CN104627263A - Bionic jumping robot - Google Patents
Bionic jumping robot Download PDFInfo
- Publication number
- CN104627263A CN104627263A CN201410763291.XA CN201410763291A CN104627263A CN 104627263 A CN104627263 A CN 104627263A CN 201410763291 A CN201410763291 A CN 201410763291A CN 104627263 A CN104627263 A CN 104627263A
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- CN
- China
- Prior art keywords
- fuselage
- bar
- equalizer bar
- kangaroo
- hopping robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses a bionic jumping robot which comprises a robot body, a jumping mechanism and a balancing mechanism. The balancing mechanism comprises a stripped-shaped balance rack and a connecting drive mechanism which is connected between the balance rack and the robot body and drives the balance rack to swing. Being provided with the balance rack with the function of the tail, the bionic jumping robot can simulate the adjusting effect of the tail of a kangaroo to the body posture, adjust the body posture in the flight process after jumping, effectively land on the ground through foot bottom plates, buffer the landing impact, and land on the ground stably, and the accidents that the head lands on the ground are avoided.
Description
Technical field
The present invention relates to planetary surface in survey of deep space to cruise detecting devices, particularly relate to a kind of bionic kangaroo-hopping robot.
Background technology
The current hopping robot for planet surface exploration mostly is the hopping robot that batch (-type) jumps, if application number is a kind of unsymmetric gear six bar bionic bouncing mechanism disclosed in the patent of 200910023296.8, adopt the unsymmetric gear six bar bionic bouncing mechanism that length of connecting rod is unequal and gear parameter is different, its leg mechanism each length of connecting rod simulation kangaroo jump extremity body structures ratio, the parameter of two pairs of gears is chosen according to kangaroo jump athletic posture and jump power mechanism, and whole mechanism is the parallel institution of closed loop, only one degree of freedom, achieve the steady take-off process that imitative kangaroo both legs close up, structure and control are simply, but after robot take-off, the attitude of health can not be regulated in flight course, what it can not be made to jump is more steady, land after impacting, be difficult to steadily land, and may be that head lands, likely break fuselage.
Summary of the invention
In view of this, the object of this invention is to provide a kind of bionic kangaroo-hopping robot, can regulate the attitude of health after take-off in flight course, actv. is landed by sole, and buffering lands impacts, lands steadily, avoids head to land accident generation.
Bionic kangaroo-hopping robot of the present invention, comprises fuselage, bouncing mechanism and equalizing gear; Described equalizing gear comprises the equalizer bar of strip and is connected to the connection driver train of also driven equilibrium frame swing between equalizer bar and fuselage;
Further, described equalizing gear also comprises the clump weight and the sliding drive mechanism of driving clump weight along equalizer bar length to slip of being located at equalizer bar;
Further, described clump weight single degree of freedom is slidably connected to equalizer bar; Described sliding drive mechanism comprises the leading screw being connected to form screw pair with clump weight and the first motor for driving screw turns being fixed on equalizer bar;
Further, described connection driver train comprise be connected to be formed with fuselage between equalizer bar and fuselage be frame spatial six-bar mechanism and for driving the actuating device of spatial six-bar mechanism;
Further, described spatial six-bar mechanism comprises four connecting rods and a Connection Block; Described Connection Block is articulated with fuselage by button-head hinge; Four connecting rods arrange between two and are respectively in Connection Block and button-head hinge both lateral sides, two connecting rods of every side and fuselage and Connection Block hinged successively;
Further, described actuating device comprise be fixed on fuselage for driving the second motor of a link rotatable hinged with fuselage and being fixed on the 3rd motor for driving another link rotatable hinged with fuselage of fuselage;
Further, the outer end of described equalizer bar is fixed with bent elastic tail along equalizer bar length to bearing of trend.
Further, the sole inside of described bouncing mechanism is provided with the hole formation open texture of multiple lateral direction penetrating, and described hole is along horizontal homogeneous arrangement and along vertical arranging multiplayer;
Further, described sole bottom surface one be provided with multiple downward protrusion and the hexagon projection of the distribution in split shape.
The invention has the beneficial effects as follows: bionic kangaroo-hopping robot of the present invention, be provided with the equalizer bar as tail function, imitate kangaroo tail to the regulating action of body posture, the attitude of health can be regulated in flight course after take-off, actv. is landed by sole, buffering lands impacts, lands steadily, avoids head to land accident generation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is equalizing gear schematic diagram;
Fig. 3 is sole partial enlarged view.
Detailed description of the invention
Fig. 1 is structural representation of the present invention; Fig. 2 is equalizing gear schematic diagram; Fig. 3 is sole partial enlarged view, as shown in the figure: the bionic kangaroo-hopping robot of the present embodiment, comprises fuselage 1, bouncing mechanism 2 and equalizing gear; Described equalizing gear comprises the equalizer bar 3 of strip and to be connected between equalizer bar 3 and fuselage 1 and the connection driver train that swings of driven equilibrium frame 3, equalizer bar 3 is as tail, imitate kangaroo tail to the regulating action of body posture, the attitude of health can be regulated in flight course after take-off, actv. is landed by sole, buffering lands impacts, lands steadily, avoids head to land accident generation; In the present embodiment, fuselage 1 and bouncing mechanism 2 can be application numbers is the structure disclosed in the patent of 200910023296.8, constructional drawing is shown in that application number is the patent specification accompanying drawing 1-10 of 200910023296.8, fuselage is equivalent to the health of kangaroo, the cuboid housing not having lower bottom cover be made up of five pieces of sheet member; Leg mechanism is equivalent to the leg of kangaroo, and form with lamellar rod member and spring overlap joint, be positioned at below fuselage, its top is connected with fuselage, and bottom is connected with sole support; Sole is sheet member, is equivalent to the sole of kangaroo; Stored energy and release gear are positioned at fuselage, by sprocket wheel chain driving leg portion mechanism.Leg mechanism comprises thigh bar, shank bar, long auxiliary rod, short auxiliary rod, spring and joint adapter shaft.Wherein thigh bar, shank bar, long auxiliary rod and short auxiliary rod are the connecting rods in leg mechanism.Described link feature is: two thin plate bars that identical by the shape respectively and Parallel Symmetric of each rod member is installed form, one end of each thin plate bar is straight-bar, the semicircular arc that this end head shape is is diameter with straight-bar width, and have a through hole at the circle centre position of semi arch, the other end is partial gear, and has a through hole at the center of partial gear; Each rod member thickness is identical, and the width of straight-bar end is identical; The hole size at each rod member two ends is identical, and the ratio of distances constant of each rod member two ends through hole is thigh bar: shank bar: long auxiliary rod: short auxiliary rod=26: 52: 47: 28; The partial gear of each rod member is involute tooth gear, wherein the modulus of the partial gear of thigh bar and long auxiliary rod is 1, and the ratio of both partial gear reference diameters is 1: 3.6, the modulus of the partial gear of shank bar and short auxiliary rod is 0.8, and the ratio of both partial gear reference diameters is 5: 2.Joint adapter shaft is smooth thin straight-bar, cross sectional dimensions is identical with the clear size of opening at each rod member two ends, it is the hinge axis being used for connecting each rod member in leg mechanism, it comprises auxiliary ankle-joint adapter shaft, auxiliary knee joint adapter shaft, auxiliary hip joint adapter shaft, hip joint adapter shaft, knee joint adapter shaft, ankle-joint adapter shaft, and spring is two extension springs that structure is identical.Described sole is the thin plate of the similar sole of profile, and wide rear end, front end is narrow, and is welded with a pair sole support in the rearward end of sole.Sole support is two symmetrical " L " shape sheet member, ankle-joint adapter shaft mounting hole and auxiliary ankle-joint adapter shaft mounting hole is had, this holes horizontal distribution and both distance equals the partial gear reference radius of shank bar and the partial gear reference radius sum of short auxiliary rod in the vertical portion of " L " shape sheet member.The cuboid housing not having lower bottom cover that fuselage is made up of five pieces of sheet member, in the middle part of side plate, there are two parallel through holes partial below, be respectively auxiliary hip joint adapter shaft mounting hole and hip joint adapter shaft mounting hole, distance between two through hole equals the partial gear reference radius of thigh bar and the partial gear reference radius sum of long auxiliary rod, and above two through hole, have a sprocket shaft mounting hole.Unsymmetric gear six bar both legs are adopted to close up structure.Thigh bar and long auxiliary rod are "∧" type distribution, the upper end of "∧" type is the partial gear of two rod members, two described partial gears engage each other and press close to the side plate of fuselage, and thigh bar partial gear end through hole and long auxiliary rod partial gear end through hole align with the hip joint adapter shaft mounting hole on fuselage side plate and auxiliary hip joint adapter shaft mounting hole respectively.Hip joint adapter shaft is through thigh bar partial gear end through hole and hip joint adapter shaft mounting hole, and make fuselage and thigh bar form chain connection, this hinge is similar to the hip joint of kangaroo; Auxiliary hip joint adapter shaft, through long auxiliary rod partial gear end through hole and auxiliary hip joint adapter shaft mounting hole, makes fuselage and long auxiliary rod form chain connection.Shank bar and short auxiliary rod are positioned at the below of thigh bar and long auxiliary rod in " V " type, the upper end of " V " type is the straight-bar end of shank bar and short auxiliary rod, fit respectively with inside the straight-bar end of thigh bar and long auxiliary rod, and shank bar straight-bar end through hole and short auxiliary rod straight-bar end through hole align with thigh bar straight-bar end through hole and long auxiliary rod straight-bar end through hole respectively.Knee joint adapter shaft is through thigh bar straight-bar end through hole and shank bar straight-bar end through hole, and make thigh bar and shank bar chain connection, this hinge is similar to the knee joint of kangaroo; Auxiliary knee joint adapter shaft, through long auxiliary rod straight-bar end through hole and short auxiliary rod straight-bar end through hole, makes long auxiliary rod and short auxiliary rod chain connection.The lower end of shank bar and short auxiliary rod is partial gear, two described partial gears engage each other and the inner side of sole support of fitting, and shank bar partial gear end through hole and short auxiliary rod partial gear end through hole align with the ankle-joint adapter shaft mounting hole on sole support and auxiliary ankle-joint adapter shaft mounting hole respectively.Ankle-joint adapter shaft is through shank bar partial gear end through hole and ankle-joint adapter shaft mounting hole, and shank bar is connected with sole stand hinge, and this hinge is similar to the ankle-joint of kangaroo; Auxiliary ankle-joint adapter shaft, through short auxiliary rod partial gear end through hole and auxiliary ankle-joint adapter shaft mounting hole, makes short auxiliary rod be connected with sole stand hinge.The two ends of spring are separately fixed on knee joint adapter shaft and auxiliary knee joint adapter shaft.Stored energy and release gear comprise motor, motor fixing plate, power-transfer clutch, sprocket wheel, sprocket shaft and chain.Motor fixing plate is the sheet member of " L " shape.Sprocket wheel is enclosed within sprocket shaft, can rotate or move along sprocket shaft by axle centered by sprocket shaft.Motor, power-transfer clutch and sprocket wheel are the distribution of level " one " word.The output shaft of motor is connected with the two ends of power-transfer clutch respectively with the end face of sprocket wheel.The fuselage of motor is fixed on the horizontal position of motor fixing plate.The vertical portion of motor fixing plate and sprocket shaft are separately fixed on two side plates of fuselage, and wherein sprocket shaft is fixing through the sprocket shaft mounting hole on fuselage side plate by its end.Chain one end be enclosed within sprocket wheel with sprocket engagement, the other end and ankle-joint adapter shaft are around rotation.After bouncing mechanism completes last jump process, stop falling on the ground, fit in sole and ground, bouncing mechanism is in extended configuration, angle between thigh bar and long auxiliary rod and the angle between shank bar and short auxiliary rod all less, spring as energy-storage travelling wave tube is in rounding state, and power-transfer clutch is in disengaged condition.When bouncing mechanism prepares to jump, power-transfer clutch transfers engagement to, electric motor starting, and the output shaft entry into service of motor, is rotated by clutch drive sprocket, is wound with the chain of sprocket engagement, pulls fuselage to move to sole.Because leg mechanism is gear six-bar mechanism, only has one degree of freedom, so the relative movement orbit of fuselage and sole is fixing.The shank bar that the thigh bar that the reduction of the spacing of fuselage and sole makes "∧" type install and long auxiliary rod and " V " type are installed and short auxiliary rod softened respectively, make spring be stretched and store elasticity energy.When spring is stretched to certain length, motor shuts down, and the thermal energy storage process of bouncing mechanism completes.After bouncing mechanism thermal energy storage process completes, throw-out-of clutch, sprocket wheel is in can free rotation state.Spring starts to discharge elasticity energy, draws knee joint adapter shaft and auxiliary knee joint adapter shaft over to one's side, and the angle between thigh bar and long auxiliary rod and the angle between shank bar and short auxiliary rod are diminished rapidly, promotes fuselage forward upward accelerated movement.When the elasticity of spring can discharge completely, the speed of fuselage reaches maxim, pulls sole to depart from ground, realizes skip motion.In the process of soaring, the barycenter of whole mechanism moves with parabolic curve, during whereabouts, sole first lands, then whole mechanism stops dropping on ground, bouncing mechanism 2 in addition in the present invention can also take application number for: the stored energy of the hopping robot disclosed in the patent of 200910218806.7 and the structure of release gear, its concrete structure does not repeat them here.
In the present embodiment, described equalizing gear also comprises the clump weight 4 of being located at equalizer bar 3 and drives clump weight 4 along the long sliding drive mechanism to sliding of equalizer bar 3, clump weight 4 is driven to move along equalizer bar 3 by driver train, thus the centroid position of adjustment frame 3, reach the effect of adjustment frame 3 rotor inertia.
In the present embodiment, described clump weight 4 single degree of freedom is slidably connected to equalizer bar 3; Described sliding drive mechanism comprises the leading screw 5 being connected to form screw pair with clump weight 4 and the first motor 6 for driving leading screw 5 to rotate being fixed on equalizer bar 3, screw pair mechanism driving is larger, need less propulsive effort that clump weight 4 just can be driven to slide, and the self-locking property of screw pair is beneficial to the location realizing clump weight 4.
In the present embodiment, described connection driver train comprises being connected to and to be formed with fuselage 1 spatial six-bar mechanism that is frame and for driving the actuating device of spatial six-bar mechanism between equalizer bar 3 and fuselage 1, equalizer bar 3 can be made to swing in three dimensional space, improve the alerting ability of attitude regulation.
In the present embodiment, described spatial six-bar mechanism comprises four connecting rods 7 and a Connection Block 8; Described Connection Block 8 is articulated with fuselage 1 by button-head hinge; Four connecting rods 7 arrange between two and are respectively in Connection Block 8 and button-head hinge both lateral sides, two connecting rods 7 of every side and fuselage 1 and Connection Block 8 hinged successively, equalizer bar 3 is fixedly installed in Connection Block 8, two connecting rods 7 of every side are connected between fuselage 1 and Connection Block 8, coordinating rotational by two connecting rods 7 controlled and fuselage 1 is hinged drives Connection Block 8 and equalizer bar 3 to swing in three dimensional space, by hinge single degree of freedom normal-running fit between respective link 7 and fuselage 1, pass through button-head hinge between two connecting rods 7 and between respective link 7 and Connection Block 8 hinged.
In the present embodiment, described actuating device comprise be fixed on fuselage 1 for the second motor 9 of driving a connecting rod 7 hinged with fuselage 1 to rotate and the 3rd motor 10 for driving another connecting rod 7 hinged with fuselage 1 to rotate being fixed on fuselage 1, two connecting rods 7 can be individually fixed on the output shaft of corresponding second motor 9 or the 3rd motor 10, the stator casing of the second motor 9 and the 3rd motor 10 is fixed on fuselage 1, control to drive Connection Block 8 and equalizer bar 3 to swing in three dimensional space by the rotating of the second motor 9 and the 3rd motor 10, control flexible.
In the present embodiment, the outer end of described equalizer bar 3 is fixed with bent elastic tail 11 along equalizer bar 3 is long to bearing of trend, imitates kangaroo tail to the regulating action of body posture, is conducive to the submissive adjustment of attitude.
In the present embodiment, sole 12 inside of described bouncing mechanism 2 is provided with the hole formation open texture of multiple lateral direction penetrating, described hole is along horizontal homogeneous arrangement and along vertical arranging multiplayer, one side effectively can reduce the weight of robot foot base plate 12, improves the jump performance of robot; On the other hand, buffering and the effect absorbing impact energy when landing, along horizontal homogeneous arrangement and along vertical arranging multiplayer formation honeycomb porous structure, can be played in described hole; Can cushion and land impact, greatly can improve the stationarity that lands of hopping robot with the attitude regulation function synergic effect of equalizer bar 3, avoid the head accident that lands to occur.
In the present embodiment, described sole 12 bottom surface one be provided with multiple downward protrusion and the hexagon projection of the distribution in split shape, indent in the middle part of hexagon projection bottom surface, define rough plane, add the friction coefficient on robot and ground, play anti-skidding effect, the flooring stability of robot can be improved.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (9)
1. a bionic kangaroo-hopping robot, is characterized in that: comprise fuselage, bouncing mechanism and equalizing gear; Described equalizing gear comprises the equalizer bar of strip and is connected to the connection driver train of also driven equilibrium frame swing between equalizer bar and fuselage.
2. bionic kangaroo-hopping robot according to claim 1, is characterized in that: described equalizing gear also comprises the clump weight and the sliding drive mechanism of driving clump weight along equalizer bar length to slip of being located at equalizer bar.
3. bionic kangaroo-hopping robot according to claim 2, is characterized in that: described clump weight single degree of freedom is slidably connected to equalizer bar; Described sliding drive mechanism comprises the leading screw being connected to form screw pair with clump weight and the first motor for driving screw turns being fixed on equalizer bar.
4. bionic kangaroo-hopping robot according to claim 1, is characterized in that: described connection driver train comprise be connected to be formed with fuselage between equalizer bar and fuselage be frame spatial six-bar mechanism and for driving the actuating device of spatial six-bar mechanism.
5. bionic kangaroo-hopping robot according to claim 4, is characterized in that: described spatial six-bar mechanism comprises four connecting rods and a Connection Block; Described Connection Block is articulated with fuselage by button-head hinge; Four connecting rods arrange between two and are respectively in Connection Block and button-head hinge both lateral sides, two connecting rods of every side and fuselage and Connection Block hinged successively.
6. bionic kangaroo-hopping robot according to claim 5, is characterized in that: described actuating device comprise be fixed on fuselage for driving the second motor of a link rotatable hinged with fuselage and being fixed on the 3rd motor for driving another link rotatable hinged with fuselage of fuselage.
7. bionic kangaroo-hopping robot according to claim 1, is characterized in that: the outer end of described equalizer bar is fixed with bent elastic tail along equalizer bar length to bearing of trend.
8. the bionic kangaroo-hopping robot according to the arbitrary claim of 1-7, is characterized in that: the sole inside of described bouncing mechanism is provided with the hole formation open texture of multiple lateral direction penetrating, and described hole is along horizontal homogeneous arrangement and along vertical arranging multiplayer.
9. bionic kangaroo-hopping robot according to claim 8, is characterized in that: described sole bottom surface one be provided with multiple downward protrusion and the hexagon projection of the distribution in split shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410763291.XA CN104627263B (en) | 2014-12-12 | 2014-12-12 | Bionic kangaroo-hopping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410763291.XA CN104627263B (en) | 2014-12-12 | 2014-12-12 | Bionic kangaroo-hopping robot |
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| CN104627263A true CN104627263A (en) | 2015-05-20 |
| CN104627263B CN104627263B (en) | 2018-01-02 |
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| CN201410763291.XA Active CN104627263B (en) | 2014-12-12 | 2014-12-12 | Bionic kangaroo-hopping robot |
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| CN105172927A (en) * | 2015-07-30 | 2015-12-23 | 西北工业大学 | Automatic-restoration three-gear variable-speed bouncing mobile robot |
| CN105584555A (en) * | 2016-03-08 | 2016-05-18 | 上海交通大学 | Magnetoresistive hopping mechanism based on capacitor |
| CN108032919A (en) * | 2017-12-12 | 2018-05-15 | 重庆大学 | A kind of hopping robot with posture balancing adjusting mechanism |
| CN113120106A (en) * | 2021-05-17 | 2021-07-16 | 哈尔滨工业大学 | Combustion and explosion driven rigid-flexible coupling frog-imitating robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113120106A (en) * | 2021-05-17 | 2021-07-16 | 哈尔滨工业大学 | Combustion and explosion driven rigid-flexible coupling frog-imitating robot |
| CN113120106B (en) * | 2021-05-17 | 2022-02-22 | 哈尔滨工业大学 | Combustion and explosion driven rigid-flexible coupling frog-imitating robot |
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