CN102320338A - Continuous jumping and steering mechanism - Google Patents
Continuous jumping and steering mechanism Download PDFInfo
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- CN102320338A CN102320338A CN201110181193A CN201110181193A CN102320338A CN 102320338 A CN102320338 A CN 102320338A CN 201110181193 A CN201110181193 A CN 201110181193A CN 201110181193 A CN201110181193 A CN 201110181193A CN 102320338 A CN102320338 A CN 102320338A
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Abstract
The invention discloses a continuous jumping and steering mechanism. The continuous jumping and steering mechanism comprises an inclining mechanism body, wherein a horizontal plane at the top end of the inclining mechanism body is provided with a revolute pair connected with small center hole of a connecting plate at the top of four supporting feet; the inclining mechanism body is provided with a chute, and a sliding block is installed in the chute; a driven shaft is fixed on the sliding block, a cam is installed on the driven shaft to form a cam mechanism, and a first motor is installed on a motor base plate at the bottom of the sliding block; the output shaft of the motor and the driven shaft are transmitted through a synchronous belt; a second motor is vertically fixed on the motor base plate above the supporting feet, the output shaft of the second motor passes through a small hole of the motor base plate and is connected with a coupling, and the other end of the coupling is connected with a small perpendicular shaft of the inclining mechanism body penetrating through the small center hole of the connecting plate at the top of the supporting feet; one end of a compression spring is fixed on the inclining mechanism body, and the other end of the compression spring is fixed on the sliding block; the first motor is used for driving the cam and storing and quickly releasing the elastic potential energy of the compression spring so as to realize jumping; and the rotation of the second motor is used for changing the inclining direction of the inclining mechanism body and changing the position of a mass center so as to change the jumping direction.
Description
Technical field
The present invention relates to a kind of four-footed and support machine robot movement mechanism, particularly a kind of can the jump continuously and divertical motion mechanism.
Technical background
In when motion under destructuring or accurate structured environment, wheel is carried out and creeping-type robot when running into the obstacle greater than himself size, generally can only dodge, and is restricted in the application of a lot of occasions.Robot with anti-pumping performance is because can leaping over obstacles, and body of wall and irrigation canals and ditches are with a wide range of applications, and receive showing great attention to of various countries research institution in recent years.Hopping robot's area that requires to stop over is little, adapts to complicated landform and environment; The height of himself the high several times of can jumping even tens of times, obstacle climbing ability and action radius are big; The emergentness of bounce motion and burst also help robot to hide danger fast; And its structure degree of freedom can be seldom, but its freedom of motion and many, thereby its kinematic dexterity is high, structure is simple with control, is prone to microminiaturization.The hopping robot also exists and is difficult to realize continuous jump in motion process, is difficult to control the shortcoming of jump direction.
Summary of the invention
The objective of the invention is to defective, propose a kind of continuous jump and steering hardware of bionic machine human to the prior art existence.This mechanism structure is simple, easy operating.
For reaching above-mentioned purpose; Design of the present invention is: through changing the height of center of mass 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.The barycenter that changes mechanism simultaneously with respect to four support the tetragonal centre of form of support that foot forms deviation post realize the jumping change of direction.
The continuous skip motion of robot mechanism comprises a body, in the chute of body, slide block has been installed.Cam is installed on the axle in the slide block, and is driven through being with synchronously by the motor that is installed in equally in the slide block.Between slide block and the body compression spring is arranged.Spring one end is connected with health, and the other end is connected with slide block.The robot steering hardware, the axle on the top of body is connected through coupler with the motor shaft that supports sufficient over top, and by this motor-driven.
Among the present invention, motor (5) drives the cam clickwise, the outline of cam and body geometrical constraint, and the rotation along with cam moves to distal-most end, and length of spring compressed is to maxim at this moment, and elastic potential energy is maximum, and the entire mechanism barycenter is minimum.When the motor-driven cam turned over distal-most end, cam and body no longer retrained, and spring discharges, and barycenter 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 compression spring is to discharge elastic potential energy suddenly, the acceleration/accel a1 of slide block mechanism 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 centroid 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 cam contacts with body once more, receive the constraint of cam outer contour again, get into next cycle event.This kinematic mechanism is simple in structure, can realize continuous skip motion.
Change the direction of skip motion when needs; At this moment; The robot pulsation-free rests on ground, motor (5) stall, and motor (6) cw stops after turning over 90 °, 180 °, 270 ° or certain specified angle; Barycenter can change the jump direction of robot with respect to the deviation post of the tetragonal centre of form of support of four support foot formation when having changed elastic potential energy release.
Based on the foregoing invention design, the present invention adopts following technical proposals:
A kind of continuous jump and divertical motion mechanism.It comprises an inclination body, has one to be connected with four revolute pairs that support sufficient top connecting panel central small hole on the horizontal surface of said inclination body top, and said inclination body has chute, installation one slide block in this chute; A driven shaft is fixed on the slide block, and a cam is installed in and constitutes cam mechanism on the driven shaft, and one first motor is installed on the motor seat board of slider bottom; The output shaft of this motor and driven shaft are through synchronous strap drive; One second motor uprightly is fixed on the motor seat board that supports the foot top; Its output shaft is passed down through the motor seat board aperture; Be connected with a coupler, the other end of coupler is connected with the vertical little axle that passes the inclination body that supports sufficient top connecting panel central small hole; Compression spring one end is fixed on the inclination body, and the other end is fixed on the slide block; The described first motor-driven cam can be realized storage and rapid release to the compression spring elastic potential energy, thereby realizes jumping; The rotation of said second motor is used for changing the direction of tilt of inclination body, changes the position of barycenter accordingly, thereby changes the direction of skip motion.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and remarkable advantage: the present invention adopts cam rotation to form the barycenter variation and realizes jumping; And be placed in this cam mechanism on the bevelled body, change the direction of tilt of inclination body, realize that motion turns to.This kinematic mechanism is simple in structure, and jump efficient is high, can realize continuous jump, and be easy to change the skip motion direction.
Description of drawings
Fig. 1 is the one embodiment of the invention structural front view.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 is Fig. 1 left view.
Fig. 4 is the front view of the Slipper (comprise cam 4, motor 5 is with 10 synchronously, driven shaft 11) of Fig. 1 example.
Fig. 5 is the auxiliary projection of Fig. 4 example.
The specific embodiment
Below in conjunction with accompanying drawing a preferred embodiment of the present invention is elaborated: present embodiment is that prerequisite is implemented with technical scheme of the present invention, has provided detailed embodiment and concrete operating process.
Referring to Fig. 1 to Fig. 5, this jumps and divertical motion mechanism continuously.It comprises an inclination body, has one to be connected with four revolute pairs that support sufficient top connecting panel central small hole on the horizontal surface of said inclination body top, at said inclination body chute is arranged, installation one slide block in this chute; A driven shaft is fixed on the slide block, and a cam is installed in and constitutes cam mechanism on the driven shaft, and one first motor is installed on the motor seat board of slider bottom; The output shaft of this motor and driven shaft are through synchronous strap drive; One second motor uprightly is fixed on the motor seat board that supports the foot top; Its output shaft is passed down through the motor seat board aperture; Be connected with a coupler, the other end of coupler is connected with the vertical little axle that passes the inclination body that supports sufficient top connecting panel central small hole; Compression spring one end is fixed on the inclination body, and the other end is fixed on the slide block; The described first motor-driven cam can be realized storage and rapid release to the compression spring elastic potential energy, thereby realizes jumping; The rotation of said second motor is used for changing the direction of tilt of inclination body, changes the position of barycenter accordingly, thereby changes the direction of skip motion.
Claims (1)
1. a robot jumps and divertical motion mechanism continuously; Comprise an inclination body (1); It is characterized in that having on the horizontal surface of said inclination body (1) top one to be connected with four revolute pairs that support foot (3) top connecting panel (12) central small hole; Said inclination body (1) has chute, and a slide block (2) is installed in this chute; A driven shaft (11) is fixed on the slide block (2), and a cam (4) is installed in driven shaft (11) and goes up the formation cam mechanism, and one first motor (5) is installed on the motor seat board of slide block (2) bottom; The output shaft of this motor and driven shaft (11) are through band (10) transmission synchronously; One second motor (6) uprightly is fixed on the motor seat board (9) that supports foot (3) top; Its output shaft is passed down through the motor seat board aperture; Be connected with a coupler (8), the other end of coupler (8) is connected with the vertical little axle (13) that passes the inclination body (1) that supports sufficient top connecting panel (12) central small hole; Compression spring (7) one ends are fixed on the inclination body (1), and the other end is fixed on the slide block (2); Described first motor (5) power cam (4) can be realized storage and rapid release to compression spring (7) elastic potential energy, thereby realize jumping; The rotation of said second motor (6) is used for changing the direction of tilt of inclination body (1), changes the position of barycenter accordingly, thereby changes the direction of skip motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110181193A CN102320338A (en) | 2011-06-30 | 2011-06-30 | Continuous jumping and steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110181193A CN102320338A (en) | 2011-06-30 | 2011-06-30 | Continuous jumping and steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102320338A true CN102320338A (en) | 2012-01-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110181193A Pending CN102320338A (en) | 2011-06-30 | 2011-06-30 | Continuous jumping and steering mechanism |
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| Country | Link |
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| CN (1) | CN102320338A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602467A (en) * | 2012-05-03 | 2012-07-25 | 上海大学 | Variable-step-length continuous hopping and steering movement mechanism |
| CN102837751A (en) * | 2012-09-21 | 2012-12-26 | 安徽工业大学 | Belt trough movable shaft type half-rotation mechanism |
| CN108145752A (en) * | 2018-01-15 | 2018-06-12 | 华南理工大学 | A kind of marmem supporting leg of water strider robot and its preparation and operation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62255298A (en) * | 1986-04-30 | 1987-11-07 | Nippon Kokan Kk <Nkk> | Submarine prospecter for undersea resources |
| JP2007007798A (en) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | Jumping robot |
| KR20090021018A (en) * | 2007-08-24 | 2009-02-27 | 한국과학기술원 | Elastic leg structure and robot having the same |
| CN101862542A (en) * | 2010-05-27 | 2010-10-20 | 西北工业大学 | Robot simulated jump aid |
-
2011
- 2011-06-30 CN CN201110181193A patent/CN102320338A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62255298A (en) * | 1986-04-30 | 1987-11-07 | Nippon Kokan Kk <Nkk> | Submarine prospecter for undersea resources |
| JP2007007798A (en) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | Jumping robot |
| KR20090021018A (en) * | 2007-08-24 | 2009-02-27 | 한국과학기술원 | Elastic leg structure and robot having the same |
| CN101862542A (en) * | 2010-05-27 | 2010-10-20 | 西北工业大学 | Robot simulated jump aid |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602467A (en) * | 2012-05-03 | 2012-07-25 | 上海大学 | Variable-step-length continuous hopping and steering movement mechanism |
| CN102602467B (en) * | 2012-05-03 | 2013-06-05 | 上海大学 | Variable-step-length continuous hopping and steering movement mechanism |
| CN102837751A (en) * | 2012-09-21 | 2012-12-26 | 安徽工业大学 | Belt trough movable shaft type half-rotation mechanism |
| CN102837751B (en) * | 2012-09-21 | 2014-10-08 | 安徽工业大学 | Belt trough movable shaft type half-rotation mechanism |
| CN108145752A (en) * | 2018-01-15 | 2018-06-12 | 华南理工大学 | A kind of marmem supporting leg of water strider robot and its preparation and operation |
| CN108145752B (en) * | 2018-01-15 | 2023-10-13 | 华南理工大学 | Shape memory alloy supporting leg of water strider robot and preparation and operation thereof |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120118 |