CN105035198B - Bionic bounce robot used for environment detection - Google Patents

Bionic bounce robot used for environment detection Download PDF

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Publication number
CN105035198B
CN105035198B CN201510488365.8A CN201510488365A CN105035198B CN 105035198 B CN105035198 B CN 105035198B CN 201510488365 A CN201510488365 A CN 201510488365A CN 105035198 B CN105035198 B CN 105035198B
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spring
leg
module
connecting rod
dispatching
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CN105035198A (en
Inventor
周祖鹏
林永发
唐玉华
高兴宇
龚雨兵
龙芋宏
莫秋云
刘夫云
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Abstract

The invention discloses a bionic bounce robot used for environment detection. The bionic bounce robot is characterized by comprising a bounce mechanical mechanism, an environment detection mechanism, a communication mechanism and a control mechanism. The environment detection mechanism and the communication mechanism are connected with the upper portion of the bounce mechanical mechanism. The control mechanism is connected with a second wireless transmitting and receiving end of the communication mechanism. According to the bionic bounce robot used for environment detection, the bounce mechanism is provided by means of the locust body structure, and bounce movement is achieved by means of the incomplete gear and rack combination, so that the bionic bounce robot can stably bounce in a hostile environment in a goal-directed mode, and more importantly, the designed bionic bounce robot used for environment detection can detect the temperature, noise, air composition and metal existing phenomena of the environment according to working requirements.

Description

A kind of bionic hopping robot for environment detection
Technical field
The present invention relates to bio-robot field, particularly a kind of bionic hopping robot for environment detection.
Background technology
At present international still in conceptual phase, the country is also just to have started to its subject study to bionic hopping robot. Bionic hopping robot except possessing general hopping robot's leaping over obstacles, outside the ability of escape from danger, also with higher Motility, higher ground adaptability, if hopping robot is explored on soccer star of the acceleration of gravity far below the earth, motion The consumption of scope and energy will have more advantage than wheeled SEEK BUS now, therefore enjoy the concern of domestic and international research institution.
Chinese patent CN202508192U discloses a kind of spring mechanical mechanism of imitative locust, and the invention utilizes cam and spine The kinetic characteristic of wheel, is converted into elastic potential energy the mechanism of the kinetic energy of spring.The invention is devised just with bionics principle Mechanical mechanism is realizing bounce motion, and does not possess the function of environment detection, such as the temperature of detection spring mechanical mechanism local environment Degree, noise, composition of air, the situation of the presence of metal.
The content of the invention
For the deficiency of above-mentioned technology, the invention discloses a kind of bionic hopping robot for environment detection, the machine Device people invents the mechanism of spring using the body structure of locust, completes bounce motion using partial gear and rack combination, Not only can in rugged environment steady autotelic bounce motion, moreover it is possible to as needed, the temperature of the residing environment of detection, Noise, composition of air, the presence situation of metal.
The technical scheme for realizing the object of the invention is:
A kind of bionic hopping robot for environment detection, including spring mechanical mechanism, environment detection mechanism, communication equipment Structure and controlling organization composition, wherein:Environment detection mechanism, communication agency are connected with the top of spring mechanical mechanism respectively;Control Mechanism is connected with the second wireless receiving and dispatching end of communication agency.
The spring mechanical mechanism is made up of body lower limb module, body module and hopping leg module, the bottom of body module It is connected with body lower limb module, hopping leg module is connected with the rear portion of body module.Wherein:
The body lower limb module is made up of left front leg, RAT, left back lower limb and right rear leg, left front leg, RAT, left back lower limb And four legs of right rear leg are by leg end connecting rod, leg link, lower body guide rod, lower body connecting rod and the first spring, nut group Into.Left front leg, RAT, left back lower limb and right rear leg are connected simultaneously with four angles of upper body and lower body respectively;The lower limb of right rear leg Pad is connected with leg end connecting rod one end, is connected with one end of leg link in the middle part of leg end connecting rod, and leg end connecting rod is another One jiao of one end and lower body is connected, and the other end of leg link is connected with lower trunk guide rod, the lower body guide rod other end with The one jiao of connection of upper body, the first spring housing is in lower body guide rod, the first spring one end and one angular contact of upper body, the first spring The other end and lower one angular contact of body.Nut is connected with lower body guide rod upper end.The effect of whole body lower limb module is to support body Part, and have shockproof function.
The body module is by metathorax frame, electric magnet, upper body, lower body, second spring, the 3rd spring, first time body Connecting rod, second time body connecting rod, motor base, reducing motor combination, end cap, clutch shaft bearing, second bearing, major axis, axle sleeve, first Bevel gear, second bevel gear, the first partial gear and the second partial gear composition, with the second bullet below the front end of upper body Spring one end connects, and the second spring other end is connected with above the front end of lower body, is connected with electric magnet below the middle part of upper body, 3rd spring one end is enclosed within the surface of electric magnet, and the 3rd spring other end is connected with above the middle part of lower body, lower body front end Below be connected with first time body connecting rod one end, in the middle part of lower body below be connected with second time body connecting rod one end, first time body Body connecting rod is connected with lever one end, and second time body connecting rod is connected with the lever other end, and the middle part of lever is connected with upper body, on The rearward lower of body is connected with metathorax frame, and motor base is connected with below metathorax frame, and reducing motor combination is installed in motor Base, the output shaft connection that first bevel gear is combined with reducing motor, bottom both sides of the major axis through motor base, major axis One end is connected with end cap, and clutch shaft bearing, partial gear, second bearing are separately mounted to one end of major axis, and the one of clutch shaft bearing Side is contacted with end cap, clutch shaft bearing opposite side and one side contacts of partial gear, partial gear opposite side and second bearing One side contacts, second bearing opposite side are contacted with motor base, and the first axle sleeve, the second angular wheel, the second axle sleeve are respectively mounted In the middle part of major axis, the first axle sleeve side and one side contacts of second bearing, angular wheel side is contacted with the first axle sleeve opposite side, Angular wheel opposite side is installed with the second angular wheel, the first angular wheel and the second taper with a side contacts of second bearing Gear is engaged.The effect of whole body module is to drive partial gear, and saves the energy of spring mechanical mechanism.
The hopping leg module by tibia connecting rod, tibia, spring guide pillar, the 4th spring, spring guide, tooth bar, fixed plate, Roll post, back leg bar and back leg pad composition.Spring guide pillar one end is connected with tibia one end, the spring guide pillar other end and spring guide One end fits, one end of the 4th spring are fixed on one end of spring guide pillar, and the 4th spring other end is fixed on the one of spring guide End, the spring guide other end is connected with the upper end of motor base, and back leg bar one end is connected with tibia one end, the back leg bar other end and Major axis one end connects, and the middle part of back leg bar is connected with guide rail fixed plate, and one end of tooth bar is engaged with partial gear, and tooth bar is another End is connected with tibia connecting rod one end, and guide rail rolls post and supports in the middle part of tooth bar, and the tibia connecting rod other end is connected with tibia one end, back leg Pad is connected with the tibia other end.The effect of whole hopping leg module is to carry bionic hopping robot to complete jumping exercise.
The environmental monitoring mechanism is made up of infrared radiation thermometer, gas detector, noise sensing instrument and metal detector.It is red The first wireless receiving and dispatching end connection of outer temperature measurer, gas detector, noise sensing instrument, metal detector and communication agency, first Wireless receiving and dispatching end is arranged on the top of upper body.Its effect be monitor the temperature of hopping robot place environment, noise, air into Point, the presence situation of metal.
The communication agency is penetrated end, the second wireless receiving and dispatching end by the first wireless receiving and dispatching and is constituted, the first wireless receiving and dispatching penetrate end with Environmental monitoring mechanism connects, and spring mechanical mechanism is connected with the first wireless receiving and dispatching end, and the second wireless receiving and dispatching end is connected with controlling organization Connect.Its effect is to receive and send the signal with processing environment mechanism for monitoring and controlling organization.
The controlling organization is made up of Single Chip Microcomputer (SCM) system module and display module, Single Chip Microcomputer (SCM) system and the second wireless receiving and dispatching end Connection, display module are connected with Single Chip Microcomputer (SCM) system.Its effect is the shape of the signal and display environment monitoring for processing wireless receiving and dispatching end State.
The present invention compared with prior art, has the advantages that:
The present invention invents the mechanism of spring using the body structure of locust, is completed with rack combination using partial gear Bounce motion, not only can in rugged environment steady autotelic bounce motion, it is often more important that the present invention design ring Detection bionic hopping robot in border according to job demand, can detect the temperature of residing environment, noise, composition of air, metal There is situation.
Description of the drawings
Fig. 1 is connection block diagram of the present invention for the bionic hopping robot of environment detection;
Fig. 2 is the front view of spring mechanical mechanism;
Fig. 3 is the left view of spring mechanical mechanism;
Fig. 4 is the top view of spring mechanical mechanism.
Specific embodiment
The present invention is further elaborated below in conjunction with the accompanying drawings, but is not limitation of the invention:
A kind of bionic hopping robot for environment detection, including it is spring mechanical mechanism 44, environment detection mechanism 48, logical Letter mechanism 53 and controlling organization 56 are constituted.
Wherein environment detection mechanism 48 is connected with the top of the upper body 10 of spring mechanical mechanism 44;
The top downlink connection of the upper body 10 of communication agency 53 and spring mechanical mechanism 44;
Controlling organization 56 is connected with the second wireless receiving and dispatching end 55 of communication agency 53.
The spring mechanical mechanism 44 is made up of the body lower limb module 45, body module 46 and hopping leg module 47;Its The bottom of middle body module 46 is connected with body lower limb module 45, and hopping leg module 47 is connected with the rear portion of body module 46.
The body lower limb module 45 is made up of left front leg 40, RAT 41, left back lower limb 39 and right rear leg 42.Left front leg 40, RAT 41,42 4 legs of left back lower limb 39 and right rear leg are all by leg end connecting rod 37, leg link 25, lower body guide rod 26th, the first spring 24, nut 23 are constituted;
Connected mode:Left front leg 40, RAT 41, left back lower limb 39 and right rear leg 42 respectively with upper body 10 and lower body 12 Four angles connect simultaneously;The middle part of leg end connecting rod 37 is connected with one end of leg link 25, leg end connecting rod 36 it is another One jiao of one end and lower body 12 is connected, and the other end of leg link 25 is connected with lower 26 one end of body guide rod, and lower body guide rod 26 is another One jiao of one end and upper body 10 is connected, and the first spring 24 is enclosed within lower 26 one end of body guide rod, 24 one end of the first spring and upper body 10 1 angular contacts, 24 other end of the first spring and lower 12 1 angular contact of body, nut 24 are connected with lower 26 upper end of body guide rod;
Effect:Body part is supported, and has shockproof function.
The body module 46 is by metathorax frame 6, electric magnet 8, upper body 10, lower body 12, second spring 11, the 3rd spring 9th, first time body connecting rod 13, second time body connecting rod 7, lever 14, combination 22, end cap 35, first axle of motor base 21, reducing motor Hold 34, second bearing 36, major axis 32, the first axle sleeve 28, the second axle sleeve 31, first bevel gear 30, second bevel gear 29, not exclusively Gear 33 is constituted;
Connected mode:It is connected with 11 one end of second spring below the front end of upper body 10,11 other end of second spring is with Connect above the front end of body 12, be connected with electric magnet 8 below the middle part of upper body 10,9 one end of the 3rd spring is enclosed within electric magnet 8 Surface, 9 other end of the 3rd spring is connected with above the middle part of lower body 12, connects with first time body below lower 12 front end of body 13 one end of bar connects, in the middle part of lower body 12 below be connected with second time 7 one end of body connecting rod, first time body connecting rod 13 and lever 14 one end connect, and second time body connecting rod 7 is connected with 14 other end of lever, and the middle part of lever 14 is connected with upper body 10, upper body The rearward lower of body 10 is connected with metathorax frame 6, and motor base 21 is connected with below metathorax frame 6, and reducing motor combination 22 is installed In motor base 21, first bevel gear 30 combines 22 output shaft connection with reducing motor, and major axis 32 is through motor base 21 Bottom both sides, one end of major axis 32 is connected with end cap 35, and second bearing 36, partial gear 33, clutch shaft bearing 34 are pacified respectively One end of major axis is mounted in, the side of second bearing 36 is contacted with end cap 35,36 opposite side of second bearing and partial gear 33 1 One side contacts of side contacts, 33 opposite side of partial gear and clutch shaft bearing 34,34 opposite side of clutch shaft bearing and motor base 21 Contact, the first axle sleeve 28, the second angular wheel 29, the second axle sleeve 31 are separately mounted to the middle part of major axis 32, the second axle sleeve 31 1 Side and 34 1 side contacts of clutch shaft bearing, 29 side of the second angular wheel and 31 another side contacts of the second axle sleeve, the second angular wheel One side contacts of 29 opposite sides and clutch shaft bearing 28, the first angular wheel 30 are engaged with the second angular wheel 29;
Effect:Partial gear is driven, and saves the energy of spring mechanical mechanism;
The hopping leg module 47 is by tibia connecting rod 1, tibia 2, spring guide pillar 3, the 4th spring 4, spring guide 5, tooth bar 17th, guide rail fixed plate 18, guide rail rolls post 19, back leg bar 20 and back leg pad 27 and constitutes;
Connected mode:3 one end of spring guide pillar is connected with 2 one end of tibia, 3 other end of spring guide pillar and 5 one end of spring guide Coordinate, one end of the 4th spring 4 is fixed on one end of spring guide pillar 3, and 4 other end of the 4th spring is fixed on the one of spring guide 5 End, 5 other end of spring guide are connected with the upper end of motor base 21, and 20 one end of back leg bar is connected with 2 one end of tibia, back leg bar 20 The other end is connected with 32 one end of major axis, and the middle part of back leg bar 20 is connected with guide rail fixed plate 18, one end of tooth bar 17 with it is incomplete Gear 33 is engaged, and 17 other end of tooth bar is connected with 1 one end of tibia connecting rod, and guide rail rolls post 19 and supports in the middle part of tooth bar, tibia connecting rod 1 The other end is connected with 2 one end of tibia, and back leg pad 27 is connected with 2 other end of tibia;
Effect:Carry bionic hopping robot and complete jumping exercise.
The environmental monitoring mechanism 48 is by infrared radiation thermometer 49, gas detector 50, noise sensing instrument 51 and metal detection Instrument 52 is constituted;
Annexation:Infrared radiation thermometer 49, gas detector 50, noise sensing instrument 51, metal detector 52 and communication equipment First wireless receiving and dispatching end 54 of structure 53 connects, and the first wireless receiving and dispatching end 54 is arranged on the top of upper body 10;
Effect:The temperature of monitoring hopping robot place environment, noise, composition of air, the presence situation of metal.
The communication agency 53 is penetrated end 54, the second wireless receiving and dispatching end 55 by the first wireless receiving and dispatching and is constituted;
Annexation:First wireless receiving and dispatching is penetrated end 54 and is connected with environmental monitoring mechanism 48, and bounce mechanical mechanism 44 and first Wireless receiving and dispatching end 54 connects, and the second wireless receiving and dispatching end 55 is connected with controlling organization 56.
Effect:Receive and send the signal with processing environment mechanism for monitoring and controlling organization.
The controlling organization 56 is made up of with display module 58 Single Chip Microcomputer (SCM) system module 57.
Connected mode:Single Chip Microcomputer (SCM) system 57 is connected with the second wireless receiving and dispatching end 55, display module 58 and Single Chip Microcomputer (SCM) system mould Block 57 connects.
Effect:Process the state of the signal and display environment monitoring at wireless receiving and dispatching end.
The course of work of the present invention:After 53 normal work of communication agency, controlling organization 56 is performed to 8 signal of electric magnet The action of one lifting, electric magnet 8 it is electric after adhesive to lower body 12, adhesive combines 22 1 letters to reducing motor after 2 seconds Number, during beginning 12 rear portion of lower trunk by electric electric magnet 8 adsorbs, body tilt backwards on head lift;Then reducing motor group Close 22 to rotate, partial gear 16 enters mesh regional with tooth bar 17, tooth bar 17 pulls tibia 2 inwardly to rotate, and now tibia 2 is received Lift to the minimum length of spring guide 3 on the pulling force of spring 4;Lift on tibia 2 work by guide rod dieback, tooth bar 17 still with tooth The acting of wheel engagement reduction combinations motor 22 starts all to act on the savings of spring energy;Partial gear 16 and tooth bar 17 enter Enter non-region of engagement, the restoring force that tibia 2 is subject to spring is acted on, rapid to withdraw, and what generation was huge pedals soil fertility, makes robot bullet Rise, now control 8 dead electricity of electric magnet, be that stable landing is prepared;Hopping robot lands, between upper body 10 and lower body 12 Second spring 11 and the 3rd spring 9 play a part of damping energy-absorbing.After hopping robot stable landing 30 seconds, first, it is red Outer temperature measurer 49 is operated state, and gained information is sent to 58 timely display machine of display module by the first wireless receiving and dispatching end 54 Whether device people's local environment temperature meets the robot operating ambient temperature of setting such as(1 ° to 300 °).As detect residing ring When the temperature in border is more than 300 °, hopping robot performs spring-like movement next time at once, until the temperature for being detected meets spring Till the ambient temperature of robot normal work, injury of the high temperature to hopping robot is so effectively prevented.If meet machine The ambient temperature of the normal work of people, successive gas detector 50, noise sense instrument 51, metal detector 52 and start working, Display module 58 is sent to by the first wireless receiving and dispatching end 54 to show, after staff's record, continues to do next time to robot The motion of spring, reaching next place carries out the situation of corresponding sniffing robot local environment again.

Claims (4)

1. a kind of bionic hopping robot for environment detection, is characterized in that:Including spring mechanical mechanism, environment detection machine Structure, communication agency and controlling organization composition, wherein:Environment detection mechanism, communication agency top respectively with spring mechanical mechanism Connection;Controlling organization is connected with the second wireless receiving and dispatching end of communication agency;
The spring mechanical mechanism is made up of body lower limb module, body module and hopping leg module, the bottom of body module and body Body lower limb module connects, and hopping leg module is connected with the rear portion of body module;
The environment detection mechanism is made up of infrared radiation thermometer, gas detector, noise sensing instrument and metal detector,
First wireless receiving and dispatching end of infrared radiation thermometer, gas detector, noise sensing instrument, metal detector and communication agency connects Connect, the first wireless receiving and dispatching end is arranged on the top of upper body;
The body lower limb module is made up of left front leg, RAT, left back lower limb and right rear leg, left front leg, RAT, left back lower limb and the right side Four legs of back leg are constituted by leg end connecting rod, leg link, lower body guide rod and the first spring, nut;Before left front leg, the right side Lower limb, left back lower limb and right rear leg are connected simultaneously with four angles of upper body and lower body respectively;The lower limb pad of right rear leg is connected with leg end Bar one end connects, and is connected with one end of leg link in the middle part of leg end connecting rod, the leg end connecting rod other end and lower body One jiao of connection, the other end of leg link are connected with lower body guide rod, and the lower body guide rod other end is connected for one jiao with upper body, the One spring housing is in lower body guide rod, the first spring one end and one angular contact of upper body, the first spring other end and lower body one Angular contact, nut are connected with lower body guide rod upper end;
The body module by metathorax frame, electric magnet, upper body, lower body, second spring, the 3rd spring, first time body connecting rod, Second time body connecting rod, motor base, reducing motor combination, end cap, clutch shaft bearing, second bearing, major axis, axle sleeve, the first cone tooth Wheel, second bevel gear, the first partial gear and the second partial gear composition, with second spring one below the front end of upper body End connection, the second spring other end are connected with above the front end of lower body, are connected with electric magnet, the 3rd below the middle part of upper body Spring one end is enclosed within the surface of electric magnet, and the 3rd spring other end is connected with above the middle part of lower body, under lower body front end Face is connected with first time body connecting rod one end, in the middle part of lower body below be connected with second time body connecting rod one end, first time body connects Bar is connected with lever one end, and second time body connecting rod is connected with the lever other end, and the middle part of lever is connected with upper body, upper body Rearward lower be connected with metathorax frame, motor base is connected with below metathorax frame, reducing motor combination installed in motor base, The output shaft connection that first bevel gear is combined with reducing motor, bottom both sides of the major axis through motor base, one end of major axis Be connected with end cap, clutch shaft bearing, partial gear, second bearing are separately mounted to one end of major axis, the side of clutch shaft bearing with End cap is contacted, the side of clutch shaft bearing opposite side and one side contacts of partial gear, partial gear opposite side and second bearing Contact, second bearing opposite side are contacted with motor base, and the first axle sleeve, the second angular wheel, the second axle sleeve are separately mounted to length The middle part of axle, the first axle sleeve side and one side contacts of second bearing, angular wheel side are contacted with the first axle sleeve opposite side, taper Gear opposite side is installed with the second angular wheel, the first angular wheel and the second angular wheel with a side contacts of second bearing Engagement.
2. bionic hopping robot according to claim 1, is characterized in that:The hopping leg module is by tibia connecting rod, shin Section, spring guide pillar, the 4th spring, spring guide, tooth bar, fixed plate, rolling post, back leg bar and back leg pad composition,
Spring guide pillar one end is connected with tibia one end, the spring guide pillar other end and spring guide one end fits, and the one of the 4th spring End is fixed on one end of spring guide pillar, and the 4th spring other end is fixed on one end of spring guide, the spring guide other end and electricity The upper end connection of machine base, back leg bar one end are connected with tibia one end, and the back leg bar other end is connected with major axis one end, back leg bar Middle part is connected with guide rail fixed plate, and one end of tooth bar is engaged with partial gear, and the tooth bar other end is connected with tibia connecting rod one end, Guide rail rolls post and supports in the middle part of tooth bar, and the tibia connecting rod other end is connected with tibia one end, and back leg pad is connected with the tibia other end.
3. bionic hopping robot according to claim 1, is characterized in that:The communication agency is penetrated by the first wireless receiving and dispatching End, the second wireless receiving and dispatching end composition, the first wireless receiving and dispatching are penetrated end and are connected with environment detection mechanism, bounce mechanical mechanism and the first nothing Line sending and receiving end connects, and the second wireless receiving and dispatching end is connected with controlling organization.
4. bionic hopping robot according to claim 1, is characterized in that:The controlling organization is by Single Chip Microcomputer (SCM) system module Constitute with display module, Single Chip Microcomputer (SCM) system is connected with the second wireless receiving and dispatching end, and display module is connected with Single Chip Microcomputer (SCM) system.
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CN108345557A (en) * 2017-01-22 2018-07-31 中电科海洋信息技术研究院有限公司 Communication system between a kind of small-sized bionic underwater robot platform
CN106995015A (en) * 2017-05-10 2017-08-01 桂林电子科技大学 A kind of hopping robot of imitative flea beetle
CN107128385B (en) * 2017-05-24 2019-02-26 电子科技大学 A kind of locust-simulated bouncing robot with leg linkage and damping characteristics
CN112141235A (en) * 2020-09-21 2020-12-29 桂林电子科技大学 Bionic tree-inhabiting reconnaissance monitoring robot
CN113428249A (en) * 2021-07-29 2021-09-24 桂林电子科技大学 Monkey-imitating robot for researching animal bounce

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