CN102092431A - Jumping robot imitating ejection mechanism of locust - Google Patents
Jumping robot imitating ejection mechanism of locust Download PDFInfo
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- CN102092431A CN102092431A CN 201110030972 CN201110030972A CN102092431A CN 102092431 A CN102092431 A CN 102092431A CN 201110030972 CN201110030972 CN 201110030972 CN 201110030972 A CN201110030972 A CN 201110030972A CN 102092431 A CN102092431 A CN 102092431A
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Abstract
The invention discloses a jumping robot imitating the ejection mechanism of a locust. The jumping robot comprises a machine body, a front leg connected with the front end of the machine body, and a rear leg mechanism connected with the back end of the machine body. The machine body comprises a motor, a speed reducer, a coupler, a transmission lead screw, a feed rod support seat, a lead screw nut, a transmission feed rod, a rolling bearing, fixing screws for support rods, double support rods, an extension bar of a compression block, the compression block, a rolling wheel on the lead screw nut, and two deflector rods at the upper end of the lead screw nut; and the rear leg mechanism comprises a connecting spring support, a spring group, an inverted U-shaped rear leg, a connecting rod part, a spring pressure plate, a spring in the compression block, the rolling wheel on the compression block, a first wedge-shaped block, a rolling wheel on the first wedge-shaped block, a second wedge-shaped block and a rear leg power transmission rod. A compression device can complete the function of automatic triggering through the compression block, and the spring is further arranged between the compression block and a rear plate for realizing the function of fast release. The jumping robot is used as a motion carrier of a detection instrument, and remote control of the mechanism can be realized by adding a sensor and a control circuit board.
Description
Technical field
The present invention relates to a kind of hopping robot's structure, relate to hopping robot's structure that a kind of imitative locust is launched mechanism specifically.
Background technology
As everyone knows, by the natural selections in millions upon millions of years and long-term evolution, the biology of occurring in nature environment has to external world produced extremely strong comformability, shows the reasonableness of height at aspects such as movement mechanism, transfer of energy, information exchanges.The fusion of bionics and robotics has promoted the development of bio-robot, make it have stronger landform adaptive capacity and autokinetic movement performance, therefore the research of bio-robot has become the focus in current robot field, and the related scientific research mechanism of various countries is obtaining some positive progress aspect this.
The second generation frog shape hopping robot of NASA development utilizes single motor to realize that robot jumps to stand up and waits a series of actions, proposition hopping robot least model; The hopping robot of Lausanne, SUI Polytechnics development, imitation locust shank jump mechanism has realized that living body functional is bionical; The GRILLO II of the Italy Institute of Technology and Zhejiang University's cooperation research and development utilizes four-bar mechanism to realize that leg exercise is consistent with the leafhopper path of motion three-dimensional information that utilizes high-speed camera to obtain, and has improved hopping robot's anti-pumping performance.
Though bionical hopping robot's research has obtained some positive progress, this direction still is in conceptual phase in the world.
Summary of the invention
The object of the present invention is to provide a kind of imitative locust to launch the hopping robot of mechanism,, utilize the lever mated spring structure to carry out the elastic energy storage of back leg joint according to locust back leg ejection lever effect; Rotating rod member by motor, leading screw and feed screw nut, wedge structure in conjunction with shank reaches and launches.
The technical solution adopted in the present invention is:
The present invention includes body, with body front end bonded assembly foreleg and with the body rear end bonded assembly after leg mechanism; Wherein:
1) body: comprise motor, retarder, coupler, turn-screw, feed rod supporting seat, feed screw nut, transmission feed rod, antifriction-bearing box, strut bar fix screw, double bracing bar, compression blocks extension bar, compression blocks, feed screw nut upper roller and feed screw nut upper end two driving levers; End lower surface in the body lower plate is installed foreleg, one end upper surface of body lower plate is installed motor, motor links to each other with an end of turn-screw with coupler by retarder, the other end upper surface of body lower plate is vertically installed plate behind the body, and the other end of turn-screw is installed in the antifriction-bearing box hole of plate lower end behind the body; Feed screw nut and turn-screw constitute screw pair, the feed screw nut lower end be installed in the transmission feed rod of body lower plate, can slide along the transmission feed rod, there are two driving levers feed screw nut upper end radially; Plate upper end is equipped with parallel with the body lower plate and towards the body upper plate of motor drive direction, an end that is positioned at the double bracing bar of body upper plate bottom is connected with plate behind the body behind the body, and the other end of double bracing bar is connected with the body header board; Two holes of compression blocks and double bracing bar constitute bearing fit, compression blocks can be installed in body after spring clutch mutually on the plate;
2) back leg mechanism: comprise the connection spring bracket, spring assembly, inverted U-shaped back leg connects rod member, spring bearer plate, the spring in the compression blocks, compression blocks upper roller, first wedge, the first wedge upper roller, second wedge and back leg power transmission pole; Inverted U-shaped back leg is connected across body upper plate both sides, body upper plate two sides are installed the connection rod member respectively, two end and body upper plates that connect rod member are fixed, the other end and inverted U-shaped back leg middle part are hinged, body upper plate upper surface is installed and is connected spring bracket, be connected with spring assembly between the top bar of spring bracket and inverted U-shaped back leg, compression blocks inside has the stepped appearance square hole, first wedge is installed in the stepped appearance square hole, the compression blocks two sides are installed extension bar respectively, the compression blocks upper roller is installed respectively on the every extension bar, and the compression blocks upper roller is installed in the first wedge lower end; Second wedge is installed in plate middle part behind the body, its upper surface is identical with feed screw nut upper end two driving lever upper level on being installed in leading screw, the compression blocks lower surface is higher than the second wedge upper surface, width in the middle of two driving levers of feed screw nut upper end is greater than the width of second wedge and less than the width of first wedge, the height of the first wedge bottom is between the second wedge upper and lower surface.
Described compression blocks inside has the stepped appearance square hole, the first rank hole dimension is identical with the first wedge lower end, the second rank hole dimension is identical with first wedge upper end, the 3rd rank hole dimension and spring bearer plate are measure-alike, first wedge is installed in the hole, first rank, the first wedge upper surface is installed two springs, spring bearer plate is fixed in the hole, the 3rd rank by screw attachment, thereby the spring in first wedge and the compression blocks is embedded in the compression blocks, with screw spring bearer plate is fixed on the compression blocks, guarantees that first wedge moves up and down.
The lateral length of described first wedge is greater than the transverse distance between two driving levers on the feed screw nut, on the feed screw nut between two driving levers transverse distance greater than the transverse distance of second wedge, thereby can guarantee that feed screw nut moves in second wedge, and first wedge rebounds with compression blocks.
The beneficial effect that the present invention has is:
(1) foreleg adopts the vibration damping shell fragment, is used to realize the buffering shock sucking function that lands.
(2) adopt lead screw transmission, can obtain bigger axial force, realize spring with less parts, failure rate is low.
That (3) adopts in the flip flop equipment that the geometric configuration of 2 wedges cooperates first wedge mobilely finishes rebounding of compression blocks, and triggering mode is simple and reliable.
(4) this mechanism places the body below with motor and retarder, thereby has reduced the center of gravity of body, has improved the stability of body.
(5) the back plate of body and the spring between the compression blocks thrust that acts on compression blocks in trigger process makes compression blocks realize rapid release, thereby reduces the influence to leg exercise.
The present invention can be used as the motion carrier of detecting instrument, by adding sensor and control circuit board, can realize the Long-distance Control of this mechanism, thereby this mechanism can be applied to fields such as earthquake relief, environmental monitoring, scientific research, space flight military affairs.
Description of drawings
Fig. 1 is an overall structure scheme drawing of the present invention.
Fig. 2 is a profile frame scheme drawing of the present invention.
Fig. 3 is a Power train scheme drawing of the present invention.
Fig. 4 is double bracing bar of the present invention and compression blocks assembling relationship figure.
Fig. 5 is a screw-nut structure scheme drawing of the present invention.
Fig. 6 is a compression blocks assembly scheme drawing of the present invention.
Fig. 7 is a compression blocks assembly exploded view of the present invention.
Fig. 8 is a compression blocks inner structure scheme drawing of the present invention.
Fig. 9 is a leg structure scheme drawing of the present invention.
Figure 10 is a flip flop equipment scheme drawing of the present invention.
Figure 11 is an overall left view of the present invention.
Figure 12 is two bars and two wedge size relationship figure on the feed screw nut of the present invention.
Among the figure: 100, the body upper plate, 101, plate behind the body, 102, the body lower plate, 103, foreleg, 104, the body header board, 201, motor, 202, retarder, 203, coupler, 204, turn-screw, 205, the feed rod supporting seat, 206, feed screw nut, 207, the transmission feed rod, 208, antifriction-bearing box, 209, the strut bar fix screw, 210, the double bracing bar, 211, the compression blocks extension bar, 212, compression blocks, 213, the feed screw nut upper roller, 214, feed screw nut upper end two bars, 301, connect spring bracket, 302, spring assembly, 303, inverted U-shaped back leg, 304, connect rod member, 305, spring bearer plate, 306, spring in the compression blocks, 307, the compression blocks upper roller, 308, first wedge, 309, the first wedge upper roller, 310, spring, 311, second wedge, 312, the back leg power transmission pole.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
The present invention includes body, with body front end bonded assembly foreleg and with the body rear end bonded assembly after leg mechanism.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Figure 10, Figure 11, shown in Figure 12, body: comprise motor 201, retarder 202, coupler 203, turn-screw 204, feed rod supporting seat 205, feed screw nut 206, transmission feed rod 207, antifriction-bearing box 208, strut bar fix screw 209, double bracing bar 210, compression blocks extension bar 211, compression blocks 212, feed screw nut upper roller 213 and feed screw nut upper end two driving levers 214; End lower surface in body lower plate 102 is installed foreleg 103, one end upper surface of body lower plate 102 is installed motor 201, motor 201 links to each other with an end of turn-screw 204 with coupler 203 by retarder 202, the other end upper surface of body lower plate 102 is vertically installed plate 101 behind the body, and the other end of turn-screw 204 is installed in the antifriction-bearing box hole 208 of plate 101 lower ends behind the body; Feed screw nut 206 constitutes screw pairs with turn-screw 204, feed screw nut 206 lower ends be installed in the transmission feed rod 207 of body lower plate 102, can slide along transmission feed rod 207, there are two driving levers 214 feed screw nut 206 upper end radially; Plate behind the body (101) upper end is equipped with parallel with body lower plate 102 and towards the body upper plate 100 of motor 201 directions, an end that is positioned at the double bracing bar 210 of body upper plate 100 bottoms is connected with plate 101 behind the body, and the other end of double bracing bar 210 is connected with body header board 104; Two holes of compression blocks 212 and double bracing bar 210 constitute bearing fits, compression blocks 212 can be installed in body after spring 310 clutch mutually on the plate 101.
As Fig. 1, Fig. 2, Fig. 9, shown in Figure 11, back leg mechanism: comprise connecting spring bracket 301, spring assembly 302, inverted U-shaped back leg 303, what connect back leg and body is connected rod member 304, be positioned at the spring bearer plate 305 on compression blocks top, the spring 306 in the compression blocks, compression blocks upper roller 307, first wedge 308, the first wedge upper roller 309, spring 310, the second wedges 311 and back leg power transmission pole 312 between back plate and compression blocks.Wherein:
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 8, Figure 11, shown in Figure 12, inverted U-shaped back leg 303 is connected across body upper plate 100 both sides, body upper plate 100 two sides are installed two respectively and are connected rod member 304, two end and body upper plates 100 that connect rod member 304 are fixing, the other end and inverted U-shaped back leg 303 middle parts are hinged, body upper plate 100 upper surfaces are installed and are connected spring bracket 301, be connected with spring assembly 301 between the top bar of spring bracket 301 and inverted U-shaped back leg 303, compression blocks 212 inside have the stepped appearance square hole, first wedge 308 is installed in the stepped appearance square hole, compression blocks 212 two sides are installed extension bar 211 respectively, compression blocks upper roller 307, the first wedges 308 lower ends are installed respectively on the every extension bar compression blocks upper roller 309 is installed; Second wedge 311 is installed in plate 101 middle parts behind the body, its upper surface is identical with feed screw nut 206 upper ends two driving levers, 214 upper level on being installed in leading screw, compression blocks 212 lower surfaces are higher than second wedge, 311 upper surfaces, width in the middle of two driving levers 214 of feed screw nut 206 upper ends is greater than the width of second wedge 311 and less than the width of first wedge 308, the height of first wedge, 308 bottoms is between second wedge, 311 upper and lower surfaces.
As Fig. 6, Fig. 7, Fig. 8, shown in Figure 12, described compression blocks 212 inside have the stepped appearance square hole, the first rank hole dimension is identical with first wedge, 308 lower ends, the second rank hole dimension is identical with first wedge, 308 upper ends, the 3rd rank hole dimension and spring bearer plate 305 are measure-alike, and four tapped bore have been attacked in the surface in hole, second rank and hole, the 3rd rank, first wedge 308 is installed in the hole, first rank, first wedge, 308 upper surfaces are installed two springs 306, spring bearer plate 305 is fixed in the hole, the 3rd rank by screw attachment, thereby the spring 306 in first wedge 308 and the compression blocks is embedded in the compression blocks 212, with screw spring bearer plate 305 is fixed on the compression blocks 212, guarantees that first wedge 308 moves up and down.
As Figure 11, shown in Figure 12, the lateral length of described first wedge 308 is greater than the transverse distance between two driving levers on the feed screw nut 206, on the feed screw nut 206 between two driving levers transverse distance greater than the transverse distance of second wedge 311, thereby can guarantee that feed screw nut 206 moves in second wedge 311, and first wedge 308 rebounds with compression blocks 212.
Specific embodiments of the invention are as follows:
The present invention includes body, with body front end bonded assembly foreleg and with the body rear end bonded assembly after leg mechanism, the power transmission of realizing compression function is installed at the middle part of body; The energy storage flip flop equipment of realizing energy storage and triggering function is installed at the rear portion of body.As Fig. 1, as Fig. 2, Fig. 9 and shown in Figure 10, this hopping robot's body upper plate 100 front ends are drilled with through hole, be connected with body header board 104 by bolted connection, body upper plate 100 rear ends are drilled with through hole, be connected with plate 101 behind the body by bolt, plate 101 lower ends are drilled with through hole behind the body, pass through bolted connection with body lower plate 102, body upper plate 100 left and right sides are drilled with 4 through holes, be connected with spring bracket 301 by bolt, body upper plate 100 two sides by bolt be connected rod member 304 and connect, strut bar one end of compression blocks 212 is by self tip protrusion and plate location, back, the other end has been attacked tapped bore, and is fixing with body header board 104 by strut bar fix screw 209, thereby constitutes this hopping robot's general frame.
Body lower plate 102 front ends are installed motor 201, and motor adopts DC machine herein, and motor is driven by PIC series monolithic and expansion motor drive ic ULN2003 thereof, by the rotating and the rotating speed thereof of Single-chip Controlling DC machine.Retarder 202 carries retarder for motor, the output shaft of retarder 202 adopts coupler 203 to connect with turn-screw 204, transmission feed rod 207 is in turn-screw 204 bottoms, the end is supported by supporting seat 205, feed screw nut 206 is the non-standard nut of self-control, contain tapped bore that cooperates with turn-screw 204 and the through hole that cooperates with transmission feed rod 207 on it, the turn-screw right-hand member is fixed in back plate 101 by antifriction-bearing box 208, it is stepped hole that back plate is installed bearing hole, make antifriction-bearing box 208 axial location, antifriction-bearing box 208 left ends are located by leading screw 204 shaft shoulders.
As Fig. 3, Fig. 4 and shown in Figure 6, compression blocks 212 inside have the oblong step trough, first wedge is packed in the groove, block by step slot below first wedge, top mounting spring 306, the step trough inside fire attack of compression blocks 212 has tapped bore, and spring bearer plate 305 has four through holes, fixing by screw and compression blocks 212, thus guarantee that first wedge can move up and down in compression blocks 212.Compression blocks 212 fronts have through hole, double bracing bar 210 passes through hole and works to support compression blocks 212, for guaranteeing to trigger fast, compression blocks we adopt plastics to make, and spring 310 is installed at Hou Banchu, plate 101 is installed second wedge 311 behind the body, finishes the triggering function jointly with first wedge 308 in the compression blocks 212.
Be installed in After-Body with PIC Series chip and expanded circuit thereof and supply unit as counterweight among the present invention, and encapsulation gets up, prevent that dust from invading.
Principle of work of the present invention is as follows:
In this paper example, motor 201 is just changeing drive turn-screw 204 and is rotating, thereby feed screw nut 206 is pushed ahead, promoting compression blocks 212 moves along back plate direction, the inverted U-shaped back leg 303 of compression blocks extension bar 211 compressions rotates, and energy stroage spring group 302 is stretched, and realizes energy storage.
In this example, after spring assembly 302 stretches, motor 201 continues just to change, compression blocks 212 continues that plate 101 directions move behind the body, this moment, first wedge 308 contacted with second wedge 311, first wedge 308 moves up, when first wedge 308 is positioned at the top of second wedge 311 and feed screw nut 206 extension bars fully, first wedge 308 is compressed to the inside of compression blocks 212, second wedge 311 embeds in the extension bar of feed screw nut, compression blocks 212 rebounds under the effect of spring 310, and energy stroage spring group 302 releases energy at this moment, drives back leg 303 and rotates the realization jump.
In this example, motor 201 counter-rotatings, drive turn-screw 204 counter-rotatings, thereby feed screw nut 206 is returned, first wedge 308 in the compression blocks 212 recovers incipient state owing to be compressed the effect of the spring 306 in the piece 212 internal compression pieces at this moment, feed screw nut upper roller 213 on feed screw nut 206 extension bars contacts with first wedge 308, compression compression blocks 212 moves to body header board 104 directions, contact with body header board 104 up to compression blocks 212, at this moment, first wedge 308 is owing to be subjected to the inside that the effect of feed screw nut 206 extension bar upper rollers 213 is compressed to compression blocks 212, thereby make feed screw nut 206 get back to the left end of compression blocks 212, finish and reset.
Claims (3)
1. an imitative locust is launched the hopping robot of mechanism, it is characterized in that: comprise body, with body front end bonded assembly foreleg and with the body rear end bonded assembly after leg mechanism; Wherein:
1) body: comprise motor (201), retarder (202), coupler (203), turn-screw (204), feed rod supporting seat (205), feed screw nut (206), transmission feed rod (207), antifriction-bearing box (208), strut bar fix screw (209), double bracing bar (210), compression blocks extension bar (211), compression blocks (212), feed screw nut upper roller (213) and feed screw nut upper end two driving levers (214); End lower surface in body lower plate (102) is installed foreleg (103), one end upper surface of body lower plate (102) is installed motor (201), motor (201) links to each other with the end of coupler (203) with turn-screw (204) by retarder (202), the other end upper surface of body lower plate (102) is vertically installed plate (101) behind the body, and the other end of turn-screw (204) is installed in the antifriction-bearing box hole (208) of plate (101) lower end behind the body; Feed screw nut (206) constitutes screw pair with turn-screw (204), feed screw nut (206) lower end be installed in the transmission feed rod (207) of body lower plate (102), can slide along transmission feed rod (207), there are two driving levers (214) feed screw nut (206) upper end radially; Plate behind the body (101) upper end is equipped with parallel with body lower plate (102) and towards the body upper plate (100) of motor (201) direction, an end that is positioned at the double bracing bar (210) of body upper plate (100) bottom is connected with plate (101) behind the body, and the other end of double bracing bar (210) is connected with body header board (104); Two holes of compression blocks (212) and double bracing bar (210) constitute bearing fit, compression blocks (212) can be installed in body after spring (310) clutch mutually on the plate (101);
2) back leg mechanism: comprise connecting spring bracket (301), spring assembly (302), inverted U-shaped back leg (303), connect rod member (304), spring bearer plate (305), the spring in the compression blocks (306), compression blocks upper roller (307), first wedge (308), the first wedge upper roller (309), second wedge (311) and back leg power transmission pole (312); Inverted U-shaped back leg (303) is connected across body upper plate (100) both sides, body upper plate (100) two sides are installed the connection rod member respectively, two end and body upper plates (100) that connect rod member are fixing, the other end and inverted U-shaped back leg (303) middle part are hinged, body upper plate (100) upper surface is installed and is connected spring bracket (301), be connected with spring assembly (301) between the top bar of spring bracket (301) and inverted U-shaped back leg (303), compression blocks (212) inside has the stepped appearance square hole, first wedge (308) is installed in the stepped appearance square hole, compression blocks (212) two sides are installed extension bar respectively, the compression blocks upper roller is installed respectively on the every extension bar, and compression blocks upper roller (309) is installed in first wedge (308) lower end; Second wedge (311) is installed in plate (101) middle part behind the body, its upper surface is identical with feed screw nut (206) upper end two driving levers (214) upper level on being installed in leading screw, compression blocks (212) lower surface is higher than second wedge (311) upper surface, width in the middle of feed screw nut (206) upper end two driving levers (214) is greater than the width of second wedge (311) and less than the width of first wedge (308), the height of first wedge (308) bottom is between second wedge (311) upper and lower surface.
2. a kind of imitative locust according to claim 1 is launched the hopping robot of mechanism, it is characterized in that: described compression blocks (212) inside has the stepped appearance square hole, the first rank hole dimension is identical with first wedge (308) lower end, the second rank hole dimension is identical with first wedge (308) upper end, the 3rd rank hole dimension and spring bearer plate (305) are measure-alike, first wedge (308) is installed in the hole, first rank, first wedge (308) upper surface is installed two springs (306), spring bearer plate (305) is fixed in the hole, the 3rd rank by screw attachment, thereby the spring (306) in first wedge (308) and the compression blocks is embedded in the compression blocks (212), with screw spring bearer plate (305) is fixed on the compression blocks (212), guarantees that first wedge (308) moves up and down.
3. imitative locust according to claim 2 is launched the hopping robot of mechanism, it is characterized in that: the lateral length of described first wedge (308) is greater than the transverse distance between last two driving levers of feed screw nut (206), transverse distance is greater than the transverse distance of second wedge (311) between last two driving levers of feed screw nut (206), thereby can guarantee that feed screw nut (206) moves in second wedge (311), and first wedge (308) rebounds with compression blocks (212).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100309721A CN102092431B (en) | 2011-01-28 | 2011-01-28 | Jumping robot imitating ejection mechanism of locust |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100309721A CN102092431B (en) | 2011-01-28 | 2011-01-28 | Jumping robot imitating ejection mechanism of locust |
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| CN102092431A true CN102092431A (en) | 2011-06-15 |
| CN102092431B CN102092431B (en) | 2012-05-30 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514643A (en) * | 2011-12-08 | 2012-06-27 | 浙江大学 | Hopping robot based on structure of bi-mass model |
| CN103465989A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Mechanism for simulating jumping of frog rear legs |
| CN105035198A (en) * | 2015-08-11 | 2015-11-11 | 桂林电子科技大学 | Bionic bounce robot used for environment detection |
| 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 |
| CN110027642A (en) * | 2018-01-11 | 2019-07-19 | 苏州凡喆科技有限公司 | A kind of drive mechanism of bionical frog robot |
| CN111591370A (en) * | 2020-05-26 | 2020-08-28 | 北京航空航天大学 | Jumping robot with controllable jumping force and direction |
| CN111591369A (en) * | 2020-05-26 | 2020-08-28 | 北京航空航天大学 | Jumping robot with controllable energy storage size and controllable jumping-off angle |
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| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN201940043U (en) * | 2011-01-28 | 2011-08-24 | 浙江大学 | Jumping robot simulating ejection mechanism of locusts |
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| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514643A (en) * | 2011-12-08 | 2012-06-27 | 浙江大学 | Hopping robot based on structure of bi-mass model |
| CN102514643B (en) * | 2011-12-08 | 2013-06-05 | 浙江大学 | Hopping robot based on structure of bi-mass model |
| CN103465989A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Mechanism for simulating jumping of frog rear legs |
| CN103465989B (en) * | 2013-09-17 | 2015-09-30 | 哈尔滨工程大学 | Imitative frog back leg hopping mechanism |
| CN105035198A (en) * | 2015-08-11 | 2015-11-11 | 桂林电子科技大学 | Bionic bounce robot used for environment detection |
| 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 |
| 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 |
| CN110027642A (en) * | 2018-01-11 | 2019-07-19 | 苏州凡喆科技有限公司 | A kind of drive mechanism of bionical frog robot |
| CN111591370A (en) * | 2020-05-26 | 2020-08-28 | 北京航空航天大学 | Jumping robot with controllable jumping force and direction |
| CN111591369A (en) * | 2020-05-26 | 2020-08-28 | 北京航空航天大学 | Jumping robot with controllable energy storage size and controllable jumping-off angle |
| CN111591369B (en) * | 2020-05-26 | 2021-04-06 | 北京航空航天大学 | Jumping robot with controllable energy storage size and controllable jumping-off angle |
| CN111591370B (en) * | 2020-05-26 | 2021-05-14 | 北京航空航天大学 | Jumping robot with controllable jumping force and direction |
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| CN102092431B (en) | 2012-05-30 |
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