclosed within on three of the reducing gear, and with the small tooth plate engagement of reducing gear two; In the axis hole of reducing gear four axle sleeves on the shelf of left and right side, reducing gear four and about two cams be enclosed within on four of the reducing gear, and connect with the cam attaching parts with 5, make that four one-tenth of cam and reducing gear are as a whole, reducing gear four and reducing gear three engagements, the glide actuating device is made up of steering wheel 2 521, wing gear 1, wing gear 2 523, wing gear 3 524, wing gear 4 525, wing gear 234 shelfs 526 and gear wheel shaft, attaching parts, and steering wheel is fixed on the front end face with screw; Wing gear one usefulness screw is fixed on the steering wheel shelf of steering wheel; Wing gear 234 shelfs are fixed on the front end face with screw, 234 of wing gears are fixed on the axis hole on wing gear 234 shelfs, wing gear three is fixing as a whole with wing gear four-function attaching parts, and be enclosed within on 234 of the wing gears, wing gear two internal tooth casings are on the external tooth of wing gear three, wing gear two external tooths and one engagement of wing gear, wing gear three, the 4th, clip 270 ° umbrella hypodontia gear, teeth are vertical with the flank of tooth, take-off angle is regulated actuating device by motor 531, angular adjustment reducing gear 1, angular adjustment reducing gear 2 533 is formed, and motor is installed in the motor mounting hole the inside on the thigh shank attaching parts; Reducing gear one is fixedly mounted on the motor shaft; Reducing gear two is fixedly mounted on the screw rod, and meshes with reducing gear one; With reference to Fig. 2, Fig. 3, supply unit is that the both positive and negative polarity circuit is connected on the control circuit board with the polymer Li-ion battery 6 of rubberized fabric adhere at the 3.7V of right flank.With reference to Fig. 2, Fig. 3, control setup is made up of control circuit board 71 and sensor board 72, and control circuit board is fixed on the torsion axis shelf with screw; Sensor board is installed on the control circuit board by row's pin.The autonomous hop robot control setup of Figure 10 the present invention begins the drive mechanism bouncing mechanism under the control of long-range PC, glide mechanism, the take-off angle regulating mechanism begins action, finish the take-off angle automatically regulating, the spring and the whole motion of gliding, detailed process is as follows: with reference to Figure 10, robot, gateway and static via node device are formed wireless sensor network, PC is connected with serial ports with gateway, application program launching gateway on the PC, by wireless sensor network control command is sent to robot, can pass through via node multi-hop transport of instruction information when time outside the single-hop distance range of distance in radio communication of gateway and robot, robot begins to start steering wheel after receiving control command, motor rotates, with reference to Fig. 4, steering wheel one drives cam and rotates counterclockwise under the work of train of reduction gears, the bearing on cam and thigh top is tangent, the compression thigh rotates counterclockwise, torque spring compression simultaneously, when cam rotation arrives vertex, torque spring is compressed to maximum simultaneously, stored huge elastic potential energy, when cam clockwise rotated through effect following moment of thigh behind the vertex at torque spring, and auxiliary leg of drive thigh and shank motion, shank is pedaled ground, realize the take-off action of robot, there be not stopping of thigh this moment, the resistive torque of cam approaches zero, the current detecting chip of steering wheel one feeds back this information and gives controlled processing unit, controlled processing unit control steering wheel one rotates certain hour, stops operating after the amount of compression of assurance thigh reaches the angle that robot is steadily landed; In bouncing mechanism action under the driving of take-off angle regulating mechanism at motor, gear rotates and drives the screw rod rotation, the rotation of screw rod drives the translation of thigh shank attaching parts again, regulate take-off angle, when motor is just changeing thigh shank attaching parts along shank to front slide, thigh shank attaching parts increases to the distance of shank aft terminal, angle between two shanks can increase, take-off angle can reduce like this, and motor when counter-rotating thigh shank attaching parts slides backward along shank, thigh shank attaching parts reduces to the distance of shank aft terminal, and the angle between two shanks can reduce, and take-off angle can increase like this, size by control electrical power voltage and current"on"time length, control the rotation number of turns of screw rod, thereby control thigh shank attaching parts is finished take-off angle and is regulated to the distance of shank forward terminal; Steering wheel two drives reducing gear and umbrella gear motion in spring-like movement, two gears that umbrella gear drives glide mechanism rotate, because two gears and the front skeleton of glide mechanism are fixed as one with iron wire, so left side, right two front skeletons move along opposite direction under gear driven, thereby realize the gathering of wing, steering wheel two stops operating when drawing near 90 °, this moment, hypodontia wing gear three, four also have two teeth engagements with two gears in meshs of glide mechanism, when robot jumps near vertex, steering wheel two begins to rotate again, then Sheng Xia two ingear teeth can turn to the position of hypodontia, this moment, hypodontia wing gear three, four with the glide organization gear do not have the ingear tooth, and wing has drawn 90 ° maximum in, torque spring has also been stored maximum elastic potential energy, and do not discharge rapidly owing to there is the teeth engagement, thereby realize opening fast and glide decline function of wing.
Claims (7)
1. autonomous gliding machine people of taking off of great-jump-forward, comprise frame (1) and be arranged on bouncer (2) on the frame (1), be used to drive the spring actuating device (5) of bouncer (2), it is characterized in that: on described frame (1), also be provided with the glide actuating device that a pair of glider system (3) and drives glider system (3), described glider system comprises: front skeleton (31), back skeleton (32), wing (33) and open-and-close mechanism, described wing (33) is fixed between front skeleton (31) and the back skeleton (32), described front skeleton (31) is connected with open-and-close mechanism with back skeleton (32), and open-and-close mechanism is connected with described glide actuating device and is used to launch described wing (33); Described bouncer (2) comprising: thigh (21), thigh is assisted leg (22), shank (23) and first torque spring (26), one end of described thigh (21) is connected with frame (1), the other end is connected with shank (23), described thigh assists an end of leg (22) to be connected with frame (1), the other end is connected with shank (23), the coupling end of described thigh and frame, the coupling end of thigh and shank, the coupling end of auxiliary leg of thigh and frame, the coupling end of auxiliary leg of thigh and shank, four coupling ends constitute quadrangle, arm of force of described torque spring and frame (1) are fixing, and another arm of force is fixed on the thigh (21); Described spring actuating device (5) comprises steering wheel, speed reduction gearing and a cam, and the outline line of this cam is near the involute of circle, and described cam is connected with the output shaft of speed reduction gearing, and the action of cam face acts on the thigh (21).
2. the gliding machine people that a kind of independently great-jump-forward according to claim 1 takes off, it is characterized in that: the auxiliary leg shank attaching parts (212) of thigh is set at auxiliary leg (22) of described thigh and shank (23) coupling end, at thigh (21) and shank (23) coupling end thigh shank attaching parts (28) is set, described thigh shank attaching parts (28) is enclosed within on the described shank.
3. the gliding machine people that a kind of independently great-jump-forward according to claim 2 takes off, it is characterized in that: on described spring installation, also be provided with take-off angle adjustment structure (4), this regulating mechanism (4) comprises a screw rod, motor and speed reducing gear pair, described screw rod is fixed on the output shaft of speed reducing gear pair, described thigh shank attaching parts (28) is provided with tapped bore, and this tapped bore and screw rod constitute screw drive.
4. the gliding machine people that a kind of independently great-jump-forward according to claim 1 takes off is characterized in that: described frame (1) fixedly is made up of front end face shelf (11) and side shelf (12).
5. the gliding machine people that a kind of independently great-jump-forward according to claim 4 takes off, it is characterized in that: the coupling end of described thigh (21) and frame is in the bottom of the side of frame shelf (12), and described thigh is assisted the bottom of leg (22) at the front end face shelf (11) of frame.
6. the gliding machine people that a kind of independently great-jump-forward according to claim 1 takes off, it is characterized in that: described open-and-close mechanism comprises: gear (35) and second torque spring (34), described second torque spring (34) is enclosed within on the described gear (35), its first arm of force is fixed on the frame (1), its second arm of force is captiveed joint with front skeleton (31), described front skeleton (31) is fixed on the gear (35), described back skeleton (32) is fixed on the frame (1), described glide actuating device is by second steering wheel (521), subtract wing gear one (522), wing gear two (523), wing gear three (524) and wing gear four (525), described wing gear one (522) and two (523) engagements of wing gear, described wing gear one (522) is connected with the output shaft of second steering wheel (521), described wing gear three (524) and wing gear four (525) are quadrant gear, and be fixed on the wing gear two (523) described wing gear three (524) and described gear (35) engagement.
7. the gliding machine people that a kind of independently great-jump-forward according to claim 6 takes off is characterized in that: described wing gear three (524) and wing gear four (525) are umbrella gear, and promptly tooth is arranged on the side vertical with gear wheel shaft of gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102632927A CN101734299B (en) | 2009-12-18 | 2009-12-18 | Gliding robot capable of autonomously flying in salutatory mode |
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| CN2009102632927A CN101734299B (en) | 2009-12-18 | 2009-12-18 | Gliding robot capable of autonomously flying in salutatory mode |
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| CN101734299A true CN101734299A (en) | 2010-06-16 |
| CN101734299B CN101734299B (en) | 2012-02-01 |
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| ES2209617B1 (en) * | 2002-05-24 | 2005-10-01 | Consejo Sup. Investig. Cientificas | JUMP ROBOT AND PROCEDURE FOR CONTROL. |
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| CN103300864A (en) * | 2013-04-23 | 2013-09-18 | 中国科学院深圳先进技术研究院 | Miniature wireless sensor node |
| CN103879470A (en) * | 2014-03-21 | 2014-06-25 | 浙江大学 | Single-leg robot jumping mechanism driven through connecting rod |
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| CN104590413A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Bionic jumping and walking mechanism |
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| CN106956727A (en) * | 2017-04-05 | 2017-07-18 | 电子科技大学 | Imitative locust flight hopping robot and its flight control method based on metamorphic mechanisms |
| CN108382142B (en) * | 2017-04-19 | 2019-10-01 | 合肥工业大学 | A kind of metamorphic mechanisms for realizing flight with movement switching of running for flapping wing robot |
| CN108382142A (en) * | 2017-04-19 | 2018-08-10 | 合肥工业大学 | A kind of metamorphic mechanisms for realizing flight and action switching of running for flapping wing robot |
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| CN107539054A (en) * | 2017-09-02 | 2018-01-05 | 佛山市龙远科技有限公司 | A kind of fly able Climbing Robot |
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| CN108394484A (en) * | 2018-02-09 | 2018-08-14 | 北京工业大学 | A kind of imitative locust jumping robot with gliding function |
| CN108394484B (en) * | 2018-02-09 | 2020-07-17 | 北京工业大学 | Locust-simulated jumping robot with gliding function |
| CN108674507B (en) * | 2018-04-19 | 2020-10-27 | 西北工业大学 | Gliding robot taking off in bouncing manner |
| CN108860596A (en) * | 2018-04-19 | 2018-11-23 | 西北工业大学 | A kind of flapping wing robot that locust-simulated bouncing takes off |
| CN108860596B (en) * | 2018-04-19 | 2021-05-18 | 西北工业大学 | Flapping-wing robot capable of bouncing and taking off by simulating locust |
| CN108674507A (en) * | 2018-04-19 | 2018-10-19 | 西北工业大学 | A kind of gliding machine people to take off that bounces |
| CN109606492A (en) * | 2018-11-02 | 2019-04-12 | 广东工业大学 | It is a kind of based on the biped hopping robot of duct propulsion system and its working method |
| CN109606492B (en) * | 2018-11-02 | 2021-08-31 | 广东工业大学 | Double-foot jumping robot based on ducted propulsion system and working method thereof |
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| CN109850026B (en) * | 2019-02-21 | 2020-11-06 | 北京航空航天大学 | Wall-climbing and gliding robot with foldable wing membrane |
| CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
| CN110254553A (en) * | 2019-06-04 | 2019-09-20 | 北京交通大学 | A kind of imitative ostrich high speed Pao Tiao robot of holotype stance |
| US20230017118A1 (en) * | 2021-07-19 | 2023-01-19 | Beijing Institute Of Technology | Insect-like jumping-flying robot |
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