CN103661659B - Hopping robot based on dropout energy storing-releasing mechanism - Google Patents
Hopping robot based on dropout energy storing-releasing mechanism Download PDFInfo
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- CN103661659B CN103661659B CN201310654254.0A CN201310654254A CN103661659B CN 103661659 B CN103661659 B CN 103661659B CN 201310654254 A CN201310654254 A CN 201310654254A CN 103661659 B CN103661659 B CN 103661659B
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Abstract
The present invention relates to a kind of hopping robot based on dropout energy storing-releasing mechanism, gripper shoe including level, gripper shoe center is provided with hopping leg, hopping leg is pedaled and is connected with spring guide pillar and release lever above foot, the outer sheathed power spring of spring guide pillar, power spring lower end is pushed down and is pedaled foot, and upper end props up gripper shoe, release lever upper end is provided with dropout contact, and spring guide pillar upper end is provided with plain hook；Gripper shoe is arranged over riser, riser respectively with cam, L-shaped connecting rod, stick up bar, dropout part is hinged；Pedaling foot upper end and two rod hinge connections, the upper end of two connecting rods is connected by revolute pair with the end of parallelogram linkage, and parallelogram linkage is affixed with the tooth bar of level, and rack and pinion engagement forms rack and pinion drive mechanism；Two small ends are also connected by revolute pair with vertical push rod, and push rod is connected with gripper shoe, and push rod upper end and rod hinge connection, connecting rod and dead point push rod are hinged, and dead point push rod is placed in vertical dead point push rod guide pin bushing.
Description
Technical field
The present invention relates to a kind of hopping robot, specifically, be a kind of hopping robot based on dropout energy storing-releasing mechanism, belong to hopping robot's technical field.
Background technology
Increasingly severe along with the increasingly extensive of modern machines people's range of application and robot working environment.Such as engage in archaeological studies the tasks such as detection, space exploration, military surveillance and counterterrorist activity, the performance of robot be it is also proposed higher requirement, itself should have stronger landform adaptive capacity and autonomic movement ability.Creep or the mobile apparatus people of caterpillar drive mode relative to adopting, hopping robot can jump over the barrier more several times greater than own dimensions or irrigation canals and ditches easily, have kinematic dexterity height, range of activity is wide, hide the feature that risk ability is strong, is therefore more suitable for working under complicated and uncertain environment.In the middle of the whole motor process of hopping robot, bouncing mechanism is most important in the middle of whole robot model is also the mechanism of most critical, and it is related to the quality of robot anti-pumping performance, and then determines the quality of whole robot performance.In the middle of the bouncing mechanism of existing hopping robot, the method being generally adopted is to utilize the devices such as cylinder, spring, rope, piston, hydraulic cylinder and then be aided with other devices to realize the spring-like movement of hopping robot, or according to bionics principle, imitate the movement mechanism of various animal and then complete jump action.
Prior art use energy-stored spring as the hopping robot of spring power, the sketch of its jump actuating unit is as shown in Figure 4, this kind of mechanism is the linkage adopting parallelogram, and horizontally disposed extension spring, energy storage when extension spring stretches, releases energy during contraction, the utilization rate that this jump actuating unit has spring energy is low, inefficient, that jumping height is limited shortcoming.
Summary of the invention
It is desirable to provide a kind of simple to operate, compact conformation, stability and the high hopping robot of capacity usage ratio, in order to solve the above defect.
The present invention takes techniques below scheme:
A kind of hopping robot based on dropout energy storing-releasing mechanism, gripper shoe 4 including level, fixing 3-4 supporting leg below described gripper shoe 4, gripper shoe 4 center is provided with hopping leg, and described hopping leg includes pedaling foot 19, pedal and be connected with spring guide pillar and release lever 18 above foot 19, the outer sheathed power spring 21 of spring guide pillar, power spring lower end is pushed down and is pedaled foot 19, and upper end props up gripper shoe 4, described release lever 18 upper end is provided with dropout contact 39, and described spring guide pillar upper end is provided with plain hook 36；Described gripper shoe 4 is fixed with riser 1, described riser 1 respectively with cam 31, L-shaped connecting rod 30, stick up bar 34, and dropout part 3 be hinged；When the first external impetus band moving cam 31 turns clockwise, bar 34 one end is stuck up in pressure, stick up bar 34 to rotate around fixed support, the other end lifts, making to lift on plain hook 36, plain hook 36 drives together with spring guide pillar and lifts on hopping leg, and spring is compressed thus carrying out energy storage, until dropout contact 39 locks onto on dropout part 3, power spring 21 completes the storage of energy；The stored energy mechanism of hopping robot has been used for storage and the release of energy, and the dropout stored energy mechanism in this invention is compressed spring type dropout stored energy mechanism, is fixed in gripper shoe 4 with bolted form, it is ensured that its stability with whole fuselage;In the dropout part of mechanism, with gravitational equilibrium and effectively drop-away reset for foundation, devise reverse side connecting rod, spring return mechanism threading off, on the basis that resets, it is ensured that mechanism trigger thread off, homing action time more flexibly accurately;This dropout stored energy mechanism mainly includes two states that latch and thread off, and latch mode indicates completing of energy storage process；Under trip status, dropout stored energy mechanism mainly completes the release of energy.In conjunction with Figure of description, the dropout stored energy mechanism on riser 1 is described in detail:
Power cam rotates clockwise, as shown in Fig. 1 (a), when actuating cam has just touched load bar BC, stir load bar and rotate counterclockwise, the rotation of load bar drives loading contact to pull spring guide pillar CH to move straight up, and the energy storage stage clip on spring guide pillar is therewith by compressed energy-storage;When spring guide pillar continues up certain position, as shown in Fig. 1 (b), the dropout contact on spring guide pillar CH is locked on swing arm FG, and spring guide pillar motion stops, and stage clip energy storage terminates, and this is latch mode;When, such as shown in Fig. 1 (c), after stage clip energy storage terminates, cam departs from load bar;When power cam is rotated further, as shown in Fig. 1 (d), cam contact is to release lever DE and stirs it and rotates counterclockwise, and then by the effect of connecting rod EF, swing arm FG is swung to the right, dropout contact departs from, mechanism carries out the release of energy, and coupled foot of pedaling moves downward rapidly under the effect of spring potential energy and contacts to earth, thus completing whole spring-like movement;As shown in Fig. 1 (e), power cam is rotated further disengaging release lever DE, and swing arm returns to again original state under spring force, as shown in Fig. 1 (f).
It is described that to pedal foot 19 upper end also hinged with two connecting rods 41 of a pair symmetry respectively, the upper end of the pair of two connecting rods 41 is connected by revolute pair with the end of parallelogram linkage 44 respectively, described parallelogram linkage 44 is affixed with the horizontal rack 42 in left side, tooth bar 42 engages with gear 43, constitutes rack and pinion drive mechanism；Two connecting rod 41 upper ends are also connected by revolute pair with vertical push rod 46, and push rod 46 is fixing with gripper shoe 4 to be connected, and push rod 46 upper end is hinged with connecting rod 47, and connecting rod 47 is hinged with dead point push rod, and dead point push rod 48 is interspersed in vertical dead point push rod guide pin bushing；Second external impetus driven gear a43 rotates, the rotation band carry-over bar a42 of gear a43 moves horizontally, and then drive parallelogram linkage 44 to complete to shrink and release movement, two connecting rods 41 drive gripper shoe 4 to move up and down by push rod 46, and then adjust the spacing pedaling the foot 19 distance with ground and dead point push rod 48 and two connecting rods 41；Being additionally provided with a pair waist-shaped hole on riser 1, the first bearing pin of L-shaped connecting rod 30 end is inserted in the first waist-shaped hole, and the second bearing pin of dropout part 3 end is inserted in the second waist-shaped hole, and first, second bearing pin is connected by revolute pair with stock 45 respectively；When the first external impetus band moving cam 34 is rotated further, power cam 34 drives L-shaped connecting rod 30 to rotate counterclockwise, first bearing pin of stock 45 one end rotates counterclockwise in the first waist-shaped hole, and then drive the second bearing pin of the stock other end to rotate clockwise in the second waist-shaped hole, de-mouth contact 39 departs from dropout part 3, power spring 21 is released, and described spring powered leg mechanism upwards takeoffs.Meanwhile, dead point push rod 48 impacts two connecting rods 41, two connecting rod bendings under the effect of deadweight and inertia force, and dead point is abolished.
The feature of the technical program is: by a whole set of drive system, it is achieved that the energy storage of power spring；Pedal the adjustment of foot and ground distance；Power spring release energy；When spring powered leg mechanism upwards takeoffs, dead point push rod impacts the dead point place of two connecting rods under the effect of self gravitation and inertia force, thus a destruction of checkmating, it is simple to energy storage and jump again.The effect of two connecting rods is to drive gripper shoe to move up and down, it is achieved hopping leg and the Automatic adjusument of ground distance, makes to pedal foot and earth surface as far as possible, puies forward high-octane utilization rate, increase and pedal the foot instantaneous impact to ground, improve jumping height before energy discharges.
Further, described dead point push rod guide pin bushing being additionally provided with tooth bar b, described tooth bar b coordinates with gear b.
Further, the dead point push rod guide pin bushing of the left and right sides is connected with each other also by guide pin bushing support, forms an entirety.
Further, described supporting leg 11 is divided into the upper and lower 17 being hinged, and upper and lower 17 is connected with the two ends of supporting leg spring 15 respectively.
Further, the quantity of described supporting leg 11 is three.
Further, described hopping leg is additionally provided with proximity transducer, for detecting the distance pedaling foot 19 with ground.
The beneficial effects of the present invention is:
1) utilization rate of spring energy is high, pedals foot the instantaneous impact on ground is big, and jumping height is high.
2) energy transformation ratio of spring powered leg mechanism is high.
3) compact conformation, good stability, easy to control, simple to operate, actuating unit is few.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of mechanism under dropout stored energy mechanism different operating state.
Fig. 2 is the hopping robot's front schematic view based on dropout energy storing-releasing mechanism of the present invention.
Fig. 3 be in Fig. 2 A-A to sectional view.
Fig. 4 is the principle sketch of the hopping robot powered leg mechanism of prior art.
Fig. 5 is the enlarged diagram of Fig. 2.
Fig. 6 is the enlarged diagram of Fig. 3.
Fig. 7 is the schematic perspective view of the hopping robot based on dropout energy storing-releasing mechanism of the present invention.
Fig. 8 is the positive effect sketch of the hopping robot based on dropout energy storing-releasing mechanism of the present invention.
Fig. 9 is the adverse side effects sketch of the hopping robot based on dropout energy storing-releasing mechanism of the present invention.
Figure 10 is when riser is transparent material, and the present invention is based on the front schematic view of the hopping robot of dropout energy storing-releasing mechanism.
In figure, 1. riser, 2. the second bearing pin, 3. dropout part, 4. gripper shoe, 11. supporting leg, 15. supporting leg spring, 17. supporting leg bottom, 18. release lever, 19. pedal foot, 21. power spring, 30.L shape connecting rod, 30a.L the hinged place of shape connecting rod and riser, 31. cam, 31a. the hinged place of cam and riser, 34. stick up bar, 34a. stick up the hinged place of bar and riser, 36. plain hook, 39. dropout contact, 41. two connecting rods, 42. tooth bar a, 43. gear a, 44. parallelogram linkage, 45. stock, 46. push rod, 47. connecting rod, 48. dead point push rod, 49. gear b, 50 back-moving springs.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
The present invention mainly includes power spring 21, dead point push rod guide pin bushing, dead point push rod 48, spike spring 15 based on the hopping robot of dropout energy storing-releasing mechanism, pedals foot 19, gripper shoe 4, gear a, tooth bar a, gear b, tooth bar b, parallel-crank mechanism 44 etc..
Referring to Fig. 2-9, a kind of hopping robot based on dropout energy storing-releasing mechanism, including the gripper shoe 4 of level, fixes 3-4 supporting leg below described gripper shoe 4, gripper shoe 4 center is provided with hopping leg, described hopping leg includes pedaling foot 19, pedals and is connected with spring guide pillar and release lever 18 above foot 19, the outer sheathed power spring 21 of spring guide pillar, power spring lower end is pushed down and is pedaled foot 19, upper end props up gripper shoe 4, and described release lever 18 upper end is provided with dropout contact 39, and described spring guide pillar upper end is provided with plain hook 36；Described gripper shoe 4 is fixed with riser 1, described riser 1 respectively with cam 31, L-shaped connecting rod 30, stick up bar 34, and dropout part 3 be hinged；When the first external impetus band moving cam 31 turns clockwise, bar 34 one end is stuck up in pressure, stick up bar 34 to rotate around fixed support, the other end lifts, making to lift on plain hook 36, plain hook 36 is lifted and moves on drive spring guide pillar, power spring is compressed, until dropout contact 39 locks onto on dropout part 3, power spring 21 completes the storage of energy；It is described that to pedal foot 19 upper end also hinged with two connecting rods 41 of a pair symmetry respectively, the upper end of the pair of two connecting rods 41 is connected by revolute pair with the end of parallelogram linkage 44 respectively, described parallelogram linkage 44 is affixed with the horizontal rack 42 in left side, tooth bar 42 engages with gear 43, constitutes rack and pinion drive mechanism；Two connecting rod 41 upper ends are also connected by revolute pair with vertical push rod 46, and push rod 46 is fixing with gripper shoe 4 to be connected, and push rod 46 upper end is hinged with connecting rod 47, and connecting rod 47 is hinged with dead point push rod, and dead bar push rod 48 is interspersed in vertical dead point push rod guide pin bushing；Second external impetus driven gear a43 rotates, the rotation band carry-over bar a42 of gear a43 moves horizontally, and then drive parallelogram linkage 44 to complete to shrink and release movement, two connecting rods 41 drive gripper shoe 4 to move up and down by push rod 46, and then adjust the spacing pedaling the foot 19 distance with ground and dead point push rod 48 and two connecting rods 41；Being additionally provided with a pair waist-shaped hole on riser 1, the first bearing pin of L-shaped connecting rod 30 end is inserted in the first waist-shaped hole, and the second bearing pin of dropout part 3 end is inserted in the second waist-shaped hole, and first, second bearing pin is connected by revolute pair with stock 45 respectively；When the first external impetus band moving cam 34 continues to rotate, power cam 34 drives L-shaped connecting rod 30 to rotate counterclockwise, first bearing pin of stock 45 one end rotates counterclockwise in the first waist-shaped hole, and then drive the second bearing pin of the stock other end to rotate clockwise in the second waist-shaped hole, dropout contact 39 and dropout part 3 depart from, power spring 21 is released, and described spring powered leg mechanism upwards takeoffs.Meanwhile, dead point push rod 48 impacts two connecting rods 41, two connecting rod bendings under the effect of gravity and inertia force, and dead point is abolished.
Being additionally provided with tooth bar b on the push rod guide pin bushing of described dead point, described tooth bar b coordinates with gear b, enhances stability.
The dead point push rod guide pin bushing of the left and right sides is connected with each other also by guide pin bushing support, forms an entirety, further enhancing stability.
Described supporting leg 11 is divided into the upper and lower 17 being hinged, and upper and lower 17 is connected with the two ends of supporting leg spring 15 respectively, and this design of supporting leg can play cushioning effect when robot lands.
The quantity of described supporting leg 11 is three, and according to Triangle Principle, the stablizing effect of three supporting legs is better.
Described hopping leg is additionally provided with displacement transducer, for detecting the distance pedaling foot 19 with ground, when displacement transducer detects that the distance pedaling foot 19 and ground is zero or when being close to zero, gear a43 stops operating, and completes the Automatic adjusument of hopping leg height.
The feature of the present embodiment is, by a whole set of drive system, it is achieved that the energy storage of power spring；Pedal the adjustment of foot and ground distance；Power spring release energy；When spring powered leg mechanism upwards takeoffs, dead point push rod impacts the dead point place of two connecting rods under the effect of self gravitation and inertia, thus a destruction of checkmating, it is simple to energy storage and jump again.The effect of two connecting rods is to drive gripper shoe to move up and down, it is achieved hopping leg and the Automatic adjusument of ground distance, makes to pedal foot and earth surface as far as possible, puies forward high-octane utilization rate, increase and pedal the foot instantaneous impact to ground, improve jumping height before energy discharges.
In order to adapt to the fluctuations of Different Ground, on the basis of dead point Poewr transmission mechanism, with the addition of adaptive regulating mechanism such that it is able to play the effect of dead point power transmission to greatest extent, improve robot adaptability in different environments so that it is obtain good anti-pumping performance.
When robot landing is contacted to earth, supporting leg is subject to the counteracting force on ground so that spike spring 15 forced compression, and now spike spring can play the effect of buffer shock-absorbing, it is ensured that robot lands stationarity, significantly reduces vibration and the infringement impacted robot.
After the power spring 21 of robot completes energy storage action, carry out the Automatic adjusument process of hopping leg height, then trip action is performed, power spring 21 energy storage discharges, pedal foot 19 and impact ground, owing to the design of this bouncing mechanism realizes by adding connecting rod dead point mechanism and dead point acceleration post-failure behaviors, pedal foot 19 and in the moment impacting ground bounce-back, first recoil strength is applied on the lower half of two connecting rods 41, active force is delivered to again on the first half of two connecting rods 41, and then it is delivered in gripper shoe 4 by the first half of two connecting rods 41, thus producing lift upwards and acceleration.Realize the jump action of robot.Due to the existence of dead point push rod guide pin bushing and back-moving spring 50, in the process that robot upwards bounces, dead point push rod 48 moves down under the effect of gravity and downward acceleration, destroys the dead-centre position of two connecting rods 41, loads for energy next time and prepares.Thus completing the release of primary energy, i.e. jump process.The interpolation of two connecting rods 41 so that the transmission efficiency of energy is greatly promoted, is configured with the corresponding dead point push rod 48 destroyed for dead point simultaneously, has been used for the destruction to dead point, in order to ready for energy storage next time.
In order to adapt to the fluctuations of Different Ground, the present embodiment with the addition of adaptive regulating mechanism on the basis of dead point Poewr transmission mechanism.Such as Fig. 6, adaptive regulating mechanism mainly with the addition of gear a43, tooth bar a42, slide block, tooth bar guide pin bushing, for connecting the primary structures such as the connector of two dead point push rod guide pin bushings, in the jump process of robot, this optimization design is to move left and right the change realizing state position, dead point and the variation of corresponding dead point post-failure behaviors upper-lower position by tooth bar a42.Referring to Fig. 5-6, mechanism is exactly in be pedaled foot 19 and impacts the instantaneous original state reaching dead-centre position in ground, and now dead point push rod 48 remains static.When robot moves upward, dead point push rod 48 obtains the acceleration that the gripper shoe 4 of opposed robots is downward, so that it overcomes spring force to promote the first half of two connecting rods 41, and the dead point state of post-failure behaviors, ready for loading energy storage next time.
The present invention can play the effect of dead point power transmission to greatest extent, improves robot adaptability in different environments so that it is obtain good anti-pumping performance.
The present invention is based on hopping robot's model not only compact conformation of dropout energy storing-releasing mechanism, and improves stability and the reliability of robot；The interpolation of two connecting rods, it is greatly improved the transmission efficiency of energy, the configuration of dead point push rod can complete the destruction to dead-centre position, it is prevented that can not carry out the generation of energy load condition under the state of dead point, and the invention of this robot has the advantage of self compared to existing mechanism.
Claims (6)
1. the hopping robot based on dropout energy storing-releasing mechanism, it is characterised in that:
Gripper shoe (4) including level, fixing 3-4 the supporting leg in described gripper shoe (4) lower section, gripper shoe (4) center is provided with hopping leg, described hopping leg includes pedaling foot (19), pedals foot (19) top and is connected with spring guide pillar and release lever (18), the outer sheathed power spring (21) of spring guide pillar, power spring lower end is pushed down and is pedaled foot (19), upper end props up gripper shoe (4), and described release lever (18) upper end is provided with dropout contact (39), and described spring guide pillar upper end is provided with plain hook (36)；
Gripper shoe (4) is provided with fixed board (1), described fixed board (1) respectively with cam (31), L-shaped connecting rod (30), stick up bar (34), dropout part (3) is hinged；
When the first external impetus band moving cam (31) turns clockwise, bar (34) one end is stuck up in pressure, stick up bar (34) to rotate around fixed pivot, the other end lifts, making to lift on plain hook (36), plain hook (36) is lifted and moves on drive spring guide pillar, power spring is compressed, until dropout contact (39) locks onto on dropout part (3), power spring (21) completes the storage of energy；
It is described that to pedal foot (19) upper end also hinged with two connecting rods (41) of a pair symmetry respectively, the upper end of the pair of two connecting rods (41) is connected by revolute pair with the end of parallelogram linkage (44) respectively, described parallelogram linkage (44) and the horizontal rack a(42 in left side) affixed, tooth bar a(42) with gear a(43) engage, constitute rack and pinion drive mechanism；
Two connecting rods (41) upper end is also connected by revolute pair with vertical push rod (46), push rod (46) is fixing with gripper shoe (4) to be connected, push rod (46) upper end is hinged with connecting rod (47), and connecting rod (47) is hinged with dead point push rod, and dead point push rod (48) is placed in vertical dead point push rod guide pin bushing；
As the second external impetus driven gear a(43) when rotating, gear a(43) rotation band carry-over bar a(42) move horizontally, and then drive parallelogram linkage (44) to complete to shrink or release movement, two connecting rods (41) drive gripper shoe (4) to move up and down by push rod (46), and then adjust the spacing pedaling the foot (19) distance with ground and dead point push rod (48) and two connecting rods (41)；
Fixed board is additionally provided with a pair waist-shaped hole on (1), first bearing pin of L-shaped connecting rod (30) end is inserted in the first waist-shaped hole, second bearing pin of dropout part (3) end is inserted in the second waist-shaped hole, and first, second bearing pin is connected by revolute pair with stock (45) respectively；
When the first external impetus band moving cam (31) continues to rotate, cam (31) drives L-shaped connecting rod (30) to rotate counterclockwise, first bearing pin of stock (45) one end rotates counterclockwise in the first waist-shaped hole, and then drive the second bearing pin of the stock other end to rotate clockwise in the second waist-shaped hole, dropout contact (39) departs from dropout part (3), power spring (21) is released, spring powered leg mechanism upwards takeoffs, meanwhile, dead point push rod (48) impacts two connecting rods (41) under the effect of deadweight and inertia force, two connecting rod bendings, dead point is abolished.
2. the hopping robot based on dropout energy storing-releasing mechanism as claimed in claim 1, it is characterised in that: being additionally provided with tooth bar b on the push rod guide pin bushing of described dead point, described tooth bar b engages with gear b.
3. the hopping robot based on dropout energy storing-releasing mechanism as claimed in claim 2, it is characterised in that: the dead point push rod guide pin bushing of the left and right sides is connected with each other also by guide pin bushing support, forms an entirety.
4. the hopping robot based on dropout energy storing-releasing mechanism as claimed in claim 1, it is characterised in that: described supporting leg (11) is divided into the upper and lower (17) being hinged, and upper and lower (17) are connected with the two ends of supporting leg spring (15) respectively.
5. the hopping robot based on dropout energy storing-releasing mechanism as claimed in claim 4, it is characterised in that: the quantity of described supporting leg (11) is three.
6. the hopping robot based on dropout energy storing-releasing mechanism as claimed in claim 1, it is characterised in that: described hopping leg is additionally provided with displacement transducer, pedals the distance of foot (19) and ground for detection.
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| WO2019127070A1 (en) * | 2017-12-27 | 2019-07-04 | Powervision Tech Inc. | Driving mechanism of unmanned vessel, releasing structure and feeding device associated with the driving mechanism of unmanned vessel |
| CN110236808B (en) * | 2019-05-09 | 2020-05-01 | 哈工大机器人（合肥）国际创新研究院 | Active support obstacle avoidance device, stair climbing robot and stair climbing method thereof |
| CN111497960A (en) * | 2020-05-12 | 2020-08-07 | 中国科学院沈阳自动化研究所 | Wheel step self-adaptive variable-configuration mobile robot |
| CN113858263A (en) * | 2021-09-30 | 2021-12-31 | 三峡大学 | Picking and placing manipulator based on double-sided cam mechanism and using method |
| CN114872808B (en) * | 2022-06-24 | 2023-03-14 | 北京理工大学 | Robot bouncing mechanism and bouncing method |
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