CN102050164B - Continuously-jumping movement mechanism for bionic robot - Google Patents
Continuously-jumping movement mechanism for bionic robot Download PDFInfo
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- CN102050164B CN102050164B CN2010105416937A CN201010541693A CN102050164B CN 102050164 B CN102050164 B CN 102050164B CN 2010105416937 A CN2010105416937 A CN 2010105416937A CN 201010541693 A CN201010541693 A CN 201010541693A CN 102050164 B CN102050164 B CN 102050164B
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Abstract
The invention discloses a continuously-jumping movement mechanism for a bionic robot. The continuously-jumping mechanism comprises a machine body on which an internal gear rack and a fixed shaft are installed, wherein the internal gear rack is engaged with an incomplete-tooth gear which is installed on the shaft of a motor, the motor is fixed on a motor support board which is installed on the shaft through a rolling bearing embedded in the motor support plate, the rolling bearing is fixed on the shaft through a circlip, a torsional spring is sheathed on the shaft, one end of the torsional spring is fixed on the motor support board and the other end of the torsional spring is fixed on the machine body, and the shaft is fastened on the machine body through a nut. The movement mechanism has a simple structure and can realize continuously jumping movement.
Description
Technical field
The present invention relates to a kind of bionic machine robot movement mechanism, specifically, is the continuous skip motion of a kind of bio-robot mechanism.
Technical background
Skip motion is the common form of biological motion.In recent years, more and more to the research of skip motion, and oneself has developed into the robot field, has developed the hopping robot.The hopping robot is a kind of representative type bio-robot, and the initial method that this robot is studied is bone mechanism and the movement technique of animals such as imitation frog, careless manganese, kangaroo, locust.
Existing relating among the bionical hopping robot; Hop robot the earliest is that Marc Raibert was in the single leg continuity hop robot at MIT machine people laboratory development in 1980; The motion of robot is limited in 1 plane, and shank is equipped with cylinder, and effect is equivalent to spring; Therefore its motion class on the ground is similar to the inverted pendulum of 1 band spring, has solved the control of monopodia hopping robot take-off attitude and foot location algorithm problem when landing.Minnesota university has developed a kind of micro robot that can jump onto stair, and the robot profile is a cylinder, and diameter is 4Omm, and length is 115mm, heavy 200g.This robot belongs to intermittent hop robot, and subdued topography adopts two-wheeled to move ahead down, runs into stair, can discharge elastic leg and realize jumping, and jump height reaches 35cm.The energy storage equipment of the second generation hop robot of the subordinate's of American National aviation NASA (NASA) jet propulsion laboratory adopts six connecting rods structure, linear flexible non-linear stretching and the compression that changes into the body direction of horizontal direction spring.Six connecting rod accumulating mechanisms can effectively prevent robot to shift to an earlier date take-off, improve the capacity usage ratio of system simultaneously.The Kenken robot of Tokyo Univ Japan has imitated the principle of work of dog class shank tendon.This robot on ground contact phase can put aside energy, when jump is contacted to earth, can absorb energy.This hopping model is the effect that comes simulated leg with the shank spring; Spring is between thigh and shank heel and be parallel to middle leg; Such installation site makes robot when jump is contacted to earth, spring can be with absorbing in the face of the impact of shank, and put aside into potential energy to kinetic energy and store and be used for jumping next time; Flight phase helps the passive contraction of shank and opens.
At home, Northwestern Polytechnical University and Harbin Institute of Technology have also carried out hopping robot's correlative study in recent years, and the former mainly is engaged in imitative kangaroo jump mechanism research, and the latter mainly is engaged in imitative locust jumping mechanism research.All be in the basic investigation stage, also do not obtain substantial achievement at present.
In the prior art, continuous skip motion mechanism is more complicated all, and balance is poor and unstable, and take-off efficient is not high.
Summary of the invention
The objective of the invention is to the defective to the prior art existence, propose the continuous skip motion of a kind of bio-robot mechanism, inner structure is simple, and space availability ratio is big.
For reaching above-mentioned purpose; Design of the present invention is: through changing the center-of-gravity position of the movable agency in the mechanism periodically; Spring is stored periodically and discharge elastic potential energy, meanwhile potential energy and kinetic energy take place to transform each other, and utilize inertia to make mechanism realize jumping continuously.
According to the foregoing invention design, the present invention realizes through following technical scheme: the continuous skip motion of a kind of bio-robot mechanism, comprise a body, and it is characterized in that having installed on the described body inner gear bar and anchor shaft.In described inner gear bar and incomplete tooth gear engagement, incomplete tooth gear is sleeved on the axle of motor, the rotation of motor-driven incomplete tooth gear, and motor is fixed on the motor support plate, and the motor support plate is installed on the anchor shaft through the antifriction-bearing box that embeds wherein.Described anchor shaft is fixed thereon with antifriction-bearing box through circlip, and torsion spring is enclosed within on the axle, and an end is fixed on the motor support plate, and the other end is fixed on the body, and anchor shaft is fastened on the body through nut.
It is smooth circular arc that described incomplete tooth gear has 1/4 circular arc, does not have tooth; Can realize carrying out intermittently-driving with the inner gear bar.
Described motor support plate has two counter sinks, T type pin and each through hole up and down, and the axle of motor passes through hole and is fixed on the motor support plate through counter sink.Torsion spring one end is fixed on the T type pin of motor support plate.The motor support plate is connected with anchor shaft through the antifriction-bearing box that embeds lower through-hole.
One end of described torsion spring and the T type dowel fixes on the motor support plate, the T type dowel fixes on the other end and the body.
Principle of work of the present invention: motor-driven incomplete tooth gear clickwise; The first tooth of incomplete tooth gear begins and interior tooth bar engagement; Because the geometrical constraint of the engaging tooth of tooth bar in receiving, whole movable agency (motor, motor support plate, incomplete tooth gear) compress torsion spring around the anchor shaft left-hand revolution; Whole movable agency center of gravity descends gradually, makes the continuous storage elasticity potential energy of spring.When the motor-driven incomplete tooth gear turns over 3/4 circle, the last tooth of incomplete tooth gear and the engagement of interior tooth bar, this moment, the movable agency center of gravity dropped to nadir, and the elastic potential energy that torsion spring stores reaches maxim.Rotation along with motor; The last tooth of gear and interior tooth bar jump out of mesh; After this a period of time (time of motor rotation 1/4 circle), incomplete tooth gear does not receive the constraint of interior tooth bar, and this moment, torsion spring discharged elastic potential energy suddenly; Driving movable mechanism is around the anchor shaft clickwise, and whole movable agency center of gravity rises rapidly; According to dAlembert principle; At this moment entire mechanism is except receiving a downward gravity G=M * g, and (wherein M is the quality of entire mechanism, and g is an acceleration due to gravity also to receive a virtual force of inertia F=m * a1 effect that makes progress; M is the quality of movable agency, and a1 is the acceleration/accel of movable agency).Because torsion spring is to discharge elastic potential energy suddenly, the acceleration/accel a1 of movable agency can be very big.If F>G, then entire mechanism will break away from ground, realizes spring-like movement.This moment, the upwards acceleration/accel of entire mechanism was: a2=(F-G)/M.Since the biasing of the center-of-gravity position of mechanism, not at the centre of form place of four Area of bearing that the strong point forms, four stressed differences of the strong point, mechanism is in the spring process, because inertia also has the displacement of horizontal direction.When incomplete tooth gear forwards first tooth to, mesh with the inner gear bar again, get into next cycle event.This kinematic mechanism is simple in structure, can realize continuous skip motion.
Compared with prior art, the present invention has following remarkable advantage: this kinematic mechanism is simple in structure, and jump efficient is high, and space availability ratio is big, is convenient to install other auxiliary devices such as portable power supply and sensor.
Description of drawings
Fig. 1 is a structural front view of the present invention.
Fig. 2 is the right elevation of Fig. 1.
Fig. 3 is the birds-eye view of Fig. 1.
Fig. 4 is the front view of the axle of Fig. 1 example.
Fig. 5 is the front view and the right elevation of the motor support plate of Fig. 1 example.
The specific embodiment
Below in conjunction with accompanying drawing a preferred embodiment of the present invention is elaborated: present embodiment has provided detailed embodiment and concrete operating process being that prerequisite is implemented with technical scheme of the present invention.
Like Fig. 1, Fig. 2, shown in Figure 3, the continuous skip motion of bio-robot mechanism comprises a body 1, it is characterized in that having installed on the described body inner gear bar 2 and anchor shaft 6.In described inner gear bar 2 and incomplete tooth gear 3 engagements, incomplete tooth gear 3 is installed on the axle of motor 8, and motor 8 is fixed on the motor support plate 4, and motor support plate 4 is installed on the anchor shaft 6 through the antifriction-bearing box 5 that embeds wherein.Described anchor shaft 6 is fixed thereon with antifriction-bearing box 5 through circlip 7, and torsion spring 9 is enclosed within on the anchor shaft 6, and an end is fixed on the motor support plate 4, and the other end is fixed on the body, and anchor shaft 6 is fastened on the body through nut 10.
It is smooth circular arc that described incomplete tooth gear 3 has 1/4 circular arc, does not have tooth; Can realize carrying out intermittently-driving with inner gear bar 2.
Described torsion spring 9 is enclosed within on the anchor shaft 6, the T type dowel fixes on an end and the motor support plate 4, the T type dowel fixes on the other end and the body 1.
As shown in Figure 4, described anchor shaft 6, double-ended vehicle has screw thread, through nut 10 fixing with body 1 on.Install antifriction-bearing box 5 in shaft shoulder left side, is fixed on the anchor shaft 6 through circlip 7, and torsion spring 9 is contained in shaft shoulder right side.
As shown in Figure 5, described motor support plate 4 has two counter sinks, T type pin and each through hole up and down, and the axle of motor 8 passes through hole and is fixed on the motor support plate 4 through counter sink.Torsion spring 9 one ends are fixed on the T type pin of motor support plate 4.Motor support plate 4 is connected with anchor shaft 6 through the antifriction-bearing box 5 that embeds lower through-hole.
Claims (4)
1. the continuous skip motion of bio-robot mechanism comprises a body (1), it is characterized in that having installed on the said body inner gear bar (2) and anchor shaft (6); Described inner gear bar (2) and incomplete tooth gear (3) engagement; Incomplete tooth gear (3) is sleeved on the axle of motor (8); Motor (8) drives incomplete tooth gear (3) rotation; Motor (8) is fixed on the motor support plate (4), and motor support plate (4) is installed on the anchor shaft (6) through the antifriction-bearing box (5) that embeds wherein; Described anchor shaft (6) is fixed thereon with antifriction-bearing box (5) through circlip (7); Torsion spring (9) is enclosed within on the anchor shaft (6); One end is fixed on the motor support plate (4), and the other end is fixed on the body, and anchor shaft (6) is fastened on the body through nut (10).
2. the continuous skip motion of bio-robot according to claim 1 mechanism is characterized in that it is smooth circular arc that described incomplete tooth gear (3) has 1/4 circular arc, does not have tooth; Can realize carrying out intermittently-driving with inner gear bar (2).
3. the continuous skip motion of bio-robot according to claim 1 mechanism; It is characterized in that described motor support plate (4) has two counter sinks; T type pin and each through hole up and down, the axle of described motor (8) passes through hole and is fixed on the motor support plate (4) through counter sink; Described torsion spring (9) one ends are fixed on the T type pin of motor support plate (4); Motor support plate (4) is connected with anchor shaft (6) through the antifriction-bearing box (5) that embeds lower through-hole.
4. the continuous skip motion of bio-robot according to claim 3 mechanism is characterized in that an end of described torsion spring (9) and the T type dowel fixes on the motor support plate (4), the T type dowel fixes on the other end and the body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105416937A CN102050164B (en) | 2010-11-12 | 2010-11-12 | Continuously-jumping movement mechanism for bionic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105416937A CN102050164B (en) | 2010-11-12 | 2010-11-12 | Continuously-jumping movement mechanism for bionic robot |
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| Publication Number | Publication Date |
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| CN102050164A CN102050164A (en) | 2011-05-11 |
| CN102050164B true CN102050164B (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010105416937A Expired - Fee Related CN102050164B (en) | 2010-11-12 | 2010-11-12 | Continuously-jumping movement mechanism for bionic robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128393B (en) * | 2017-05-04 | 2019-01-22 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of flippers |
| CN109094676B (en) * | 2018-08-22 | 2021-05-14 | 北京理工大学 | Ejection mechanism based on spring energy storage |
| CN114348137B (en) * | 2022-01-27 | 2024-03-19 | 吉林大学 | Bionic over-axis jumping mechanism and jumping method thereof |
| CN114408043A (en) * | 2022-01-27 | 2022-04-29 | 吉林大学 | Bionic arc-shaped jumping device and jumping method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3744182A (en) * | 1969-12-08 | 1973-07-10 | Marvin Glass & Associates | Self-propelled toy |
| CN200987910Y (en) * | 2006-12-18 | 2007-12-12 | 张利 | Remote-controlling toy jumping vehicle |
| CN200987909Y (en) * | 2006-12-20 | 2007-12-12 | 中国人民解放军第二炮兵工程学院 | Football robot playing mechanism |
| CN101327817A (en) * | 2008-07-18 | 2008-12-24 | 东南大学 | Device for storing and releasing elastic potential energy of hopping robot |
| CN201239543Y (en) * | 2008-06-25 | 2009-05-20 | 欧海涛 | Ball-kicking device of football robot |
| CN201446986U (en) * | 2009-07-10 | 2010-05-05 | 西北工业大学 | Bionic jumping robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
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2010
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3744182A (en) * | 1969-12-08 | 1973-07-10 | Marvin Glass & Associates | Self-propelled toy |
| CN200987910Y (en) * | 2006-12-18 | 2007-12-12 | 张利 | Remote-controlling toy jumping vehicle |
| CN200987909Y (en) * | 2006-12-20 | 2007-12-12 | 中国人民解放军第二炮兵工程学院 | Football robot playing mechanism |
| CN201239543Y (en) * | 2008-06-25 | 2009-05-20 | 欧海涛 | Ball-kicking device of football robot |
| CN101327817A (en) * | 2008-07-18 | 2008-12-24 | 东南大学 | Device for storing and releasing elastic potential energy of hopping robot |
| CN201446986U (en) * | 2009-07-10 | 2010-05-05 | 西北工业大学 | Bionic jumping robot |
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