CN105172927B - It is a kind of to be bounced mobile robot from master reset three class gear shift - Google Patents
It is a kind of to be bounced mobile robot from master reset three class gear shift Download PDFInfo
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- CN105172927B CN105172927B CN201510459163.0A CN201510459163A CN105172927B CN 105172927 B CN105172927 B CN 105172927B CN 201510459163 A CN201510459163 A CN 201510459163A CN 105172927 B CN105172927 B CN 105172927B
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Abstract
The invention discloses one kind from master reset three class gear shift spring mobile robot, it is made up of spring with posture locking device, gear with locking release integrated device, landing and buffering device, toppling over resetting means；The height and distance of jump is efficiently controlled by three-gear gear shifting mechanism, is needed to select different dancing modes according to environment.Utilize the joint angle of hub lock releasing control machine people, the jump of triggering robot.When robot tumbles in jump landing, robot is resetted using resetting means is toppled over, erectility is come back to, completion is jumped next time.Mobile robot is bounced by landing and buffering device from master reset three class gear shift, can extend take-off and landing time, so as to improve the stability of hopping robot, landing and buffering, apparatus with shock absorbing play the function of steadily landing.CCD wireless cameras, wireless remote control module are installed on fuselage simultaneously, surrounding environment is monitored, real time remote control is carried out to robot.
Description
Technical field
The present invention relates to robot field, specifically, it is related to a kind of from master reset three class gear shift spring mobile robot.
Background technology
At present, mobile robot mainly uses wheeled, crawler type and leg formula three kinds of motions mode.Wheeled robot has height
Fast efficient the characteristics of, technology maturation, but obstacle climbing ability is poor, it is impossible to adapt to complicated terrain environment.Caterpillar type robot adapts to energy
Power is strong, compact to design, with good environmental suitability, but haves the shortcomings that weight is big, frictional resistance is larger, high energy consumption.Leg
Formula robot mobility is good, obstacle climbing ability strong, but autonomous control is complicated.As the hopping robot in legged mobile robot, by
Strong, focus of the characteristics of being suitable for complex environment as robot research field in its obstacle climbing ability.
The research about hopping robot has both at home and abroad:1) a kind of miniature both legs of the federal Polytechnics's research and development of Lausanne, SUI
Grasshopper hopping robot, its design inspiration comes from grasshopper.The robot can bounce itself 27 times of height, as robot
High jump most.Turned to by increasing a spherical cage sub-device in outside and damping, but due to quality increase after increase, it is real
Test and show anti-pumping performance, i.e., including jump degree and long-jump degree, be obviously reduced.2) Ryuma of Tokyo Univ Japan
The pneumatic hopping robot Mowgli of bionical biped of Niiyama research and development.The driver of the hopping robot is using artificial pneumatic flesh
Meat, is capable of the take-off process of simulation organism more true to nature.The height of jump is more than the 50% of its own height, and is fallen
It is smaller to the impulsive force on ground during ground.But the robot autonomous reset function after not accounting for turning function and toppling over, it is impossible to real
Now autonomous vertical jump in succession, and artificial pneumatic muscles volume is big, expensive, current this technology could not also put into actual answer
With.3) disclosed in patent of invention 201446986U " a kind of bionic hopping robot ".The bionic hopping robot is based on storage
The adjustable bar of gear-five bionic bouncing mechanism of energy, take-off angle, bar length and energy storage are adjustable, and can realize autonomous control；But it is logical
The energy of storage rather than the posture of jump is overregulated to change jump height and apart from this performance, the amplitude of accommodation is limited, and
Sole and shank are a kind of fixed motion pattern transmissions, do not possess leg flexible characteristic；Produced when being collided with ground
Larger impulsive force, destruction is easily caused to robot body, while big shock loading causes robot easily to occur when landing
Tumble, from master reset robot mobility and practical application feasibility can not be caused to reduce after tumbling.4) in patent
Proposed in 100429112 " a kind of Wheel, leg, bounce mechanism combined mobile robot ".The Wheel, leg, bounce mechanism combined mobile robot
Main body is four-wheel drive robot, and by increasing spring in underbody portion, but spring energy-storage ability and jumping height are limited, and bounce machine
Structure has impulsive force in landing.5) it is related to " the adjustable hopping robot of one kind jump " in patent 102267502, realizes jump
Degree is adjustable, and robot engages and unclamped the regulation for realizing different drive ratios by outer gear group；But the mechanism of variable ratio is answered
Miscellaneous, reliability is relatively low, and the regulation of variable ratio mechanism needs two motors, adds the complexity of robot control；
The increase of motor simultaneously causes robot overall weight increase, and anti-pumping performance is reduced, and not over the jump of adjustment robot
Posture reaches the regulation of jump height and length.Bouncing mechanism has impulsive force in landing, and the steadily landing that do not account for bouncing is asked
Topic.
The content of the invention
Be enhancing robot to adaptive capacity to environment, improve mobility, overcome in the prior art robot tumble can not
From master reset, the defect that jumping height and distance can not be adjusted, the present invention proposes that a kind of bounced from master reset three class gear shift is moved
Robot.Spring mobile robot realizes the engagement and disengaging of three shifting gear groups using cam so that partial gear becomes
Fast mechanism can change joint angular gear ratio, so as to change spring posture, change the height and distance of spring, and using an electricity
Machine controls the joint of shift speed change and hub lock releasing.
The technical solution adopted for the present invention to solve the technical problems is:From the mobile machine of master reset three class gear shift spring
People, including spring discharge integrated device, landing and buffering device with locking with posture locking device, gear, topple over reset dress
Put, spring is connected as one with posture locking device, storage and the release function of spring energy are realized, by machine after spring landing
Two joints of people are locked；Gear sets three gears, and different gearratios are corresponded to respectively, changes joint angle ratio, real
The height and distance now bounced；Lock release, by the servo driving of same adjustable angle, completes joint with gear
The locking at angle and release function；Landing and buffering device reduces ground shock power during landing using spring, realizes landing and buffering；Incline
Resetting means is used to bounce after landing is toppled over to reset robot；It is characterized in that the spring includes with posture locking device
After back leg bar, extension spring, spring shaft, ankle-joint axle, lead screw shaft, feed screw nut, ball-screw, leading screw support, leading screw bearing
Seat, rack, fuselage, body connecting base, spindle motor, steering wheel fixed mount, thigh, shank, sole, wherein back leg bar, leading screw,
Leading screw support, body connecting base, thigh, shank, sole form on gear and put five-rod；Spindle motor is fixed on steering wheel and consolidated
Determine on frame, spindle motor drives ball screw turns, feed screw nut coordinates with ball-screw, and extension spring is elongated and realizes energy storage；
Steering wheel fixed mount is connected with leading screw support, ankle-joint axle, lead screw shaft, feed screw nut, ball-screw, after jump is completed, leading screw
Motor drives ball screw turns, and rack moves along leading screw support and drives posture adjustment external gear to rotate, posture adjustment external gear and posture adjustment
Internal gear drives locked pinion rotation, and semicircle cam departs from ratchet, and ratchet is engaged in the presence of back-moving spring with ratchet, machine
Device people's posture is locked；Sole is rotated by ankle-joint axle around back leg bar；
The gear with locking release integrated device include first become transmission gear wheel, second become transmission gear wheel,
3rd becomes transmission gear wheel, first becomes transmission meshing gear, second become transmission meshing gear, the 3rd become transmission meshing gear, the
One little gear, the second little gear, third pinion, the first push rod, the second push rod, the 3rd push rod, the first shift cam, second become
Fast cam, the 3rd shift cam, input shaft, fuselage front axle, fuselage rear axle, change trundle, posture adjustment external gear, idler gear, tune
Appearance internal gear, locked gear, semicircle cam, ratchet, bearing pin, ratchet, ratchet gear, speed change steering wheel, the first shift cam, second
Shift cam, the 3rd shift cam are sequentially fixed on input shaft, three shift cams respectively with the first push rod, the second push rod,
3rd push rod coordinates, and the first little gear, the second little gear, third pinion and first become transmission meshing gear, the second change transmission
Meshing gear, the 3rd become transmission meshing gear and are connected respectively with fuselage front axle, and first becomes transmission gear wheel, the second change transmission canine tooth
Wheel, the 3rd change transmission gear wheel and fuselage rear axle are connected；First becomes transmission gear wheel engages with the first little gear, and gearratio is 2:
1, second becomes transmission gear wheel engages with the second little gear, and gearratio is 3:1, the 3rd becomes transmission gear wheel nibbles with third pinion
Close, gearratio is 4:1；3rd shift cam promotes the movement of the 3rd push rod, and the 3rd push rod internal tooth and the 3rd become transmission meshing gear
Engaged in 0 degree of phase, the second shift cam promotes the movement of the second push rod, the second push rod internal tooth becomes with second is driven meshing gear
Engaged in 120 degree of phase, the first shift cam promotes the movement of the first push rod, the first push rod internal tooth becomes with first is driven engaging tooth
Wheel is engaged in 240 degree of phase, realizes the transmission of three gears of gear；When in a locked condition, it is fixed on thigh
Ratchet engaged with idler gear, idler gear, posture adjustment external gear, posture adjustment internal gear are fixed by fuselage rear axle and fuselage front axle
On leading screw support, ratchet coordinates fixed main body and the angle of the angle, fuselage and thigh of leading screw support with ratchet, when stretching bullet
Before spring energy storage, the locking of joint angle is completed；Speed change steering wheel drives semicircle cam rotation, semicircle by ratchet gear, locked gear
Cam is stirred ratchet and is disengaged from ratchet, and the locking of joint angle is to be released from；When extension spring completes energy storage, robot spring
The release in Shi Jinhang joints, extension spring release energy robot spring, realize locking and the release function in joint；
It is described topple over resetting means including arched arm, resetting shaft, reinforced shaft, reset steering wheel, reseting gear, small pulley, machine
Body reset frame, support base, big belt wheel, steering engine seat, reset steering wheel and are fixed on fuselage reset frame, and are connected with small pulley, and two answer
Position axle is connected to fuselage reset frame two ends top by support base, and the two ends of resetting shaft are connected with two arched arms respectively, greatly
Belt wheel is fixed on one end on resetting shaft, and reseting gear is fixed on one end on another resetting shaft, and two reinforced shafts are located at two and resetted respectively
The top of axle is connected with arched arm, is resetted steering wheel and is driven big belt wheel and homonymy arched arm to rotate by small pulley, resets steering wheel and lead to
Crossing reseting gear drives homonymy arched arm to rotate, and both sides arched arm rotation direction is opposite；Steering wheel is resetted to be fixed on by steering engine seat
On fuselage；When toppling over, reset steering wheel rotation and drive arched arm to be flared out, rotational angle increase, the support of one side arched arm
Ground, fuselage is returned to horizontal level, resets steering wheel reversion, and arched arm returns to origin-location；
The landing and buffering device include variation rigidity rear axle, knee axis, variation rigidity front axle, adapter sleeve, variation rigidity leg, on
Sliding block, sliding block, variation rigidity axis, short sole axle bed, landing spring, adapter sleeve are located at the middle part of knee axis, knee
Joint shaft two ends are connected with thigh, shank respectively, are connected with top shoe in the middle of variation rigidity front axle, variation rigidity front axle two ends respectively with
Variation rigidity leg one end is connected, and sliding block is connected to variation rigidity rear axle middle part, variation rigidity rear axle two ends respectively with both sides shank
Connection, variation rigidity leg is connected with short sole axle bed by variation rigidity axis, and shank passes through ankle-joint axle with long sole axle bed
Connection, short sole axle bed and long sole axle bed are separately fixed on sole；Before shank, sole, sliding block, variation rigidity
Axle, adapter sleeve and variation rigidity leg constitute sliding block rocker device；Two landing springs are connected in parallel at variation rigidity front axle and variation rigidity
On rear axle；Variation rigidity leg and the initial angle of sole are 60~70 degree；When being landed when bouncing, the angle of shank and thigh reduces,
Variation rigidity front axle is slided with top shoe along adapter sleeve, and landing spring is stretched and stores energy, and landing and buffering device absorbs impact
Energy, realizes that stable buffering is landed.
First push rod, the second push rod are identical with tooth module in the 3rd push rod.
First becomes the module phase of transmission meshing gear, the second change transmission meshing gear and the 3rd change transmission meshing gear
Together.
First little gear, the second little gear, third pinion and first become transmission meshing gear, the second change transmission engaging tooth
Wheel, the 3rd become transmission meshing gear into gear combination fixed with one heart.
Beneficial effect
It is proposed by the present invention it is a kind of bounced mobile robot from master reset three class gear shift, by spring and posture locking device,
Gear discharges integrated device, landing and buffering device with locking, topples over resetting means composition.It is effective by three-gear gear shifting mechanism
The height and distance of ground control jump, needs to select different dancing modes according to environment.Controlled using hub lock releasing
The joint angle of robot, the spring of triggering robot.When robot tumbles in console mode of jumping, using toppling over resetting means
Robot is resetted, erectility is come back to, completion is jumped next time.Borrowed from master reset three class gear shift spring mobile robot
Landing and buffering device is helped, take-off and landing time can be extended, so as to improve the stability of hopping robot, landing and buffering absorbs
Impact energy, plays the function of steadily landing.
CCD wireless cameras, wireless remote control module are installed on the fuselage of mobile robot simultaneously, surrounding environment is carried out
Monitoring, to being remotely controlled in real time from master reset three class gear shift spring mobile robot.
Brief description of the drawings
Below in conjunction with the accompanying drawings with embodiment to it is of the invention a kind of from master reset three class gear shift spring mobile robot make into
One step is described in detail.
Fig. 1 is present invention spring mobile robot structural representation.
Fig. 2 is present invention spring mobile robot front view.
Fig. 3 is present invention spring mobile robot top view.
Fig. 4 is the gear axonometric drawing of present invention spring mobile robot.
Fig. 5 is the gear schematic diagram of present invention spring mobile robot.
Fig. 6 is the hub lock releasing axonometric drawing of present invention spring mobile robot.
Fig. 7 is the hub lock releasing schematic diagram of present invention spring mobile robot.
Fig. 8 is the resetting-mechanism axonometric drawing of present invention spring mobile robot.
Fig. 9 is the resetting-mechanism schematic diagram of present invention spring mobile robot.
Figure 10 is the landing and buffering mechanism axonometric drawing of present invention spring mobile robot.
Figure 11 is the landing and buffering structural scheme of mechanism of present invention spring mobile robot.
Figure 12 is the landing and buffering mechanism left view of present invention spring mobile robot.
Figure 13 is thigh axonometric drawing.
Figure 14 is leading screw support schematic diagram.
Figure 15 (a) is shift cam group schematic diagram.
Figure 15 (b) is shift cam group axonometric drawing.
Figure 16 (a) is non-energy storage state schematic diagram in the long thermal energy storage process of bar of the present invention.
Figure 16 (b) is energy storage state schematic diagram in the long thermal energy storage process of bar of the present invention.
Figure 17 topples over reseting procedure schematic diagram for present invention spring mobile robot.
In figure:
1. the long pin of 6. ankle-joint axle of sole axle bed 7. of 2. shank of thigh, 3. speed change steering wheel, 4. variation rigidity rear axle 5.
The feed screw nut 14. of 12. leading screw bearing back seat of bottom plate 8. back leg bar, 9. lead screw shaft, 10. extension spring, 11. spring shaft 13.
The reinforced shaft 21. of 19. resetting shaft of rack 15. leading screw support, 16. steering wheel fixed mount, 17. spindle motor, 18. arched arm 20.
The variation rigidity front axle 27. of 25. knee axis of steering wheel 22. reseting gear, 23. small pulley, 24. fuselage reset frame 26. is resetted to connect
In the posture adjustment of 32. idler gear of female connector 28. variation rigidity leg, 29. support base, 30. posture adjustment external gear, 31. body connecting base 33.
The ball-screw 36. first of 34. semicircle ratchet of gear 35. becomes transmission gear wheel 37. second and becomes transmission gear wheel 38. the 3rd
Become transmission gear wheel 39. first become transmission meshing gear 40. second become transmission meshing gear 41. the 3rd become transmission engaging tooth
Take turns the push rod 47. the 3rd of 42. first 43. second little gear of little gear, 44. third pinion, 45. first push rod 46. second
The fuselage front axle of 48. first shift cam of push rod, 49. second 51. input shaft of the 3rd shift cam of shift cam 50. 52.
53. fuselage rear axle 54. becomes the spine of 59. ratchet of locked 56. semicircle cam of gear 57. ratchet, 58. bearing pin of trundle 55. 60.
The short pin of 66. variation rigidity axis of blade tooth wheel 61. fuselage, 62. big belt wheel, 63. steering engine seat, 64. top shoe, 65. sliding block 67.
The mounting hole 73. of 68. knee joint axis hole of bottom plate axle bed, 69. 71. pin shaft hole of speed change steering wheel 70. fuselage front-axle hole of frame aperture 72.
Axis hole 74. becomes the landing of leading screw bearing back seat hole 78. spring 79. of 76. lightening hole of transmission 75. guide groove of pin-and-hole 77. after fuselage
Input shaft bore
Embodiment
The present embodiment is a kind of from master reset three class gear shift spring mobile robot.
Refering to Fig. 1~Figure 17, the present embodiment speed change bounces mobile robot by spring and posture locking device, gear
Integrated device, landing and buffering device are discharged with locking, topple over resetting means composition；Bouncer realize spring energy storage and
Release function, spring is connected as one with posture locking device, is realized after spring landing that two joints of robot are locked；Become
Fast mechanism is provided with three gears, and different gearratios are corresponded to respectively, changes joint angle ratio, realize spring height and away from
From lock release, by the servo driving of same adjustable angle, completes locking and the release work(of joint angle with gear
Energy；Landing and buffering device reduces ground shock power during landing using spring, realizes landing and buffering；Toppling over resetting means is used for bullet
Jumping after landing is toppled over resets robot.
Spring with posture locking device include back leg bar 8, extension spring 10, spring shaft 11, ankle-joint axle 6, lead screw shaft 9,
Feed screw nut 13, ball-screw 35, leading screw support 15, leading screw bearing back seat 12, rack 14, fuselage 61, body connecting base 31, silk
Thick stick motor 17, steering wheel fixed mount 16, knee axis 25, thigh 1, shank 2, sole 7, long sole axle bed 5；Wherein back leg bar
8th, leading screw 35, leading screw support 15, body connecting base 31, thigh 1, shank 2, sole 7 form on gear and put five-rod；Leading screw
Motor is fixed on steering wheel fixed mount 16, and spindle motor 17 drives ball-screw 35 to rotate, feed screw nut 13 and ball-screw 35
Coordinate, one end of two extension springs 10 is respectively fixedly connected at the two ends of spring shaft 11, the other end of two extension springs 10 is connected
On knee axis 25, extension spring 10 is elongated and realizes energy storage.Steering wheel fixed mount 16 and leading screw support 15, ankle-joint axle 6, leading screw
Axle 9, leading screw bearing back seat 12, ball-screw 35 are connected；After jump is completed, spindle motor 17 drives ball-screw 35 to rotate,
Rack 14 is moved forward along leading screw support 15, with posture adjustment Gear Contact and driving it to rotate, posture adjustment external gear 30 with posture adjustment
Gear 33 drives locked gear 55 to rotate, and semicircle cam 56 departs from semicircle ratchet 57, and semicircle ratchet 57 is nibbled with semicircle ratchet 59
Close, robot pose is locked.
There is knee joint axis hole 68 the front end both sides of thigh 1, and thigh 1 is connected formation by knee axis 25 with shank 2 and rotated
It is secondary；The middle floor and right floor of thigh 1 are provided with input shaft bore, and input shaft 51 is connected by input shaft bore with thigh 1, thigh 1
Three floor rear portions have fuselage front-axle hole 70 respectively, the left floor of thigh 1 is provided with rectangle speed change steering wheel frame aperture 69, for pacifying
Fill speed change steering wheel 3；Gear be arranged between middle part floor and right part floor, hub lock releasing be arranged on left part floor and
Between the floor of middle part.Shank 2 is connected to form revolute pair with long sole axle bed 5 by ankle-joint axle 6, and long sole axle bed 5 is consolidated
It is scheduled on sole 7；Back leg bar 8 is connected to form revolute pair with sole axle bed by ankle-joint axle 6.
Organic axis hole 73 after one's death in the front end of leading screw support 15, leading screw support 15 and body connecting base 31 are connected by fuselage rear axle 53
Connect to form revolute pair, three change transmission pin-and-holes 74 are uniform along axis hole after fuselage 73, become transmission pin-and-hole 74 and coordinate with change trundle 54；
The slide-shaped radially sliding pair of guide groove 75 of the lead screw shaft 9 along leading screw support 15, adds lubricating oil at guide groove 75 during work, formed
Oil film is slided, reduces sliding friction, guide groove length determines the minimum and maximum tensile elongation of extension spring 10；Lead screw shaft 9 with
The formation revolute pair of back leg bar 8；There is leading screw bearing back seat hole 77 rear end of leading screw support 15, for fixing leading screw bearing back seat 12；Silk
Thick stick support region of interest is provided with lightening hole 76, for mitigating the weight of leading screw support.
Gear with locking release integrated device include first become transmission gear wheel 36, second become transmission gear wheel 37,
3rd become transmission gear wheel 38, first become transmission meshing gear 39, second become transmission meshing gear the 40, the 3rd become transmission engaging tooth
Take turns the 41, first little gear 42, the second little gear 43, third pinion 44, the first push rod 45, the second push rod 46, the 3rd push rod 47,
First shift cam 48, the second shift cam 49, the 3rd shift cam 50, input shaft 51, fuselage front axle 52, fuselage rear axle 53,
Become trundle 54, posture adjustment external gear 30, idler gear 32, posture adjustment internal gear 33, locked gear 55, semicircle cam 56, ratchet 57,
Bearing pin 58, ratchet 59, ratchet gear 60, speed change steering wheel 3, the first shift cam 48, the second shift cam 49, the 3rd shift cam
50 are connected with input shaft 51 successively, the first push rod 45, the second push rod 46, the 3rd push rod 47 respectively with the first shift cam 48, the
Two shift cams 49, the 3rd shift cam 50 coordinate, the first little gear 42, the second little gear 43, third pinion 44 and first
Become the transmission change transmission change transmission meshing gear 41 of meshing gear the 40, the 3rd of meshing gear 39, second to be connected with fuselage front axle 52, machine
Axle 53 passes through first to become and is driven after the change transmission change of gear wheel the 37, the 3rd transmission gear wheel 38 of gear wheel 36, second and fuselage after one's death
Axle 53 is connected.First becomes transmission gear wheel 36 engages with the first little gear 42, and gearratio is 2:1；Second becomes transmission gear wheel 37
Engaged with the second little gear 43, gearratio is 3:1；3rd becomes transmission gear wheel 38 engages with third pinion 44, and gearratio is
4:1；Three push rods are identical, and three change transmission meshing gears are identical.When speed change steering wheel 3 rotates clockwise 0 degree, the 3rd speed change
Cam 50 promotes the 3rd push rod 47 to move, and the internal tooth of the 3rd push rod 47 becomes transmission meshing gear 41 with the 3rd and engaged；Speed change steering wheel 3 is suitable
When hour hands rotate 120 degree, the second shift cam 49 promotes the second push rod 46 to move, and the internal tooth of the second push rod 46 is nibbled with the second change transmission
Gear 40 is closed to engage；When speed change steering wheel 3 rotates clockwise 240 degree, the first shift cam 48 promotes the first push rod 45 to move, and first
The internal tooth of push rod 45 becomes transmission meshing gear 39 with first and engaged, and realizes the transmission of three gears of gear.When in locking shape
During state, the ratchet 59 for being fixed on thigh is engaged with idler gear 32, and idler gear 32 is fixed on leading screw branch by fuselage rear axle 53
On frame 15, idler gear 32, posture adjustment external gear 30, posture adjustment internal gear 33 are fixed on silk by fuselage rear axle 53 and fuselage front axle 52
15 on thick stick support, ratchet 59 is connected by fuselage front axle 52, and ratchet 57 withstands ratchet and fixes fuselage 61 and leading screw support 15
The angle of angle, fuselage 61 and thigh 1.The two ends of two extension springs 10 are separately fixed on spring shaft 11 and knee axis 25,
When before the energy storage of extension spring 10, the locking of joint angle is completed；Speed change steering wheel 3 drives half by ratchet gear 60, locked gear 55
Boss wheel 56 is rotated, and semicircle cam 56 stirs ratchet 57, is disengaged from ratchet 59, and the locking of joint angle is to be released from；Work as drawing
Stretch spring and complete energy storage, when robot prepares jump, carry out the release in joint, extension spring 10 releases energy and shortened, machine
People bounces therewith, realizes locking and the release function of joint angle.
Toppling over resetting-mechanism includes arched arm 18, resetting shaft 19, reinforced shaft 20, reset steering wheel 21, reseting gear 22, small band
Wheel 23, fuselage reset frame 24, support base 29, big belt wheel 62, steering engine seat 63, reset steering wheel 21 and are fixed on fuselage reset frame 24,
And be connected with small pulley 23, two resetting shafts 19 are connected to the two ends top of fuselage reset frame 24, resetting shaft by support base 29
19 two ends are connected with two arched arms 18 respectively, and big belt wheel 62 is fixed on one end on resetting shaft 19, and reseting gear 22 is fixed on separately
One end on one resetting shaft 19, two reinforced shafts 20 respectively be located at two resetting shafts 19 top, the two ends of reinforced shaft 20 respectively with two arcs
The top of arm 18 is connected, and is resetted steering wheel 21 and is driven big belt wheel 62 and homonymy arched arm 18 to rotate by small pulley 23, resets steering wheel 21
Homonymy arched arm 18 is driven to rotate by reseting gear 22, both sides arched arm rotation direction is opposite；Reset steering wheel 21 and pass through steering wheel
Seat 63 is fixed on fuselage 61；When toppling over, reset the rotation of steering wheel 21 and drive arched arm 18 to be flared out, with angle of rotation
The increase of degree, the support of one side arched arm 18 ground, gradually makes fuselage 61 be returned to horizontal level, then resets steering wheel 21 and inverts, makes arc
Shape arm 18 returns to origin-location.
Landing and buffering device includes variation rigidity rear axle 4, knee axis 25, variation rigidity front axle 26, adapter sleeve 27, variation rigidity leg
28th, top shoe 64, sliding block 65, variation rigidity axis 66, short sole axle bed 67, landing spring 78, thigh 1 pass through with shank 2
Knee axis 25 is connected, and adapter sleeve 27 is connected thereto positioned at the pars intermedia of knee axis 25；The centre of variation rigidity front axle 26 and top shoe
64 connections, the two ends of variation rigidity front axle 26 are connected with two one end of variation rigidity leg 28 respectively；With sliding block 65 in the middle of variation rigidity rear axle 4
Connection, the two ends of variation rigidity rear axle 4 are connected with both sides shank 2 respectively；Variation rigidity axis 66 passes through the variation rigidity leg 28 and two of both sides
Individual short sole axle bed 67 is connected；Shank 2 is connected with long sole axle bed 5 by ankle-joint axle 6；Short sole axle bed 67 and length
Sole axle bed 5 is separately fixed on sole 7；Shank 2, sole 7, sliding block 65, variation rigidity front axle 26, the and of adapter sleeve 27
Variation rigidity leg 28 constitutes sliding block rocker device, and two landing springs 78 are connected in parallel on variation rigidity front axle and variation rigidity rear axle；
Variation rigidity leg 28 and the initial angle of sole 7 are 60~70 degree, and most I is compressed to 0 degree；Wherein adapter sleeve 27 and variation rigidity
The length of leg 28 is respectively 60mm and 45mm, when knee joint angle is in 0 to 60 degree change, and position of the sliding block on adapter sleeve is from top
End is moved to point midway, and landing spring 78 stroke is 22mm.When being landed when bouncing, fuselage, which leans forward, to be pushed, shank 2 and thigh
1 angle reduces, and variation rigidity front axle 26 is slided with top shoe 64 along adapter sleeve 27, lands spring 78 and is stretched and stores energy,
Impact kinetic energy and transform gravitational energy are elastic potential energy, extend touchdown time, balance-impact power；Landing and buffering device absorbs impact
Energy, realizes that stable buffering is landed.
From master reset three class gear shift spring mobile work robot process:
The course of work is divided into spring process, landing process, reset and locking process, adjustment process.Spring process is divided into two
The individual stage.Starting stage:Speed change steering wheel selects gear by turning an angle so that the push rod of a certain gear is driven with becoming
Meshing gear is engaged；When joint locking is disengaged, angle between angle and fuselage, thigh between jump process middle fuselage, leading screw support
Changed with the gearratio, obtain different jump heights, experiment and emulation show to adjust the gearratio of angle, exchange whole robot
Take-off direction effect is obvious.Take-off Stage:The speed change steering wheel being fixed on fuselage is reversely rotated, and is driven semicircle cam, is stirred spine
Pawl is moved downward, and the ratchet on ratchet and thigh departs from, and discharges the joint angle being fixed, due to being equipped with one-way shaft on input shaft
Hold, the reversion of speed change steering wheel will not change the position for becoming push rod.The gear parts on gear parts and thigh on leading screw support exist
Rotated in the presence of spring force, the angle between thigh and leading screw support is diminished, the release of extension spring energy, robot is to front jumping
Rise.
Landing process:Fuselage is pressed forward by impulsive force, and landing spring is stretched, and is by impact kinetic energy and transform gravitational energy
Elastic potential energy, stores energy, extends touchdown time, balance-impact power.Landing and buffering device apparatus with shock absorbing, reaches that buffering is flat
The purpose surely landed.
Reset and be divided into two parts with locking process.Topple over reset:Once robot is toppled over, robot resets motor
Work, drives arched arm to stretch laterally, and contacts and play a supportive role with ground, and in arched arm rotary course, fuselage is gradually extensive
Horizontality is arrived again.Posture is locked:After completing jump and toppling over reset, spindle motor drives ball screw turns, changes
Feed screw nut position, reduces the actual elongation of leading screw, leading screw support and fuselage angle, and thigh reduces with fuselage angle, rack edge
Leading screw support to move forward and posture adjustment Gear Contact, and drive it to rotate, the locked gear of posture adjustment gear set drive, semicircle cam
Depart from ratchet, ratchet is engaged with ratchet again in the presence of back-moving spring, and robot pose is by again locked.
Adjustment process:Adjusting stage is prepared for the spring again in next cycle.Spindle motor is inverted, spindle motor rotation
Turn drive leading screw to move with feed screw nut, increase the actual elongation of leading screw, spring is stretched, and returns to initial elongation state, machine
Device people returns to spring pattern, is that spring is ready next time.
Claims (4)
1. it is a kind of from master reset three class gear shift spring mobile robot, including spring and posture locking device, gear and lock
Surely discharge integrated device, landing and buffering device, topple over resetting means, spring is connected as one with posture locking device, realizes bullet
Storage and the release function of energy are jumped, it is after spring landing that two joints of robot are locked；Gear sets three gears,
Different gearratios are corresponded to respectively, change joint angle ratio, realize the height and distance of spring；Lock release and variable-speed motor
Structure completes locking and the release function of joint angle by the servo driving of same adjustable angle；Landing and buffering device uses spring
To reduce ground shock power during landing, landing and buffering is realized；Toppling over resetting means is used to bounce after landing is toppled over to answer robot
Position；It is characterized in that:
The spring includes back leg bar, extension spring, spring shaft, ankle-joint axle, lead screw shaft, leading screw spiral shell with posture locking device
It is mother, ball-screw, leading screw support, leading screw bearing back seat, rack, fuselage, body connecting base, spindle motor, steering wheel fixed mount, big
Leg, shank, sole, wherein back leg bar, leading screw, leading screw support, body connecting base, thigh, shank, sole are formed on gear
Put five-rod；Spindle motor is fixed on steering wheel fixed mount, and spindle motor drives ball screw turns, feed screw nut and ball
Leading screw coordinates, and extension spring is elongated and realizes energy storage；Steering wheel fixed mount and leading screw support, ankle-joint axle, lead screw shaft, feed screw nut,
Ball-screw is connected, and after jump is completed, spindle motor drives ball screw turns, and rack moves along leading screw support and drives tune
Appearance external gear rotates, and posture adjustment external gear drives locked pinion rotation with posture adjustment internal gear, and semicircle cam departs from ratchet, and ratchet exists
Engaged in the presence of back-moving spring with ratchet, robot pose is locked；Sole is rotated by ankle-joint axle around back leg bar；
The gear becomes transmission gear wheel, the 3rd with locking release integrated device including the first change transmission gear wheel, second
Become transmission gear wheel, first become transmission meshing gear, second become transmission meshing gear, the 3rd become transmission meshing gear, it is first small
Gear, the second little gear, third pinion, the first push rod, the second push rod, the 3rd push rod, the first shift cam, the second speed change are convex
Wheel, the 3rd shift cam, input shaft, fuselage front axle, fuselage rear axle, become trundle, posture adjustment external gear, idler gear, in posture adjustment
Gear, locked gear, semicircle cam, ratchet, bearing pin, ratchet, ratchet gear, speed change steering wheel, the first shift cam, the second speed change
Cam, the 3rd shift cam are sequentially fixed on input shaft, three shift cams respectively with the first push rod, the second push rod, the 3rd
Push rod coordinates, and the first little gear, the second little gear, third pinion and first become transmission meshing gear, the second change transmission engagement
Gear, the 3rd become transmission meshing gear be connected respectively with fuselage front axle, first become transmission gear wheel, second become be driven gear wheel,
3rd becomes transmission gear wheel is connected with fuselage rear axle；First becomes transmission gear wheel engages with the first little gear, and gearratio is 2:1,
Second becomes transmission gear wheel engages with the second little gear, and gearratio is 3:1, the 3rd becomes transmission gear wheel nibbles with third pinion
Close, gearratio is 4:1；3rd shift cam promotes the movement of the 3rd push rod, and the 3rd push rod internal tooth and the 3rd become transmission meshing gear
Engaged in 0 degree of phase, the second shift cam promotes the movement of the second push rod, the second push rod internal tooth becomes with second is driven meshing gear
Engaged in 120 degree of phase, the first shift cam promotes the movement of the first push rod, the first push rod internal tooth becomes with first is driven engaging tooth
Wheel is engaged in 240 degree of phase, realizes the transmission of three gears of gear；When in a locked condition, it is fixed on thigh
Ratchet engaged with idler gear, idler gear, posture adjustment external gear, posture adjustment internal gear are fixed by fuselage rear axle and fuselage front axle
On leading screw support, ratchet coordinates fixed main body and the angle of the angle, fuselage and thigh of leading screw support with ratchet, when stretching bullet
Before spring energy storage, the locking of joint angle is completed；Speed change steering wheel drives semicircle cam rotation, semicircle by ratchet gear, locked gear
Cam is stirred ratchet and is disengaged from ratchet, and the locking of joint angle is to be released from；When extension spring completes energy storage, robot spring
The release in Shi Jinhang joints, extension spring release energy robot spring, realize locking and the release function in joint；
It is described topple over resetting means including arched arm, resetting shaft, reinforced shaft, to reset steering wheel, reseting gear, small pulley, fuselage multiple
Position frame, support base, big belt wheel, steering engine seat, reset steering wheel and are fixed on fuselage reset frame, and be connected with small pulley, two resetting shafts
Fuselage reset frame two ends top is connected to by support base, the two ends of resetting shaft are connected with two arched arms respectively, big belt wheel
One end on resetting shaft is fixed on, reseting gear is fixed on one end on another resetting shaft, and two reinforced shafts are respectively positioned at two resetting shafts
Top is connected with arched arm, is resetted steering wheel and is driven big belt wheel and homonymy arched arm to rotate by small pulley, resets steering wheel and pass through again
Position gear drives homonymy arched arm to rotate, and both sides arched arm rotation direction is opposite；Reset steering wheel and fuselage is fixed on by steering engine seat
On；When toppling over, reset steering wheel rotation and drive arched arm to be flared out, rotational angle increase, one side arched arm support ground, machine
Body is returned to horizontal level, resets steering wheel reversion, and arched arm returns to origin-location；
The landing and buffering device includes variation rigidity rear axle, knee axis, variation rigidity front axle, adapter sleeve, variation rigidity leg, upper cunning
Block, sliding block, variation rigidity axis, short sole axle bed, landing spring, adapter sleeve are located at the middle part of knee axis, and knee is closed
Nodal axisn two ends are connected with thigh, shank respectively, are connected with top shoe in the middle of variation rigidity front axle, variation rigidity front axle two ends respectively with change
Rigidity leg one end is connected, and sliding block is connected to variation rigidity rear axle middle part, and variation rigidity rear axle two ends connect with both sides shank respectively
Connect, variation rigidity leg is connected with short sole axle bed by variation rigidity axis, shank is connected with long sole axle bed by ankle-joint axle
Connect, short sole axle bed and long sole axle bed are separately fixed on sole；Before shank, sole, sliding block, variation rigidity
Axle, adapter sleeve and variation rigidity leg constitute sliding block rocker device；Two landing springs are connected in parallel at variation rigidity front axle and variation rigidity
On rear axle；Variation rigidity leg and the initial angle of sole are 60~70 degree；When being landed when bouncing, the angle of shank and thigh reduces,
Variation rigidity front axle is slided with top shoe along adapter sleeve, and landing spring is stretched and stores energy, and landing and buffering device absorbs impact
Energy, realizes that stable buffering is landed.
2. it is according to claim 1 from master reset three class gear shift spring mobile robot, it is characterised in that:First push rod,
Second push rod is identical with tooth module in the 3rd push rod.
3. it is according to claim 1 from master reset three class gear shift spring mobile robot, it is characterised in that:First becomes transmission
Meshing gear, the second change transmission meshing gear are identical with the module that the 3rd becomes transmission meshing gear.
4. it is according to claim 1 from master reset three class gear shift spring mobile robot, it is characterised in that:First small tooth
Wheel, the second little gear, third pinion and the first change transmission meshing gear, second become transmission meshing gear, the 3rd change transmission and nibbled
It is gear combination fixed with one heart to close gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510459163.0A CN105172927B (en) | 2015-07-30 | 2015-07-30 | It is a kind of to be bounced mobile robot from master reset three class gear shift |
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| CN201510459163.0A CN105172927B (en) | 2015-07-30 | 2015-07-30 | It is a kind of to be bounced mobile robot from master reset three class gear shift |
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| CN105172927B true CN105172927B (en) | 2017-10-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106826843A (en) * | 2016-12-09 | 2017-06-13 | 天津效岩科技有限公司 | A kind of bidirectional rotary type Grapple Robots device |
| CN106428208B (en) * | 2016-12-09 | 2018-07-20 | 山东英才学院 | Walking and hopping robot |
| CN107089275B (en) * | 2017-03-27 | 2019-03-26 | 西北工业大学 | It is a kind of aerial posture adjustment and the sufficient roll-type interval hopping robot of energy regenerating to be landed |
| CN107854284B (en) * | 2017-12-13 | 2019-10-25 | 华中科技大学 | A kind of ankle-joint ectoskeleton based on elastic element rigidity handover mechanism |
| CN108454724B (en) * | 2018-04-20 | 2023-11-03 | 知行高科（北京）科技有限公司 | Bipedal robot with multiple motion modes and control method thereof |
| CN109292023A (en) * | 2018-11-08 | 2019-02-01 | 西北工业大学 | A kind of bio-robot of repeatable spring |
| CN114872808B (en) * | 2022-06-24 | 2023-03-14 | 北京理工大学 | Robot bouncing mechanism and bouncing method |
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| WO2003055651A1 (en) * | 2001-12-25 | 2003-07-10 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
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| CN105172927A (en) | 2015-12-23 |
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