CN101797937A - Bionic galloping robot based on connecting rod mechanism - Google Patents

Bionic galloping robot based on connecting rod mechanism Download PDF

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Publication number
CN101797937A
CN101797937A CN 201010146485 CN201010146485A CN101797937A CN 101797937 A CN101797937 A CN 101797937A CN 201010146485 CN201010146485 CN 201010146485 CN 201010146485 A CN201010146485 A CN 201010146485A CN 101797937 A CN101797937 A CN 101797937A
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China
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rod
robot
shank
thigh
gear
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CN101797937B (en
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王新升
黄海
杨天光
姜易阳
魏东辉
兰星
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Beihang University
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Beihang University
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Abstract

The invention relates to a bionic galloping robot based on a connecting rod mechanism. The bionic galloping robot is characterized by concretely comprising a robot body (a), a track marching module (b), a galloping mechanism module (c) and a power module (d), wherein the robot body (a) consists of two quadrilateral pierced metal plates with the shape similar to a trapezoid and is used for fixing and installing other parts of the robot; the track marching module (b) mainly comprises two damping pins, a pair of damping springs and three pairs of crawler wheels; the galloping mechanism module (c) mainly comprises thighs, shanks, soles, foot connecting rods and shank connecting rods; and the power module (d) can be divided into two submodules i.e. a unidirectional transmission gear set and an automatic energy storage and release mechanism submodule. The robot can cross a higher obstacle and jump on a higher step on one hand and abandon a pure and complete simulation principle on the other hand. A jumping mode of the robot is combined with a machine track marching mode with convenience, rapidness and strong terrain adaptability, therefore, the bionic robot has the super strong obstacle-surmounting ability.

Description

Bionical hopping robot based on connecting rod mechanism
Technical field
The present invention relates to a kind of bionical hopping robot, belong to the bio-robot technical field based on connecting rod mechanism.
Background technology
Development along with contemporary bio-robot technology, a series of bio-robot has appeared at people's the visual field, the appearance of the bio-robot of the modes of advancing such as camera device fish, snake robot, biped, four-footed, six foots, not only caused people's extensive interest, and have some to be developed to toy, there are some to be developed to detector or vehicle etc. and have the equipment that practical engineering application is worth.
Abroad, spring robot was the earliest succeeded in developing in MIT machine people laboratory in 1980, and this robot can jump continuously, function such as had realized independently stablizing jump, obstacle detouring, turn a somersault in the laboratory.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 action radius of space exploration roaming car, wherein a kind of frog shape spring machine weight is 1.3 kilograms, maximum jump height can reach 1.8 meters, estimate that maximum jump height can reach 5-6 rice, this achievement is published on the U.S.'s " discovery " magazine then.Univ Minnesota-Twin Cities USA also developed a kind of spring robot in 2000,4 centimetres of diameters can be realized jumping and rolling function, wherein jump and are realized by the spring device in the robot leg, and similar people's hop is moving.This robot can going upstairs, also can skip little obstacle, also have two independently wheel help robot to carry out common moving.Massachusetts Institute 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, it mainly carries out systematic research to hopping robot's scheme of now having announced in the world, and according to the theoretical model machine of having made several hopping robots of part, test, but effect is not fine.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 investigationes, the analysis of launching a campaign of the comparatively ripe in the world jump theory of utilization, obtain many observed datas, but its experimental prototype jump effect of making according to theory differs bigger.The latter has designed a kind of bionic locust jumping robot from principle, and its mechanism design is comparatively simple, thereby adopts reel rolling backguy pulling shank to regain the method for accumulation of energy, receives the leg energy storage after landing again; In control, need the positive and negative repeatedly rotation of spiral motor to draw in and discharge backguy, need pull " trip " with steering wheel and release energy.
Summary of the invention
The object of the present invention is to provide a kind of bionical hopping robot based on connecting rod mechanism, is a hopping robot with strong obstacle climbing ability.Robot can be crossed higher obstacle and jump onto higher step on the one hand; Abandoned the theory of merely, fully imitating on the other hand, the jumping mode of robot combines with convenient and swift, the adaptable machine track mode of advancing of landform, has reached bio-robot and has had the purpose of superpower obstacle climbing ability.
The present invention adopts modular design, only by a common reducing motor as power, unidirectional rotation, just can finish energy storage, rapid release smoothly capable of circulationly, kick one's legs, health is liftoff and keep attitude stabilization, steadily slide in the air, aerial a series of actions of receiving leg automatically, being with stable buffering to land.
Concrete structure of the present invention comprises:
(a) body is made up of the quadrangle hollow out metal sheet of two approximate trapezoid, is used for fixing the miscellaneous part of mounting robot; Long limit in the wherein parallel both sides is called " top " up, minor face is called " bottom " down, and a side of short hypotenuse is the direction that robot advances, i.e. the place ahead; Two metal sheets link together by the spring pulling shaft of tailing axle, top stud shaft, head and two parts such as Athey wheel wheel shaft of bottom.
(b) the crawler belt module of advancing.Mainly comprise: two shock stop pins are inserted in the hole slot that is arranged in the following front portion of body respectively; A pair of damping spring withstands on respectively in two hole slots between body and two shock stop pins; Three pairs of Athey wheels; Symmetry is installed in the both sides of body respectively in twos, and two pairs of following Athey wheels are flower wheels, are fixed on two " Athey wheel wheel shafts " by antifriction-bearing box respectively; Wherein, described two Athey wheel wheel shafts, one is installed on the shock stop pin, and one is installed in following rear portion; A pair of in addition Athey wheel is installed on the short hypotenuse of body, is driving wheel, by the reducing motor direct drive, has certain height poor with Athey wheel in the bottom; Three Athey wheels of each side are realized interlock by the crawler belt on it.
Wherein, above shock stop pin, also be provided with a crawler belt last item, effect is toward pressing down, so that abdicate the space for other parts of internal body crawler belt.
Its working process is: when the place ahead obstacle is not higher than the height of Athey wheel on the short hypotenuse, rotate by Athey wheel on the short hypotenuse of driven by motor, directly clear an obstacle; When landing after robot takeoffs, the hole slot that the rotating shaft of the Athey wheel in following the place ahead can be prolonged body slides up and down, and heads on the damping spring motion thereby drive shock stop pin in the hole slot of body, to reach the purpose of damping.
(c) hopping mechanism module.Mainly comprise: thigh, shank, sole, pin connecting rod, little leg connecting rod; Wherein, an end of thigh is fixed on the partial gear main shaft, and the desired location of the other end and shank is hinged; One end of shank and shank rod hinge connection, the other end and the body of little leg connecting rod are hinged; Sole is hinged with an end of the other end of shank and pin connecting rod respectively; The other end of pin connecting rod is hinged on the desired location of thigh;
Wherein, the desired location of described shank is near the hinge-point of shank and little leg connecting rod.
Wherein, the desired location of described thigh is near the hinge-point of thigh and shank.
Wherein, if the distance of thigh and the hinge-point of little leg connecting rod on body is a, the attachment point of thigh on body is b to the distance of the hinge-point of thigh and pin connecting rod, the hinge-point of thigh and pin connecting rod is c to the distance of the hinge-point of thigh and shank, the length of little leg connecting rod is d, the hinge-point of shank and little leg connecting rod is e to the distance of the hinge-point of thigh and shank, the hinge-point of thigh and shank is f to the distance of the hinge-point of shank and sole, the length of pin connecting rod is g, a: b: c: d: e: f: g=5.7737 is then arranged: 11.5: 1: 12.785: 3.295: 12.5: 12.7013: 2.25, the variation in ± 10% amplitude of each several part length all can realize jump action.
Working process is: drive thigh and rotate when the partial gear main shaft rotates, because designed connecting rod mechanism principle, shank drives sole and pedals out for about 45 ° to the back lower place of body, the pin connecting rod can make the angle of sole and body keep constant substantially simultaneously, thereby make the built on stilts of stable machine, realize steadily jumping.
(d) power plant module.Power plant module can be divided into two submodules, promptly unidirectional driving gear set and automatic energy storage exoergic mechanism submodule.
1) unidirectional driving gear set, unidirectional driving gear set mainly comprises: driving gear, with the output shaft fixed connection of reducing motor; The draw-in groove that moves about, being out has the elongated slot of two circle at angle of inclination with horizontal surface on body, and the axle that moves about can move about in the draw-in groove that moves about; Walking gear, axle is connected and meshes with driving gear with moving about; Big gear wheel meshes with walking gear.Wherein, this angle of inclination is vertical with the line of centers of walking gear and driving gear, gets final product more than-180 ° and be 135 ° with the line of centers angle of walking gear and big gear wheel;
Its working process is: on the one hand, when the reducing motor output shaft rotates counterclockwise, can drive walking gear and prolong the card geosynclinal synclinorium below of moving about and move to end position, and then with big gear wheel engagement and transferring power; When the reducing motor output shaft clockwise rotated, walking gear can prolong the draw-in groove that moves about and move obliquely upward, so with the big gear wheel jump out of mesh, thereby can't transferring power.On the other hand, when big gear wheel is being driven when rotating counterclockwise, can with walking gear engaged transmission well, when the big gear wheel actv. rotates counterclockwise, meeting drive walking gear prolongs the draw-in groove that moves about and moves obliquely upward, thereby with the walking gear jump out of mesh, big gear wheel is free to rotate counterclockwise like this.Walking gear and driving gear all do not have to break away from whole process, as long as the linear velocity that the linear velocity that driving gear rotates counterclockwise rotates counterclockwise greater than big gear wheel just can drive walking gear and get back to and the big gear wheel position engaged.
2) automatic energy storage exoergic mechanism submodule, this submodule mainly comprises: the partial gear bent axle is connected with big gear wheel in the unidirectional driving gear set; The partial gear main shaft is connected with thigh and meshes with the partial gear bent axle; The spring pulling-on piece is on the partial gear bent axle; Automatically receive the leg spring, fixedly on the crawler belt last item, the other end is pulled on the partial gear main shaft end; Main spring, an end are pulled on the spring pulling-on piece, and the other end is pulled in to be regulated on the bolt; Setting nut cooperates with this adjusting bolt, and main spring and a connecting piece are fixed; The other end of this connecting strap is fixed on the spring pulling shaft of body head.
Wherein, receiving the leg spring automatically can substitute with torsion spring and realize its identical functions.
Its working process is: at initial condition, main spring is in the shortest end position, the tooth of the tooth of partial gear bent axle and partial gear main shaft is in the jump out of mesh state, at this moment, big gear wheel rotates counterclockwise and can drive the partial gear bent axle and rotate counterclockwise, at this moment the partial gear bent axle can elongate main spring, before spring is elongated the longest end position, the tooth of the tooth of partial gear bent axle and partial gear main shaft begins engagement, the partial gear main shaft begins to rotate thereupon, thereby driving thigh rotates, and then the connecting rod mechanism action of drive hopping mechanism module, sole is landed earlier, and body is propped up a bit, main spring can spur the partial gear bent axle to be continued to rotate counterclockwise on one's own initiative, walking gear can with the big gear wheel jump out of mesh, thereby the energy of main spring can very fast release, drives the partial gear bent axle and do fast speed inverse time needle shaft and clockwise rotate fast, and then drive sole and pedal out fast for about 45 ° to the oblique rear of body, promote robot and jump up.When body also aloft the time, because main spring has reached the shortest end position, the tooth of the tooth of partial gear bent axle and partial gear main shaft is in out-of-gear state again, automatically receipts leg spring can spur the partial gear main shaft and get back to initial position, and then drive hopping mechanism module is recovered to initial condition.After last body has moved by inertia, utilize the advance shock absorption device of module of crawler belt to cushion and land aloft.So far, all mechanical parts of robot have experienced a complete cyclic process, and get back to initial condition, can carry out the action of next cycle.
A kind of bionical hopping robot of the present invention based on connecting rod mechanism, its advantage and effect are: described function has all been passed through the experimental verification of the material object of made, bionical hopping robot finished smoothly crawler belt move ahead, jump railing, jump onto a series of Test items such as step.Robot can be crossed higher obstacle and jump onto higher step on the one hand; Abandoned the theory of merely, fully imitating on the other hand.The jumping mode of robot combines with convenient and swift, the adaptable machine track mode of advancing of landform, has reached bio-robot and has had superpower obstacle climbing ability.Design-calculated of the present invention realizes having the engineering practical value, and having well at aspects such as interspace detection, military investigation, novel toy exploitations to have prospect.
Description of drawings
The bionical hopping robot's overall construction drawing of Fig. 1;
Fig. 2 partial gear crankshaft structure scheme drawing;
Fig. 2 a is that the A of Fig. 2 is to cutaway view;
Fig. 2 b is that the B of Fig. 2 is to cutaway view;
Fig. 2 c is that the C of Fig. 2 is to cutaway view;
The sole translation curve schematic diagram of Fig. 3 hopping mechanism module;
The sole of Fig. 4 hopping mechanism module rotates the attitude schematic diagram;
Concrete label is as follows among the figure:
1, body 2, top 3, following 4, short hypotenuse 5, tailing axle 6, top stud shaft 7, spring pulling shaft 8, Athey wheel wheel shaft 9, shock stop pin 10, damping spring 11, Athey wheel 12, crawler belt 13, crawler belt last item 14, thigh 15, shank 16, sole 17, pin connecting rod 18, shank connecting rod 19, driving gear 20, the output shaft 21 of reducing motor, draw-in groove 22 moves about, axle 23 moves about, walking gear 24, big gear wheel 25, partial gear bent axle 26, partial gear main shaft 27, spring pulling-on piece 28, automatically receive leg spring 29, main spring 30, regulate bolt 31, setting nut 32, connecting strap P, the translation track Z of pin, the attitude track of pin
Specific embodiments
Below in conjunction with drawings and the specific embodiments, technical scheme of the present invention is described further.
A kind of bionical hopping robot of the present invention based on connecting rod mechanism, adopt modular design, only by a common reducing motor as power, unidirectional rotation, just can finish energy storage, rapid release smoothly capable of circulationly, kick one's legs, health is liftoff and keep attitude stabilization, steadily slide in the air, aerial a series of actions of receiving leg automatically, being with stable buffering to land.
As shown in Figure 1, the concrete mechanism of the present invention comprises:
(a) body 1, is made up of the quadrangle hollow out metal sheet of two approximate trapezoid, is used for fixing the miscellaneous part of mounting robot; Long limit in the wherein parallel both sides is called " top " 2 up, minor face is called " bottom " 3 down, and a side of short hypotenuse 4 is the direction that robot advances, i.e. the place ahead; Two metal sheets link together by the spring pulling shaft 7 of tailing axle 5, top stud shaft 6, head and two parts such as Athey wheel wheel shaft 8 of bottom.
(b) the crawler belt module of advancing; Mainly comprise: two shock stop pins 9 are inserted in the hole slot that is arranged in body 1 following front portion respectively; A pair of damping spring 10 withstands on respectively in two hole slots between body 1 and two shock stop pins 9; Three pairs of Athey wheels 11; Symmetry is installed in the both sides of body 1 respectively in twos, and two pairs of Athey wheels of following 3 are flower wheels, are fixed on two " Athey wheel wheel shafts " 8 by antifriction-bearing box respectively; Wherein, 8, one on described two Athey wheel wheel shafts are installed on the shock stop pin 9, and one is installed in following 3 rear portion; A pair of in addition Athey wheel 11 is installed on the short hypotenuse 4 of body 1, is driving wheel, by the reducing motor direct drive, has certain height poor with Athey wheel on following 3; Three Athey wheels of each side are realized interlock by the crawler belt on it 12.
Wherein, above shock stop pin 9, also be provided with a crawler belt last item 13, effect is toward pressing down, so that abdicate the space for other parts of internal body crawler belt.
Its working process is: when the place ahead obstacle is not higher than the height of Athey wheel on the short hypotenuse, rotate by Athey wheel on the short hypotenuse of driven by motor, directly clear an obstacle; When landing after robot takeoffs, the hole slot that the rotating shaft of the Athey wheel in following the place ahead can be prolonged body slides up and down, and heads on the damping spring motion thereby drive shock stop pin in the hole slot of body, to reach the purpose of damping.
(c) hopping mechanism module: mainly comprise: thigh 14, shank 15, sole 16, pin connecting rod 17, shank connecting rod 18; Wherein, an end of thigh 14 is fixed on the partial gear main shaft 26, and the desired location of the other end and shank 15 is hinged; One end of shank and shank rod hinge connection, the other end and the body of little leg connecting rod are hinged; Sole 16 is hinged with an end of the other end of shank 15 and pin connecting rod 17 respectively; The other end of pin connecting rod 17 is hinged on the desired location of thigh 14;
Wherein, the desired location of described shank is near the hinge-point of shank and little leg connecting rod.
Wherein, the desired location of described thigh is near the hinge-point of thigh and shank.
Wherein, if the distance of thigh and the hinge-point of little leg connecting rod on body is a, the attachment point of thigh on body is b to the distance of the hinge-point of thigh and pin connecting rod, the hinge-point of thigh and pin connecting rod is c to the distance of the hinge-point of thigh and shank, the length of little leg connecting rod is d, the hinge-point of shank and little leg connecting rod is e to the distance of the hinge-point of thigh and shank, the hinge-point of thigh and shank is f to the distance of the hinge-point of shank and sole, the length of pin connecting rod is g, a: b: c: d: e: f: g=5.7737 is then arranged: 11.5: 1: 12.785: 3.295: 12.5: 12.7013: 2.25, the variation in ± 10% amplitude of each several part length all can realize jump action.The value of the specific embodiment of the invention as shown in Figure 4.
Working process is: drive thigh 14 and rotate when partial gear main shaft 26 rotates, because designed connecting rod mechanism principle, shank 15 drives sole 16 and pedals out for about 45 ° to the back lower place of body 1, pin connecting rod 17 can make the sole 16 and the angle of body 1 keep constant substantially simultaneously, thereby make the stable built on stilts of body 1, realize steadily jumping.
(d) power plant module: power plant module can be divided into two submodules, promptly unidirectional driving gear set and automatic energy storage exoergic mechanism submodule.
1) unidirectional driving gear set, unidirectional driving gear set mainly comprises: driving gear 19 is connected with the output shaft 20 of reducing motor; The draw-in groove 21 that moves about, being out has the elongated slot of two circle at angle of inclination with horizontal surface on body, and the axle 22 that moves about can move about in the draw-in groove 21 that moves about; Walking gear 23 is connected with the axle 22 that moves about and meshes with driving gear 19; Big gear wheel 24 is with walking gear 23 engagements.Wherein, this angle of inclination is vertical with the line of centers of walking gear and driving gear, and with the line of centers angle of walking gear and big gear wheel be 135 °---get final product more than 120 °.
Its working process is: on the one hand, when the reducing motor output shaft rotates counterclockwise, can drive walking gear and prolong the card geosynclinal synclinorium below of moving about and move to end position, and then with big gear wheel engagement and transferring power; When the reducing motor output shaft clockwise rotated, walking gear can prolong the draw-in groove that moves about and move obliquely upward, so with the big gear wheel jump out of mesh, thereby can't transferring power.On the other hand, when big gear wheel is being driven when rotating counterclockwise, can with walking gear engaged transmission well, when the big gear wheel actv. rotates counterclockwise, meeting drive walking gear prolongs the draw-in groove that moves about and moves obliquely upward, thereby with the walking gear jump out of mesh, big gear wheel 18 is free to rotate counterclockwise like this.Walking gear and driving gear all do not have to break away from whole process, as long as the linear velocity that the linear velocity that driving gear rotates counterclockwise rotates counterclockwise greater than big gear wheel just can drive walking gear and get back to and the big gear wheel position engaged.
2) automatic energy storage exoergic mechanism submodule, this submodule mainly comprises: partial gear bent axle 25 is connected with big gear wheel 24 in the unidirectional driving gear set; Partial gear main shaft 26, with thigh 14 with connect and with 25 engagements of partial gear bent axle; Spring pulling-on piece 27 is on partial gear bent axle 25; Automatically receive leg spring 28, one ends fixedly on the crawler belt last item 13, the other end is pulled on the partial gear main shaft 26; Main spring 29, one ends are pulled on the spring pulling-on piece 27, and the other end is pulled in to be regulated on the bolt 30; Setting nut 31 cooperates with this adjusting bolt 30, and main spring 29 is fixing with a connecting piece 32; The other end of this connecting strap 32 is fixed on the spring pulling shaft 7 of body head.
Wherein, receiving the leg spring automatically can substitute with torsion spring and realize its identical functions.
Its working process is: at initial condition, main spring is in the shortest end position, the tooth of the tooth of partial gear bent axle and partial gear main shaft is in the jump out of mesh state, at this moment, big gear wheel rotates counterclockwise and can drive the partial gear bent axle and rotate counterclockwise, at this moment the partial gear bent axle can elongate main spring, before spring is elongated the longest end position, the tooth of the tooth of partial gear bent axle and partial gear main shaft begins engagement, the partial gear main shaft begins to rotate thereupon, thereby driving thigh rotates, and then the connecting rod mechanism action of drive hopping mechanism module, sole is landed earlier, and body is propped up a bit, main spring can spur the partial gear bent axle to be continued to rotate counterclockwise on one's own initiative, walking gear can with the big gear wheel jump out of mesh, thereby the energy of main spring can very fast release, drives the partial gear bent axle and do fast speed inverse time needle shaft and clockwise rotate fast, and then drive sole and pedal out fast for about 45 ° to the oblique rear of body, promote robot and jump up.When body also aloft the time, because main spring has reached the shortest end position, the tooth of the tooth of partial gear bent axle and partial gear main shaft is in out-of-gear state again, automatically receipts leg spring can spur the partial gear main shaft and get back to initial position, and then drive hopping mechanism module is recovered to initial condition.After last body has moved by inertia, utilize the advance shock absorption device of module of crawler belt to cushion and land aloft.So far, all mechanical parts of robot have experienced a complete cyclic process, and get back to initial condition, can carry out the action of next cycle.
Consult Fig. 2, partial gear bent axle 19 design-calculated keys are the relative position of the crank direction of the tooth of partial gear and bent axle, and reasonably design can guarantee to satisfy two time requirements that partial gear is meshing with each other and breaks away from the aforementioned automatic energy storage exoergic mechanism module.
Consult Fig. 3, thigh 14 is driven by the partial gear main shaft among Fig. 1 26, when thigh 14 rotates, the path of motion of shank 15 ends as shown in the figure, this track approximate one to oblique below 45 ° straight line, like this, just imitated the action that insect kicks one's legs.
Consult Fig. 4,14 increase a hinge-point on thigh, link by pin connecting rod 17 and a hinge-point on the sole 16 and can guarantee in the process of kicking one's legs, sole 16 with respect to the position of body 1 and attitude as shown in Figure 4, as long as the extended line of " path of motion of pin " shown in the body's center of gravity slip chart 4 is few, just can guarantee that in the process of kicking one's legs the heel of sole 16 and tiptoe land simultaneously, like this, the attitude of sole 16 has guaranteed that health is a pulsation-free when soaring.

Claims (7)

1. bionical hopping robot based on connecting rod mechanism, it is characterized in that: this robot concrete structure comprises:
(a) body is made up of the quadrangle hollow out metal sheet of two approximate trapezoid, is used for fixing the miscellaneous part of mounting robot; Long limit in the wherein parallel both sides is called " top " up, minor face is called " bottom " down, and a side of short hypotenuse is the direction that robot advances, i.e. the place ahead; Two metal sheets link together by the spring pulling shaft of tailing axle, top stud shaft, head and two parts such as Athey wheel wheel shaft of bottom;
(b) the crawler belt module of advancing: mainly comprise: two shock stop pins are inserted in respectively and are arranged in the following anterior hole slot of body; A pair of damping spring withstands on respectively in two hole slots between body and two shock stop pins; Three pairs of Athey wheels; Symmetry is installed in the both sides of body respectively in twos, and two pairs of following Athey wheels are flower wheels, are fixed on two " Athey wheel wheel shafts " by antifriction-bearing box respectively; Wherein, described two Athey wheel wheel shafts, one is installed on the shock stop pin, and one is installed in following rear portion; A pair of in addition Athey wheel is installed on the short hypotenuse of body, is driving wheel, by the reducing motor direct drive, has certain height poor with Athey wheel in the bottom; Three Athey wheels of each side are realized interlock by the crawler belt on it;
(c) hopping mechanism module: mainly comprise: thigh, shank, sole, pin connecting rod, little leg connecting rod; Wherein, an end of thigh is fixed on the partial gear main shaft, and the desired location of the other end and shank is hinged; One end of shank and shank rod hinge connection, the other end and the body of little leg connecting rod are hinged; Sole is hinged with an end of the other end of shank and pin connecting rod respectively; The other end of pin connecting rod is hinged on the desired location of thigh;
(d) power plant module: power plant module can be divided into two submodules, promptly unidirectional driving gear set and automatic energy storage exoergic mechanism submodule:
1) unidirectional driving gear set, unidirectional driving gear set mainly comprises: driving gear, with the output shaft fixed connection of reducing motor; The draw-in groove that moves about, being out has the elongated slot of two circle at angle of inclination with horizontal surface on body, and the axle that moves about can move about in the draw-in groove that moves about; Walking gear, axle is connected and meshes with driving gear with moving about; Big gear wheel meshes with walking gear;
2) automatic energy storage exoergic mechanism submodule, this submodule mainly comprises: the partial gear bent axle is connected with big gear wheel in the unidirectional driving gear set; The partial gear main shaft is connected with thigh and meshes with the partial gear bent axle; The spring pulling-on piece is on the partial gear bent axle; Automatically receive the leg spring, fixedly on the crawler belt last item, the other end is pulled on the partial gear main shaft end; Main spring, an end are pulled on the spring pulling-on piece, and the other end is pulled in to be regulated on the bolt; Setting nut cooperates with this adjusting bolt, and main spring and a connecting piece are fixed; The other end of this connecting strap is fixed on the spring pulling shaft of body head.
2. the bionical hopping robot based on connecting rod mechanism according to claim 1 is characterized in that: above described shock stop pin, also be provided with a crawler belt last item, with crawler belt toward pressing down, so that abdicate the space for other parts of internal body.
3. the bionical hopping robot based on connecting rod mechanism according to claim 1 is characterized in that: the desired location of described shank is near the hinge-point of shank and little leg connecting rod.
4. the bionical hopping robot based on connecting rod mechanism according to claim 1 is characterized in that: the desired location of described thigh is near the hinge-point of thigh and shank.
5. the bionical hopping robot based on connecting rod mechanism according to claim 1, it is characterized in that: the distance of establishing thigh and the attachment point of little leg connecting rod on body is a, the attachment point of thigh on body is b to the distance of the hinge-point of thigh and pin connecting rod, the hinge-point of thigh and pin connecting rod is c to the distance of the hinge-point of thigh and shank, the length of little leg connecting rod is d, the hinge-point of shank and little leg connecting rod is e to the distance of the hinge-point of thigh and shank, the hinge-point of thigh and shank is f to the distance of the hinge-point of shank and sole, the length of pin connecting rod is g, a: b: c: d: e: f: g=5.7737 is then arranged: 11.5: 1: 12.785: 3.295: 12.5: 12.7013: 2.25, the variation in ± 10% amplitude of each several part length all can realize jump action.
6. the bionical hopping robot based on connecting rod mechanism according to claim 1, it is characterized in that: the rake angle of the described draw-in groove that moves about is vertical with the line of centers of walking gear and driving gear, and with the line of centers angle of walking gear and big gear wheel be 135 °---180 °.
7. the bionical hopping robot based on connecting rod mechanism according to claim 1 is characterized in that: described automatic receipts leg spring can be torsion spring.
CN2010101464857A 2010-04-12 2010-04-12 Bionic galloping robot based on connecting rod mechanism Expired - Fee Related CN101797937B (en)

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CN102085145A (en) * 2010-11-29 2011-06-08 燕山大学 Reconfigurable device for walking robot with four/two parallel legs
CN102085145B (en) * 2010-11-29 2014-06-25 燕山大学 Reconfigurable device for walking robot with four/two parallel legs
CN102092430A (en) * 2010-12-31 2011-06-15 南京航空航天大学 Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot
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
CN102092428A (en) * 2011-02-11 2011-06-15 北方工业大学 Four-bar mechanism based wheel-type hopping mechanism
CN102092428B (en) * 2011-02-11 2012-05-30 北方工业大学 Four-bar mechanism based wheel-type hopping mechanism
CN102642575A (en) * 2012-04-18 2012-08-22 东南大学 Robot with turnover and bounce functions
CN102642575B (en) * 2012-04-18 2013-09-18 东南大学 Robot with turnover and bounce functions
CN102806951A (en) * 2012-08-07 2012-12-05 北方工业大学 Frog-inspired biomimetic jumping robot
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CN103171641A (en) * 2013-03-19 2013-06-26 浙江大学 Hopping robot with wheel movement function
CN103171641B (en) * 2013-03-19 2015-07-15 浙江大学 Hopping robot with wheel movement function
CN104696467A (en) * 2015-03-13 2015-06-10 中国建材检验认证集团股份有限公司 Mechanical-energy-storing type incomplete gear quick-return reciprocating mechanism and working method thereof
CN107128385A (en) * 2017-05-24 2017-09-05 电子科技大学 A kind of locust-simulated bouncing robot linked with leg with damping characteristics
CN107128385B (en) * 2017-05-24 2019-02-26 电子科技大学 A kind of locust-simulated bouncing robot with leg linkage and damping characteristics
CN111152861A (en) * 2020-01-10 2020-05-15 燕山大学 Eight-connecting-rod structure jumping robot with adjustable aerial posture
CN111152861B (en) * 2020-01-10 2021-03-02 燕山大学 Eight-connecting-rod structure jumping robot with adjustable aerial posture

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