CN102514644B - Robot capable of realizing jumping - Google Patents
Robot capable of realizing jumping Download PDFInfo
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- CN102514644B CN102514644B CN 201110406564 CN201110406564A CN102514644B CN 102514644 B CN102514644 B CN 102514644B CN 201110406564 CN201110406564 CN 201110406564 CN 201110406564 A CN201110406564 A CN 201110406564A CN 102514644 B CN102514644 B CN 102514644B
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- 230000009191 jumping Effects 0.000 title claims abstract description 65
- 230000009471 action Effects 0.000 claims description 9
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- 238000005381 potential energy Methods 0.000 description 3
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Abstract
The invention discloses a robot capable of realizing jumping, which comprises a main body and two jumping legs connected with the main body via a jumping device; the jumping device comprises a lead rail, a base, a left diagonal rod, a right diagonal rod, a motor, a gear group, a pulley, a cable, an elasticity trigger keeper, an eccentric wheel, an eccentric wheel connecting rod and a torsion spring; the lead rail is fixedly connected in the main body and located above the base; the jumping legs are located under the base; the motor is connected with the gear group which is respectively connected with the pulley and the eccentric wheel; the pulley is connected with the base via the cable; the eccentric wheel is connected with one end of the eccentric wheel connecting rod; the elasticity trigger keeper is located under the lead rail; both the upper end of the left diagonal rod and the upper end of the right diagonal rod are connected with the lead rail in a sliding way while both the lower end of the left diagonal rod and the lower end of the right diagonal rod are rotationally connected with the base; and the torsion spring is respectively located at two ends of the left and the right diagonal rods. The robot with the structure can realize jumping.
Description
Technical Field
The present invention relates to a robot device, and more particularly, to a robot capable of performing a jumping operation.
Background
In recent years, researchers have designed many hopping robots. For the jumping of the robot, energy is stored firstly, and then the energy is released instantly, so that the energy is converted into gravitational potential energy. The existing hopping robots are mainly classified into three types: spring-based designs, pneumatic-based designs, and combustion-propulsion-based designs. For spring-based designs, the spring is initially in an uncompressed state and then compressed by the drive mechanism, thereby converting energy from the drive mechanism into elastic potential energy of the spring. Then, the jumping mechanism enables elastic potential energy to be released instantly, and the spring generates thrust on the ground, so that the robot jumps. For pneumatic based designs, the robot often includes one air reservoir and one air cylinder. Air in the air storage tank is suddenly released, so that the air cylinder impacts the ground, and the robot jumps. For designs based on combustion propulsion, the piston impacts the ground when the combustion chamber ignites, causing the robot to take off. Compared with the other two design methods, the design based on the spring is easier to realize and saves more cost.
Disclosure of Invention
The technical problem is as follows:the technical problem to be solved by the invention is as follows: provided is a robot capable of performing a jumping operation, which is capable of performing a jumping operation and has a simple structure.
The technical scheme is as follows:in order to solve the technical problems, the invention adopts the technical scheme that:
a robot capable of realizing jumping actions comprises a body and two jumping feet, wherein the top of each jumping foot is provided with a connecting rod, the jumping feet are positioned below the body, and the jumping feet are connected with the body through a jumping device;
the bouncing device comprises a guide rail, a base, a left inclined rod, a right inclined rod, a motor, a gear set, a pulley, a cable, an elastic trigger retainer, an eccentric wheel connecting rod and a torsion spring; wherein,
coaxial through holes are formed in the base and the guide rail, a notch is formed in the top surface of the base, the guide rail is fixedly connected inside the body and is located above the base, and the jumping foot is located below the base; the lower part of the connecting rod of the jumping foot penetrates through the through hole of the base and is fixedly connected with the base, and the upper part of the connecting rod penetrates through the through hole of the guide rail;
the motor, the gear set and the elastic triggering retainer are fixedly connected to the guide rail; the motor is connected with a gear set through a rotating shaft, the gear set is respectively connected with a pulley and an eccentric wheel through the rotating shaft, the pulley and the base are connected through a cable, the eccentric wheel is connected with one end of an eccentric wheel connecting rod, the elastic trigger retainer is positioned below the guide rail, and a spherical pin of the elastic trigger retainer corresponds to a notch of the base;
the upper end of the left diagonal rod and the upper end of the right diagonal rod are both connected with the guide rail in a sliding manner, and the lower end of the left diagonal rod and the lower end of the right diagonal rod are both connected with the base in a rotating manner; the torsional springs are respectively positioned at the two ends of the left diagonal rod and the two ends of the right diagonal rod.
Further, the robot capable of realizing jumping action further comprises a side lever rotating shaft and a side lever, wherein the side lever rotating shaft is fixedly connected to the guide rail, the side lever is rotatably connected with the side lever rotating shaft, one end of the side lever is connected with one end of the eccentric wheel connecting rod, and the other end of the side lever is located on the outer side of the body.
Furthermore, the number of the side lever rotating shafts is two, each side lever rotating shaft is connected with one side lever, the two side lever rotating shafts are positioned on the front side and the rear side of the guide rail, and the two side levers are positioned on the front side and the rear side of the body; the front side and the rear side of the body are both planes, and the left side, the right side and the top surface of the body are all cambered surfaces.
Further, the robot capable of realizing jumping motion further comprises a power source and two electric propellers, the two electric propellers are transversely and fixedly connected below the base, the power source is fixedly connected inside the body, and the power source is respectively connected with the two electric propellers through a lead.
Has the advantages that:compared with the prior art, the invention has the following beneficial effects:
1. can realize jumping action and has simple structure. The robot provided by the invention comprises a body and jumping feet, wherein the jumping feet are connected with the body through a bouncing device. The jumping of the robot is realized by arranging the bouncing device. The bouncing device comprises a guide rail, a base, a left diagonal rod, a right diagonal rod, a motor, a gear set, a pulley, a cable, an elastic trigger retainer, an eccentric wheel connecting rod and a torsional spring. The robot has a simple structure. The whole jumping process comprises an elastic force loading stage, an elastic force maintaining stage and an elastic force releasing stage. And (3) elastic loading stage: the left and right down tube moves downward so that the torsion springs fixed at both ends of the left and right down tube store elasticity. And (3) an elastic force maintaining stage: when the ball pin of the elastic force trigger retainer falls into the notch on the top surface of the base, the motor stops running and enters an elastic force retaining stage. And (3) elastic force release stage: the motor operates again to enable the spherical pin to return to the elastic force triggering retainer again, then the motor stops operating, so that the elastic force stored in the torsion spring is released, and the robot realizes jumping action.
2. The robot is suitable for complex road conditions, and can be switched from a falling state to a standing state so as to realize posture adjustment. The robot of the invention is also provided with a side lever rotating shaft and a side lever. The side lever and the side lever rotating shaft are rotatably connected, one end of the side lever is connected with one end of the eccentric wheel connecting rod, and the other end of the side lever is positioned outside the body. Therefore, in the elastic loading stage, the motor drives the eccentric wheel to rotate through the gear set, the eccentric wheel applies power to one end of the side rod through the eccentric wheel connecting rod, and the side rod rotates around the side rod rotating shaft, so that the side rod positioned outside the body supports the ground, and a robot stands. Through setting up side lever pivot and side lever, can realize the jump of robot on complicated ground. When the robot falls down after jumping, the side rods are started, so that the robot can change from a falling posture to a standing posture, and the next jumping is realized.
3. The robot can stand no matter what posture the robot falls down. The two side lever rotating shafts are positioned at the front side and the rear side of the guide rail, and the two side levers are positioned at the front side and the rear side of the body; the front side and the rear side of the body are both planes, and the left side, the right side and the top surface of the body are cambered surfaces. After the robot jumps, if the left side, the right side and the top surface of the body land first, since the left side, the right side and the top surface of the body of the robot are all arc surfaces, it is the front side and the rear side of the body of the robot that land finally. Standing can be achieved by using a side bar located at the front side of the body or by using a side bar located at the rear side of the body. This ensures that the robot can stand regardless of the posture in which it is falling.
4. When the robot jumps and falls down, the next jumping direction of the robot can be adjusted. The robot of the invention also comprises a power source and two electric propellers. When the robot jumps and falls down and lies on the ground, the two electric propellers can respectively generate thrust. When one electric propeller rotates and the other electric propeller does not move, the robot rotates towards one direction, and therefore the direction of the robot is changed. When the direction of the robot is changed, the robot stands by utilizing the side rod rotating shaft and the side rod, and finally the jumping action is completed.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic perspective view of the bouncing apparatus of the present invention from a left front perspective.
Fig. 3 is a perspective view of the bouncing apparatus of the present invention from a right front side.
Fig. 4 is a schematic view of a robot in a fallen state of the present invention.
Fig. 5 is a schematic view of the robot of the present invention during standing.
Fig. 6 is a schematic diagram of the robot standing state of the present invention.
The figure shows that: 1. the jumping device comprises a body, 2 parts of jumping feet, 201 parts of connecting rods, 3 parts of jumping devices, 301 parts of guide rails, 302 parts of a base, 303 parts of left inclined rods, 304 parts of right inclined rods, 305 parts of motors, 306 parts of gear sets, 307 parts of pulleys, 308 parts of cables, 309 parts of elastic trigger retainers, 310 parts of eccentric wheels, 311 parts of eccentric wheel connecting rods, 4 parts of side rod rotating shafts, 5 parts of side rods and 6 parts of electric propellers.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a robot capable of performing a jumping motion according to the present invention includes a main body 1 and two jumping feet 2. The jumping foot 2 is located below the body 1. The top of each jumping foot 2 is provided with a connecting rod 201, and the jumping feet 2 are connected with the body 1 through a bouncing device 3. The robot provides the jumping power to the jumping foot 2 by means of the jumping device 3 to realize the jumping action. The bouncing apparatus 3 includes a guide rail 301, a base 302, a left tilting lever 303, a right tilting lever 304, a motor 305, a gear train 306, a pulley 307, a cable 308, a spring force trigger holder 309, an eccentric 310, an eccentric link 311, and a torsion spring. Coaxial through holes are arranged on the base 302 and the guide rail 301. The top surface of the base 302 is provided with a recess. The guide rail 301 is fixedly connected inside the body 1, the guide rail 301 is positioned above the base 302, and the jumping foot 2 is positioned below the base 302. There is no fixed connection between the base 302 and the body 1. The lower part of the connecting rod 201 of the jumping foot 2 passes through the through hole of the base 302 and is fixedly connected with the base 302, and the upper part of the connecting rod 201 passes through the through hole of the guide rail 301. The connecting rod 201 and the guide rail 301 are not fixedly connected. Thus, the link 201 acts as a limit to the up-and-down movement of the guide rail 301. The motor 305, gear train 306 and spring-activated holder 309 are fixedly attached to the rail 301. The motor 305 is connected to a gear train 306 via a shaft. The gear set 306 is connected to the pulley 307 and the eccentric 310 via a rotating shaft. The pulley 307 is connected to the base 302 by a cable 308, and the eccentric 310 is connected to one end of an eccentric link 311. The spring-activated retainer 309 is located below the rail 301 and the ball-shaped pins of the spring-activated retainer 309 correspond to the recesses of the base 302. The upper end of the left diagonal rod 303 and the upper end of the right diagonal rod 304 are both slidably connected with the guide rail 301, and the lower end of the left diagonal rod 303 and the lower end of the right diagonal rod 304 are both rotatably connected with the base 302. Torsion springs are respectively positioned at both ends of the left diagonal rod 303 and both ends of the right diagonal rod 304.
The robot with the structure realizes the jumping process and comprises an elastic force loading stage, an elastic force keeping stage and an elastic force releasing stage.
The process of the elastic loading stage is as follows: the motor 305 rotates the pulley 307 through the gear set 306, the pulley 307 tightens the cable 308, and the guide rail 301 moves downward relative to the base 302. Since the guide rail 301 and the body 1 are fixedly coupled, the body 1 moves downward with respect to the base 302. The lower end of the left diagonal member 303 and the lower end of the right diagonal member 304 rotate around the base 302, respectively, and the upper end of the left diagonal member 303 and the upper end of the right diagonal member 304 slide along the guide rail 301 to both sides, respectively. Because the two ends of the left diagonal member 303 and the two ends of the right diagonal member 304 are respectively provided with the torsion springs, the torsion springs store elasticity in the rotating process of the left diagonal member 303 and the right diagonal member 304.
While the torsion spring stores the elastic force, the elastic force trigger holder 309 moves downward with respect to the base 302 along the guide rail 302. The motor 305 pauses operation when the ball-shaped pin in the spring-activated holder 309 drops into a recess in the top surface of the base 302. At this time, the whole robot enters the elastic force holding phase, namely the jump starting preparation phase. In the elastic force holding stage, the energy required by the robot for jumping is stored in the torsion spring, and when the robot is required to jump, the spherical pin clamped in the notch is only required to be moved away, and the energy stored in the torsion spring can be released. The process of the elastic force release stage is as follows: after the spring force holding stage, the motor 305 operates again, and continues to rotate the pulley 307 via the gear set 306, and the cable 308 is tightened, so that the spring force trigger holder 309 continues to move downward relative to the base 302. The ball-shaped pin, which is caught in the recess, is retracted into the spring force trigger holder 309 as the spring force trigger holder 309 is moved. At this time, the motor 305 stops operating. The elastic force stored in the torsion spring is released and the guide rail 301 moves upward with respect to the base 302. Since the guide rail 301 and the body 1 are fixedly connected, the body 1 moves upward with respect to the base 302, i.e., the robot performs a jumping motion.
Further, in order to ensure that the robot with the structure can realize continuous jumping and still stand when falling down, the robot with the structure also comprises a side rod rotating shaft 4 and a side rod 5, wherein the side rod rotating shaft 4 is fixedly connected on the guide rail 301, the side rod 5 is rotatably connected with the side rod rotating shaft 4, one end of the side rod 5 is connected with one end of the eccentric wheel connecting rod 311, and the other end of the side rod 5 is positioned outside the body 1.
Through setting up side lever pivot 4 and side lever 5, can realize the posture adjustment of robot, adjust from the state of falling down promptly to the state of standing. As shown in fig. 4 to 6, the process of robot pose adjustment is: during the elastic force loading stage, the motor 305 drives the eccentric wheel 310 to rotate through the gear set 306, the eccentric wheel 310 drives the eccentric wheel connecting rod 311 to move upwards, the eccentric wheel connecting rod 311 applies power to one end of the side rod 5, and the side rod 5 rotates around the side rod rotating shaft 4, so that one end of the side rod 5 positioned outside the body 1 can be unfolded towards two sides. The side bars 5 support the ground so that the robot stands up to finally maintain the jumping foot 2 in a state of being located downward.
Further, in order to ensure that the robot can stand no matter what posture the robot falls down, the number of the side rod rotating shafts 4 is two, each side rod rotating shaft 4 is connected with one side rod 5, the two side rod rotating shafts 4 are positioned on the front side and the rear side of the guide rail 301, and the two side rods 5 are positioned on the front side and the rear side of the body 1; the front side and the rear side of the body 1 are both planes, and the left side, the right side and the top surface of the body 1 are all cambered surfaces. After the robot jumps, if the left side, the right side and the top surface of the body land first, since the left side, the right side and the top surface of the body of the robot are all arc surfaces, it is the front side and the rear side of the body of the robot that land finally. Standing can be achieved either by means of a side bar 5 located at the front side of the body 1 or by means of a side bar 5 located at the rear side of the body 1. This ensures that the robot can stand regardless of the posture in which it is falling.
Further, the robot capable of realizing jumping motion further comprises a power source and two electric propellers 6, the two electric propellers 6 are transversely and fixedly connected below the base 302, the power source is fixedly connected inside the body 1, and the power source is respectively connected with the two electric propellers 6 through a lead. By starting the power source, the electric propeller 6 can be made to work. The power source and the two electric propellers 6 are provided in order to change the jumping direction of the robot. When the robot lies flat on the ground, the two electric propellers 6 can respectively generate thrust. When one electric propeller rotates and the other electric propeller does not move, the robot rotates towards one direction, and therefore the direction of the robot is changed. When the direction of the robot is changed, the robot can stand by using the side lever rotating shaft 4 and the side lever 5, and finally the jumping action is completed. Furthermore, when the two electric propellers 6 are rotated simultaneously, the robot can be moved forward.
Claims (4)
1. A robot capable of realizing jumping motion is characterized in that: the robot comprises a body (1) and two jumping feet (2), wherein the top of each jumping foot (2) is provided with a connecting rod (201), the jumping feet (2) are positioned below the body (1), and the jumping feet (2) are connected with the body (1) through a bouncing device (3);
the bouncing device (3) comprises a guide rail (301), a base (302), a left inclined rod (303), a right inclined rod (304), a motor (305), a gear set (306), a pulley (307), a cable (308), an elastic force trigger holder (309), an eccentric wheel (310), an eccentric wheel connecting rod (311) and a torsion spring; wherein,
coaxial through holes are formed in the base (302) and the guide rail (301), a notch is formed in the top surface of the base (302), the guide rail (301) is fixedly connected inside the body (1), the guide rail (301) is located above the base (302), and the jumping foot (2) is located below the base (302); the lower part of a connecting rod (201) of the jumping foot (2) penetrates through a through hole of the base (302) and is fixedly connected with the base (302), and the upper part of the connecting rod (201) penetrates through a through hole of the guide rail (301);
the motor (305), the gear set (306) and the elastic force trigger holder (309) are fixedly connected to the guide rail (301); the motor (305) is connected with the gear set (306) through a rotating shaft, the gear set (306) is respectively connected with the pulley (307) and the eccentric wheel (310) through the rotating shaft, the pulley (307) is connected with the base (302) through the cable (308), the eccentric wheel (310) is connected with one end of the eccentric wheel connecting rod (311), the elastic force trigger holder (309) is positioned below the guide rail (301), and the spherical pin of the elastic force trigger holder (309) corresponds to the notch of the base (302);
the upper end of the left diagonal rod (303) and the upper end of the right diagonal rod (304) are slidably connected with the guide rail (301), and the lower end of the left diagonal rod (303) and the lower end of the right diagonal rod (304) are rotatably connected with the base (302); torsion springs are respectively arranged at two ends of the left inclined rod (303) and two ends of the right inclined rod (304).
2. A robot for performing a jumping action according to claim 1, wherein: still include side lever pivot (4) and side lever (5), side lever pivot (4) fixed connection is on guide rail (301), and side lever (5) are rotationally connected with side lever pivot (4), and the one end of side lever (5) is connected with the one end of eccentric wheel connecting rod (311), and the other end of side lever (5) is located the outside of body (1).
3. A robot for performing a jumping motion according to claim 2, wherein: the number of the side rod rotating shafts (4) is two, each side rod rotating shaft (4) is connected with one side rod (5), the two side rod rotating shafts (4) are positioned on the front side and the rear side of the guide rail (301), and the two side rods (5) are positioned on the front side and the rear side of the body (1); the front side and the rear side of the body (1) are both planes, and the left side, the right side and the top surface of the body (1) are all cambered surfaces.
4. A robot capable of performing a jumping motion according to claim 1, 2 or 3, wherein: still include power supply and two electronic screw propellers (6), these two horizontal fixed connection of electronic screw propeller (6) are in the below of base (302), and power supply fixed connection is inside body (1), and the power supply passes through the wire and is connected with two electronic screw propellers (6) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110406564 CN102514644B (en) | 2011-12-09 | 2011-12-09 | Robot capable of realizing jumping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110406564 CN102514644B (en) | 2011-12-09 | 2011-12-09 | Robot capable of realizing jumping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102514644A CN102514644A (en) | 2012-06-27 |
| CN102514644B true CN102514644B (en) | 2013-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110406564 Expired - Fee Related CN102514644B (en) | 2011-12-09 | 2011-12-09 | Robot capable of realizing jumping |
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| CN (1) | CN102514644B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103010327B (en) * | 2012-12-21 | 2015-04-01 | 东南大学 | Single-motor driven climbing jumping robot |
| CN104943760A (en) * | 2015-05-21 | 2015-09-30 | 东南大学 | Movement posture adjusting device for hopping robots |
| CN106995015B (en) * | 2017-05-10 | 2023-03-21 | 桂林电子科技大学 | Jumping robot imitating flea beetle |
| CN109606492B (en) * | 2018-11-02 | 2021-08-31 | 广东工业大学 | Double-foot jumping robot based on ducted propulsion system and working method thereof |
| CN112859904A (en) * | 2021-01-25 | 2021-05-28 | 乐聚(深圳)机器人技术有限公司 | Method, device and equipment for recovering standing posture of robot and storage medium |
| CN115367014B (en) * | 2022-08-11 | 2023-05-12 | 哈尔滨工业大学（深圳） | Spherical robot with controllable jump track |
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| ES2209617A1 (en) * | 2002-05-24 | 2004-06-16 | Consejo Sup. Investig. Cientificas | Springer robot for spring game, has body, leg with two elements and fixed element, where fixed element is attached to body and walking foot, and spring is provided which is connected to end of walking foot |
| CN201240437Y (en) * | 2008-07-18 | 2009-05-20 | 东南大学 | Bouncer of hopping robot |
| CN102009706A (en) * | 2010-11-26 | 2011-04-13 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN102050165A (en) * | 2010-12-31 | 2011-05-11 | 南京航空航天大学 | Motor drive-based robot vertical bounce mechanism |
| CN102267502A (en) * | 2011-05-05 | 2011-12-07 | 西北工业大学 | Bionic jumping mechanism with adjustable jumping degree |
| CN202358216U (en) * | 2011-12-09 | 2012-08-01 | 东南大学 | Robot capable of jumping |
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2011
- 2011-12-09 CN CN 201110406564 patent/CN102514644B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2209617A1 (en) * | 2002-05-24 | 2004-06-16 | Consejo Sup. Investig. Cientificas | Springer robot for spring game, has body, leg with two elements and fixed element, where fixed element is attached to body and walking foot, and spring is provided which is connected to end of walking foot |
| CN201240437Y (en) * | 2008-07-18 | 2009-05-20 | 东南大学 | Bouncer of hopping robot |
| CN102009706A (en) * | 2010-11-26 | 2011-04-13 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN102050165A (en) * | 2010-12-31 | 2011-05-11 | 南京航空航天大学 | Motor drive-based robot vertical bounce mechanism |
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| CN202358216U (en) * | 2011-12-09 | 2012-08-01 | 东南大学 | Robot capable of jumping |
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| CN102514644A (en) | 2012-06-27 |
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