CN104627263B - Bionic kangaroo-hopping robot - Google Patents
Bionic kangaroo-hopping robot Download PDFInfo
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- CN104627263B CN104627263B CN201410763291.XA CN201410763291A CN104627263B CN 104627263 B CN104627263 B CN 104627263B CN 201410763291 A CN201410763291 A CN 201410763291A CN 104627263 B CN104627263 B CN 104627263B
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- fuselage
- balancing stand
- kangaroo
- bar
- balancing
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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
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Abstract
The invention discloses a kind of bionic kangaroo-hopping robot, including fuselage, bouncing mechanism and balanced controls；The connection drive mechanism that the balanced controls include the balancing stand of strip and are connected between balancing stand and fuselage and drive balancing stand to swing；The bionic kangaroo-hopping robot of the present invention, provided with the balancing stand such as tail function, imitate adjustment effect of the kangaroo tail to body posture, the posture of body can be adjusted after take-off in flight course, is effectively landed by sole, buffering landing impact, land steady, avoid head from landing accident.
Description
Technical field
Cruised detecting devices, more particularly to a kind of bionic kangaroo-hopping robot the present invention relates to planetary surface in survey of deep space.
Background technology
Hopping robot currently used for planet surface exploration be mostly batch (-type) jump hopping robot, such as Application No.
The bar bionic bouncing mechanism of a kind of unsymmetric gear six disclosed in 200910023296.8 patent, it is unequal using length of connecting rod
And the bar bionic bouncing mechanism of unsymmetric gear six that gear parameter is different, each length of connecting rod simulation kangaroo jump of its leg mechanism
Jump extremity body structures ratio, and the parameter of two pairs of gears is chosen according to kangaroo jump athletic posture and jump power mechanism, and whole machine
Structure is the parallel institution of closed loop, the only one free degree, realizes the steady take-off process that imitative kangaroo both legs close up, structure and control
Simply, but after robot take-off, the posture of body can not be adjusted in flight course, it is impossible to which the comparison for jumping it is steady, landing
It is difficult to steadily land, and it is probably that head lands, it is possible to break fuselage after impact.
The content of the invention
In view of this, it is an object of the invention to provide a kind of bionic kangaroo-hopping robot, can be adjusted in flight course after take-off
The posture of body is saved, is effectively landed by sole, buffering landing impact, is landed steady, avoids head from landing accident.
The bionic kangaroo-hopping robot of the present invention, including fuselage, bouncing mechanism and balanced controls；The balanced controls include bar
The balancing stand of shape and the connection drive mechanism for being connected between balancing stand and fuselage and driving balancing stand to swing；
Further, the balanced controls also include located at balancing stand balancing weight and driving balancing weight along balancing stand length to
The sliding drive mechanism of slip；
Further, the balancing weight single-degree-of-freedom is slidably connected to balancing stand；The sliding drive mechanism includes and counterweight
Block connects the leading screw to form screw pair and the first motor for being used to drive leading screw to rotate for being fixed on balancing stand；
Further, the connection drive mechanism includes being connected to the sky formed between balancing stand and fuselage using fuselage as frame
Between six-bar mechanism and the drive device for driving spatial six-bar mechanism；
Further, the spatial six-bar mechanism includes four connecting rods and a connecting seat；The connecting seat is cut with scissors by bulb
Chain is articulated with fuselage；Four connecting rods set and are respectively in connecting seat and button-head hinge both lateral sides two-by-two, two connecting rods per side
It is hinged successively with fuselage and connecting seat；
Further, the drive device includes being fixed on the link rotatable for being used for driving and being hinged with fuselage of fuselage
Second motor and the 3rd motor for being used to drive another link rotatable being hinged with fuselage for being fixed on fuselage；
Further, the outer end of the balancing stand is fixed with bent elastic tail along balancing stand length to bearing of trend.
Further, the hole that multiple lateral direction penetratings are provided with inside the sole of the bouncing mechanism forms loose structure, described
Hole arranges along horizontal homogeneous and along vertical arranging multiplayer；
Further, what the sole bottom surface was integral is provided with hexagon that is multiple downwardly projecting and being distributed in split shape
Projection.
The beneficial effects of the invention are as follows：The bionic kangaroo-hopping robot of the present invention, provided with the balancing stand such as tail function, mould
Imitative kangaroo tail can adjust the posture of body, effectively pass through to the adjustment effect of body posture in flight course after take-off
Sole lands, and buffering landing impact, lands steady, avoids head from landing accident.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is balanced controls schematic diagram；
Fig. 3 is sole partial enlarged view.
Embodiment
Fig. 1 is the structural representation of the present invention；Fig. 2 is balanced controls schematic diagram；Fig. 3 is sole partial enlarged view,
As shown in the figure：The bionic kangaroo-hopping robot of the present embodiment, including fuselage 1, bouncing mechanism 2 and balanced controls；The balanced controls
Balancing stand 3 including strip and the connection driving machine for being connected between balancing stand 3 and fuselage 1 and driving balancing stand 3 to swing
Structure, balancing stand 3 imitate kangaroo tail to the adjustment effect of body posture, can adjusted in flight course after take-off such as tail
The posture of body, is effectively landed by sole, buffering landing impact, is landed steady, avoids head from landing accident；This reality
Apply a middle fuselage 1 and bouncing mechanism 2 can be structure disclosed in the patent of Application No. 200910023296.8, structure chart is shown in
The patent specification accompanying drawing 1-10 of Application No. 200910023296.8, fuselage are by five pieces of thin plates equivalent to the body of kangaroo
The cuboid housing without lower bottom cover of part composition；Leg mechanism is taken equivalent to the leg of kangaroo with lamellar rod member and spring
Connect and form, below fuselage, its top is connected with fuselage, and bottom is connected with sole board mount；Sole is sheet member,
Equivalent to the sole of kangaroo；Energy stores are located in fuselage with release device, pass through sprocket wheel chain driving leg portion mechanism.Leg machine
Structure includes thigh bar, shank bar, long auxiliary rod, short auxiliary rod, spring and joint connecting shaft.Wherein thigh bar, shank bar, length are auxiliary
Help bar and short auxiliary rod is connecting rod in leg mechanism.Described link feature is：Each rod member it is identical by shape respectively and
Two thin plate bars composition of Parallel Symmetric installation, one end of each thin plate bar is straight-bar, and the end head shape is with straight-bar width
For the semicircular arc of diameter, and there is a through hole in the circle centre position of semi arch, the other end is partial gear, and in partial gear
Center have a through hole；Each rod member thickness is identical, and the width at straight-bar end is identical；The hole size at each rod member both ends is identical, and respectively
The ratio of distances constant of rod member both ends through hole is thigh bar: shank bar: long auxiliary rod: short auxiliary rod=26: 52: 47: 28；Each rod member
Partial gear is involute gear, and wherein the modulus of the partial gear of thigh bar and long auxiliary rod is 1, and both is endless
The ratio between all gear reference diameter is 1: 3.6, and the modulus of the partial gear of shank bar and short auxiliary rod is 0.8, and both
The ratio between partial gear reference diameter is 5: 2.Joint connecting shaft is smooth thin straight-bar, cross sectional dimensions and each rod member both ends
Clear size of opening it is identical, be to be used for connecting the hinge axis of each rod member in leg mechanism, it includes aiding in ankle-joint connecting shaft, aided in
Knee joint connecting shaft, auxiliary hip joint connecting shaft, hip joint connecting shaft, knee joint connecting shaft, ankle-joint connecting shaft, spring are knot
Two extension springs of structure identical.Described sole is thin plate of the profile similar to sole, and the wide rear end in front end is narrow, and after sole
End is welded with a pair of sole board mounts.Sole board mount is two symmetrical " L " shape sheet members, in " L " shape sheet member
Vertical portion have ankle-joint connecting shaft mounting hole and auxiliary ankle-joint connecting shaft mounting hole, the holes horizontal distribution and both
Distance is equal to the partial gear reference radius of shank bar and the partial gear reference radius sum of short auxiliary rod.Fuselage
The cuboid housing without lower bottom cover being made up of five pieces of sheet members, there are two parallel through holes partial below in the middle part of side plate,
Hip joint connecting shaft mounting hole and the distance between hip joint connecting shaft mounting hole, two through hole is respectively aided in be equal to thigh bar
The partial gear reference radius sum of partial gear reference radius and long auxiliary rod, and have one above two through hole
Sprocket wheel shaft mounting hole.Close up structure using the bar both legs of unsymmetric gear six.Thigh bar and long auxiliary rod are distributed in "∧" type, " ∧ "
The upper end of type is the partial gear of two rod members, and two described partial gears are intermeshed and press close to the side plate of fuselage, thigh
Bar partial gear end through hole and long auxiliary rod partial gear end through hole are pacified with the hip joint connecting shaft on fuselage side plate respectively
Fill hole and the connecting shaft mounting hole alignment of auxiliary hip joint.Hip joint connecting shaft is closed through thigh bar partial gear end through hole and hip
Save connecting shaft mounting hole so that fuselage and thigh bar form hinge connection, and the hinge is similar to the hip joint of kangaroo；Hip is aided in close
Connecting shaft is saved through long auxiliary rod partial gear end through hole and auxiliary hip joint connecting shaft mounting hole so that fuselage aids in long
Rod is in the hinge connection.Shank bar and short auxiliary rod are located at the lower section of thigh bar and long auxiliary rod, the upper end of " V " type in " V " type
It is the straight-bar end of shank bar and short auxiliary rod, respectively with being bonded on the inside of the straight-bar end of thigh bar and long auxiliary rod, and shank bar is straight
Rod 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 connecting shaft passes through thigh bar straight-bar end through hole and shank bar straight-bar end through hole so that thigh bar and shank bar hinge connection,
The hinge is similar to the knee joint of kangaroo；Auxiliary knee joint connecting shaft passes through long auxiliary rod straight-bar end through hole and short auxiliary rod straight-bar
Hold through hole so that long auxiliary rod and short auxiliary rod hinge connection.The lower end of shank bar and short auxiliary rod is partial gear, described
The intermeshing of two partial gears and fitting sole board mount inner side, shank bar partial gear end through hole and short auxiliary rod
Partial gear end through hole is installed with the ankle-joint connecting shaft mounting hole on sole board mount and auxiliary ankle-joint connecting shaft respectively
Align in hole.Ankle-joint connecting shaft passes through shank bar partial gear end through hole and ankle-joint connecting shaft mounting hole so that shank bar
Connected with sole stand hinge, the hinge is similar to the ankle-joint of kangaroo；Ankle-joint connecting shaft is aided in pass through short auxiliary rod not
Complete gear end through hole and auxiliary ankle-joint connecting shaft mounting hole so that short auxiliary rod connects with sole stand hinge.Spring
Both ends be separately fixed at knee joint connecting shaft and auxiliary knee joint connecting shaft on.Energy stores and release device include motor,
Motor fixing plate, clutch, sprocket wheel, sprocket shaft and chain.Motor fixing plate is the sheet member of " L " shape.Sprocket wheel is enclosed on sprocket shaft
On, axle it can rotate or be moved along sprocket shaft centered on sprocket shaft.Motor, clutch and sprocket wheel are in that horizontal " one " word is distributed.
The output shaft of motor and the end face of sprocket wheel are connected with the both ends of clutch respectively.The fuselage of motor is fixed on motor fixing plate
On horizontal position.The vertical portion and sprocket shaft of motor fixing plate are separately fixed on two side plates of fuselage, wherein sprocket shaft
It is and fixation by its end through the sprocket wheel shaft mounting hole on fuselage side plate.Chain one end is enclosed on sprocket wheel and nibbled with sprocket wheel
Close, the other end is with ankle-joint connecting shaft around rotation.After bouncing mechanism completes last jump process, stop falling on the ground, pin
Bottom plate is bonded with ground, and bouncing mechanism is in extended configuration, angle and shank bar between thigh bar and long auxiliary rod and short
Angle between auxiliary rod is all smaller, and the spring as energy-storage travelling wave tube is in rounding state, and clutch is in disengaged condition.Work as bullet
When chaser structure prepares jump, clutch switchs to engagement, electric motor starting, and the output shaft of motor starts running, and passes through clutch
Drive sprocket is rotated, and the chain with sprocket engagement is wound, and pulls fuselage to be moved to sole.Because leg mechanism is gear six
Linkage, only one degree of freedom, so the relative movement orbit of fuselage and sole is fixed.Between fuselage and sole
The reduction of distance causes the thigh bar of "∧" type installation and the shank bar that long auxiliary rod and " V " type are installed and short auxiliary rod to distinguish
It is softened so that spring is stretched and stores elastic energy.When spring is stretched to certain length, motor shuts down, spring
The thermal energy storage process of mechanism is completed.After the completion of bouncing mechanism thermal energy storage process, throw-out-of clutch, it is in sprocket wheel and is freely rotatable shape
State.Spring starts to discharge elastic energy, draws knee joint connecting shaft and auxiliary knee joint connecting shaft over to one's side so that thigh bar and long auxiliary rod
Between angle and shank bar and short auxiliary rod between angle diminish rapidly, promote fuselage forward upward to accelerate.When
After the elasticity of spring can discharge completely, the speed of fuselage reaches maximum, pulls sole to depart from ground, realizes jumping.
During soaring, the barycenter of whole mechanism is moved with parabolic curve, and during whereabouts, sole first lands, then whole mechanism
Stop falling on ground, the bouncing mechanism 2 in the present invention can also take Application No. in addition：200910218806.7 patent institute it is public
The energy stores for the hopping robot opened and the structure of release device, its concrete structure will not be repeated here.
In the present embodiment, the balanced controls also include balancing weight 4 and driving balancing weight 4 located at balancing stand 3 along flat
Weighing apparatus frame 3 grows the sliding drive mechanism to slip, drives balancing weight 4 to be moved along balancing stand 3 by drive mechanism, flat so as to adjust
The centroid position of weighing apparatus frame 3, has the function that the rotary inertia of adjustment frame 3.
In the present embodiment, the single-degree-of-freedom of balancing weight 4 is slidably connected to balancing stand 3；The sliding drive mechanism includes
The leading screw 5 to form screw pair and the first electricity for being used to drive leading screw 5 to rotate for being fixed on balancing stand 3 are connected with balancing weight 4
Machine 6, screw pair mechanism driving is bigger, it is necessary to less driving force just can drive balancing weight 4 to slide, and leading screw
The self-locking property of pair of nut is beneficial to the positioning for realizing balancing weight 4.
In the present embodiment, the connection drive mechanism, which includes being connected to being formed with fuselage 1 between balancing stand 3 and fuselage 1, is
The spatial six-bar mechanism of frame and the drive device for driving spatial six-bar mechanism, can make balancing stand 3 in three dimensions
Swing, improve the flexibility of attitude regulation.
In the present embodiment, the spatial six-bar mechanism includes four connecting rods 7 and a connecting seat 8；The connecting seat 8 passes through
Button-head hinge is articulated with fuselage 1；Four connecting rods 7 set and are respectively in connecting seat 8 and button-head hinge both lateral sides two-by-two, per side
Two connecting rods 7 are hinged successively with fuselage 1 and connecting seat 8, and balancing stand 3 is fixedly installed in connecting seat 8, and two connecting rods 7 per side connect
Be connected between fuselage 1 and connecting seat 8, by control with fuselage 1 be hinged two connecting rods 7 coordinate rotation can drive connecting seat 8 and
Balancing stand 3 is swung in three dimensions, is rotatably assorted between respective link 7 and fuselage 1 by hinge single-degree-of-freedom, two connecting rods 7
Between and respective link 7 and connecting seat 8 between be hinged by button-head hinge.
In the present embodiment, the drive device includes being fixed on a connecting rod for being used to drive and fuselage 1 is hinged for fuselage 1
7 the second motors 9 rotated and the 3rd motor for being used to drive another connecting rod 7 being hinged with fuselage 1 to rotate for being fixed on fuselage 1
10, two connecting rods 7 can be individually fixed on the output shaft of the corresponding motor 10 of second motor 9 or the 3rd, the second motor 9 and the 3rd electricity
The stator casing of machine 10 is fixed on fuselage 1, and connecting seat 8 can be driven by the rotating control of the second motor 9 and the 3rd motor 10
And balancing stand 3 is swung in three dimensions, control is flexible.
In the present embodiment, the outer end of the balancing stand 3 is grown along balancing stand 3 is fixed with bent elastic tail to bearing of trend
11, kangaroo tail is imitated to the adjustment effect of body posture, is advantageous to the submissive regulation of posture.
In the present embodiment, hole of the inside of sole 12 provided with multiple lateral direction penetratings of the bouncing mechanism 2 forms porous knot
Structure, the hole arrange along horizontal homogeneous and along vertical arranging multiplayers, on the one hand can effectively reduce robot foot bottom plate 12
Weight, improve the jump performance of robot；On the other hand, the hole arranges along horizontal homogeneous and formed along vertical arranging multiplayer
Honeycomb porous structure, buffering and absorption impact energy during landing can be played a part of；Landing impact can be buffered, with balancing stand 3
Attitude regulation function synergic, which acts on, can greatly improve the stationarity that lands of hopping robot, and avoid head from landing accident.
In the present embodiment, the bottom surface of sole 12 one is provided with multiple downwardly projecting and is distributed in split shape
Hexagon projection, indent in the middle part of hexagon projection bottom surface, form rough plane, add robot and ground
Coefficient of friction, anti-skidding effect is played, the flooring stability of robot can be improved.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (6)
1. a kind of bionic kangaroo-hopping robot, including fuselage, bouncing mechanism and balanced controls；The balanced controls include the flat of strip
Weighing apparatus frame and the connection drive mechanism for being connected between balancing stand and fuselage and driving balancing stand to swing；It is characterized in that：It is described
Connection drive mechanism, which includes being connected between balancing stand and fuselage, to be formed using fuselage as the spatial six-bar mechanism of frame and is used for
Drive the drive device of spatial six-bar mechanism；The spatial six-bar mechanism includes four connecting rods and a connecting seat；The connection
Seat is articulated with fuselage by button-head hinge；Four connecting rods set and are respectively in connecting seat and button-head hinge both lateral sides two-by-two, often
Two connecting rods and the fuselage and connecting seat of side are hinged successively；The drive device include be fixed on fuselage be used for drive and fuselage
Second motor of a be hinged link rotatable and another link rotatable for being used to drive and fuselage is hinged for being fixed on fuselage
The 3rd motor.
2. bionic kangaroo-hopping robot according to claim 1, it is characterised in that：The balanced controls are also included located at balance
Sliding drive mechanism of the balancing weight and driving balancing weight of frame along balancing stand length to slip.
3. bionic kangaroo-hopping robot according to claim 2, it is characterised in that：The balancing weight single-degree-of-freedom is slidably connected
In balancing stand；The sliding drive mechanism includes being connected the leading screw to form screw pair with balancing weight and is fixed on balancing stand
For the first motor for driving leading screw to rotate.
4. bionic kangaroo-hopping robot according to claim 1, it is characterised in that：Grown along balancing stand the outer end of the balancing stand
Bent elastic tail is fixed with to bearing of trend.
5. according to any described bionic kangaroo-hopping robots of claim 1-4, it is characterised in that：The sole of the bouncing mechanism
The hole that inside is provided with multiple lateral direction penetratings forms loose structure, and the hole arranges along horizontal homogeneous and along vertical arranging multiplayer.
6. bionic kangaroo-hopping robot according to claim 5, it is characterised in that：The sole bottom surface one is provided with
Hexagon projection that is multiple downwardly projecting and being distributed in split shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410763291.XA CN104627263B (en) | 2014-12-12 | 2014-12-12 | Bionic kangaroo-hopping robot |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN104627263A CN104627263A (en) | 2015-05-20 |
| CN104627263B true 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105172927B (en) * | 2015-07-30 | 2017-10-13 | 西北工业大学 | It is a kind of to be bounced mobile robot from master reset three class gear shift |
| CN105584555B (en) * | 2016-03-08 | 2017-10-13 | 上海交通大学 | Reluctance type hopping mechanism based on electric capacity |
| CN108032919B (en) * | 2017-12-12 | 2019-09-17 | 重庆大学 | A kind of hopping robot with posture balancing regulating mechanism |
| 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 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8083013B2 (en) * | 2006-12-06 | 2011-12-27 | The Regents Of The University Of California | Multimodal agile robots |
| CN103112513B (en) * | 2013-01-16 | 2015-06-10 | 北京航空航天大学 | Locust-simulating robot with posture adjustment function |
| CN203142835U (en) * | 2013-02-25 | 2013-08-21 | 洛阳理工学院 | Mobile detecting cart |
| CN103192898A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Biomimetic quadruped robot provided with head and tail balance adjustment devices |
| CN203528629U (en) * | 2013-10-25 | 2014-04-09 | 天津大学 | Similar wheel type wall crawling obstacle crossing robot |
| CN103523109A (en) * | 2013-10-25 | 2014-01-22 | 天津大学 | Quasi-wheel wall-climbing robot |
| CN103950045B (en) * | 2014-04-25 | 2015-11-04 | 东北大学 | A kind of balance adjustment mechanism of robot |
| CN104118490B (en) * | 2014-07-08 | 2016-09-07 | 上海交通大学 | Imitative lizard desert quadruped robot |
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