CN107161236A - The wheeled hopping robot of sector - Google Patents
The wheeled hopping robot of sector Download PDFInfo
- Publication number
- CN107161236A CN107161236A CN201710504316.8A CN201710504316A CN107161236A CN 107161236 A CN107161236 A CN 107161236A CN 201710504316 A CN201710504316 A CN 201710504316A CN 107161236 A CN107161236 A CN 107161236A
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- Prior art keywords
- foreleg
- back leg
- gear
- sector
- accumulation
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- 210000001364 upper extremity Anatomy 0.000 claims abstract description 123
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 10
- 238000009825 accumulation Methods 0.000 claims description 50
- 239000007787 solid Substances 0.000 claims 2
- 230000002045 lasting effect Effects 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 description 85
- 238000010586 diagram Methods 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 4
- 241000289581 Macropus sp. Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses the wheeled hopping robot of sector.The power source number of packages amount of existing hopping robot is more, and effective power density is low, and weight is larger, jump height and in small distance.The present invention includes frame, foreleg hopping mechanism, back leg hopping mechanism and transmission mechanism.Foreleg hopping mechanism includes foreleg axle, foreleg power rail, foreleg little spring, foreleg connecting rod, foreleg big spring and foreleg sole bar.Back leg hopping mechanism includes back leg axle, back leg power rail, back leg little spring, back leg connecting rod, back leg big spring and back leg sole bar；Transmission mechanism includes actuator, draws rolling wheel, spring, gear train, second driven shaft, first driven shaft, power rail group and cable wire.Gear train includes the first sector gear, the second sector gear, the first roller gear and the second roller gear.The present invention can carry out stablizing lasting great-jump-forward advance by foreleg hopping mechanism and back leg hopping mechanism Collaboration.
Description
Technical field
The invention belongs to bio-robot field, and in particular to a kind of wheeled hopping robot of sector.
Background technology
The mankind have the main in terms of the motion of animal of relatively further investigation at present, but also have many in this bionical field
Problem values obtain scientists and go research.
Early in 1980, professor Raibert of the Massachusetts Institute of Technology once investigated to beat the world and can leap on one leg
The robot of activity, afterwards professor Raibert have studied the leg model that the two dimension of that similar kangaroo jump is jumped again, hereafter
Raibert have developed a kind of three-dimensional hopping mechanism again.
U.S. Case Western Reserve University are also studied bio-robot, Ran Hou
The mechanical cricket as power by artificial muscle is invented within 1992.The thigh of this robot is all made using artificial muscle, this
Kind artificial muscle is worked out by a kind of high molecular fiber, as long as the used time is inflated with compressor, make artificial muscle tighten and
Shrink, therefore with layup, its power is compressed air, obtains outer with a kind of sensor for being called miniature angle
The message in portion.
The Fumitaka KIKUCHI of Japan investigated in 2003 it is a kind of by robot of the cylinder as driving, with
Cylinder is as power so as to realize the jump and walking of robot, and its feature is exactly that the power of every leg is all derived from cylinder.
Quadric chain realizes motion, has been experimentally confirmed steady buffer capacity when skip capability and the landing of the robot.
The power source number of packages amount of existing hopping robot is more, and effective power density is low, and weight is larger, jump height and
It is in small distance.Therefore design a kind of single power source to drive, lighter in weight, skip distance is remote and is capable of the jump of continuous-stable jump
Formula robot is particularly significant.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art providing, a kind of sector that can be bounded forward is wheeled to jump
Jump robot.
The present invention includes frame, foreleg hopping mechanism, back leg hopping mechanism and transmission mechanism.Described foreleg hopping mechanism
Including foreleg axle, foreleg power rail, foreleg little spring, foreleg connecting rod, foreleg big spring and foreleg sole bar.Described foreleg
It is pivotally supported in frame.The two ends of foreleg axle and the inner of two foreleg power rails are fixed respectively；In two foreleg power rails
Portion and one end of two foreleg connecting rods are respectively articulated with.The other end of two foreleg connecting rods and the middle part of two foreleg sole bars
It is respectively articulated with.One end of the foreleg little spring and foreleg big spring is fixed with foreleg power rail, the other end with preceding legs and feet
Palm bar is fixed.
It is big that described back leg hopping mechanism includes back leg axle, back leg power rail, back leg little spring, back leg connecting rod, back leg
Spring and back leg sole bar；Described back leg is pivotally supported in frame.The two ends of back leg axle and the inner of two back leg power rails
Fix respectively；The middle part of two back leg power rails and one end of two back leg connecting rods are respectively articulated with.Two back leg connecting rods
The other end in the middle part of two back leg sole bars with being respectively articulated with.One end of the back leg little spring and back leg big spring is and back leg
Power rail is fixed, and the other end is fixed with back leg sole bar.
Described transmission mechanism include actuator, draw rolling wheel, it is spring, gear train, second driven shaft, first driven shaft, dynamic
Power bar group and cable wire.First driven shaft be arranged in parallel with second driven shaft, and is supported in frame.Described gear train includes
First sector gear, the second sector gear, the first roller gear and the second roller gear.The first described sector gear and second
Sector gear is each attached in first driven shaft.Described first driven shaft is driven by actuator.The first described roller gear
And second roller gear be each attached in second driven shaft.First sector gear and the corresponding central angle sum of the second sector gear
Less than or equal to 300 °.The corresponding central angle of first sector gear is projected as the first projection on the first sector gear end face
Angle；The corresponding central angle of second sector gear is projected as the second projected angle on the first sector gear end face；Described first throws
Shadow angle is overlapped with a ray of the second projected angle.First roller gear is engaged with the first sector gear, or the second roller gear
Engaged with the second sector gear, or the first roller gear is not engaged and the second roller gear and the second sector with the first sector gear
Gear is not engaged.Described drawing rolling wheel is fixed in second driven shaft.Described power rail group includes the first accumulation of energy bar, the second storage
Can bar, the 3rd accumulation of energy bar, the 4th accumulation of energy bar, foreleg drive link, back leg drive link, back leg rocking bar and foreleg rocking bar.3rd accumulation of energy
Bar, the 4th accumulation of energy bar, one end of foreleg drive link and back leg drive link are hinged by accumulation of energy jointed shaft.3rd accumulation of energy bar is away from storage
That end and one end of the first accumulation of energy bar of energy jointed shaft are hinged by the first jointed shaft.The other end of first accumulation of energy bar is cut with scissors with frame
Connect.That end of 4th accumulation of energy bar away from accumulation of energy jointed shaft and one end of the second accumulation of energy bar are hinged by the second jointed shaft.Second stores
The other end of energy bar is hinged with frame.First jointed shaft is connected with the second jointed shaft by energy-storaging spring.Foreleg drive link is remote
That end and one end of foreleg rocking bar of accumulation of energy jointed shaft are hinged.The other end of foreleg rocking bar is fixed with foreleg axle.Back leg drive link
That end and one end of back leg rocking bar away from accumulation of energy jointed shaft are hinged.The other end of back leg rocking bar is fixed with back leg axle.Cable wire
One end is with drawing rolling wheel to fix, and the other end is fixed with accumulation of energy jointed shaft.
The foreleg little spring is equal with the stiffness factor of foreleg big spring, and foreleg little spring drift be less than before
The drift of leg big spring.Foreleg little spring is arranged on foreleg connecting rod close to the inner side of foreleg power rail.Foreleg is big
Spring is arranged on side of the foreleg connecting rod close to foreleg power rail outer end.
The back leg little spring is equal with the stiffness factor of back leg big spring, and back leg little spring drift be less than after
The drift of leg big spring.Back leg little spring is arranged on back leg connecting rod close to the inner side of back leg power rail.Back leg is big
Spring is arranged on the side of back leg connecting rod back leg power rail outer end.
Described actuator includes motor, drive gear and driven gear；Described motor is fixed in frame；Sliding tooth
The output shaft taken turns with motor is fixed；Driven gear is fixed with first driven shaft.Drive gear is engaged with driven gear.
The corresponding central angle of first sector gear and the second sector gear is 120 °.
Fixed pulley is supported with described frame；Described cable wire bypasses fixed pulley.
The battery being connected with actuator is fixed with described frame.
1.5 times of second Tooth Number of Gear are less than the first Tooth Number of Gear.
The first described sector gear has two；Two the first sector gears are separately positioned on the two of the second sector gear
End.Projection of two the first sector gears on the second sector gear end face is overlapped.The first described roller gear has two；
Two the first roller gears are separately positioned on the two ends of the second roller gear.Two the first sector gears and two the first Cylinder Gears
Wheel is engaged respectively.
The invention has the advantages that：
1st, the present invention can carry out stablizing lasting jump by foreleg hopping mechanism and back leg hopping mechanism Collaboration
Formula is advanced.
2nd, the rotation that the present invention is only exported by a driving element can complete jump, and compact conformation is reliable and stable.
3rd, the present invention is provided with two groups of teeth wheel on two driven shafts, passes through the cooperation of sector gear so that two driven
There are big speed ratio transmission, close steps transmission and its each three kinds of states of self-movement, and then realize jump work(successively in axle
Energy.
4th, the present invention is by link transmission, and overall weight is smaller, meets microminiature feature.
Brief description of the drawings
Fig. 1 is the overall structure stereogram of the present invention；
Fig. 2 is the schematic diagram of foreleg hopping mechanism in the present invention；
Fig. 3 is the schematic diagram of back leg hopping mechanism in the present invention；
Fig. 4 is the schematic diagram of transmission mechanism in the present invention；
Fig. 5 is the schematic diagram of middle gear group of the present invention；
Fig. 6 is the schematic diagram of power rail group in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As illustrated in fig. 1 and 2, the wheeled hopping robot of sector, including frame, foreleg hopping mechanism, back leg hopping mechanism
And transmission mechanism.It is big that foreleg hopping mechanism includes foreleg axle 1, foreleg power rail 2, foreleg little spring 3, foreleg connecting rod 4, foreleg
Spring 5 and foreleg sole bar 6.Foreleg axle 1 is supported in frame.The two ends of foreleg axle 1 and the inner point of two foreleg power rails 2
Gu Ding not；The middle part of two foreleg power rails 2 and one end of two foreleg connecting rods 4 are respectively articulated with.Two foreleg connecting rods 4
The middle part of the other end and two foreleg sole bars 6 is respectively articulated with.One end of foreleg little spring 3 and foreleg big spring 5 is and foreleg
Power rail 2 is fixed, and the other end is fixed with foreleg sole bar 6.Foreleg little spring 3 is equal with the stiffness factor of foreleg big spring 5,
And the drift of foreleg little spring 3 is less than the drift of foreleg big spring 5.Foreleg little spring 3 is arranged on foreleg connecting rod 4
Close to the inner side of foreleg power rail 2.Foreleg big spring 5 is arranged on foreleg connecting rod 4 close to the one of the outer end of foreleg power rail 2
Side.Under off working state, the bottom surface of foreleg sole bar 6 is concordant with frame bottom surface.
As shown in figs. 1 and 3, back leg hopping mechanism includes back leg axle 7, back leg power rail 8, back leg little spring 9, back leg connection
Bar 10, back leg big spring 11 and back leg sole bar 12；Back leg axle 7 is supported in frame.Moved with two back legs at the two ends of back leg axle 7
The inner of power bar 8 is fixed respectively；The middle part of two back leg power rails 8 and one end of two back leg connecting rods 10 are respectively articulated with.Two
The middle part of the other end of root back leg connecting rod 10 and two back leg sole bars 12 is respectively articulated with.Back leg little spring 9 and the big bullet of back leg
One end of spring 11 is fixed with back leg power rail 8, and the other end is fixed with back leg sole bar 12.Back leg little spring 9 and back leg are big
The stiffness factor of spring 11 is equal, and drift of the drift less than back leg big spring 11 of back leg little spring 9.Back leg is small
Spring 9 is arranged on back leg connecting rod 10 close to the inner side of back leg power rail 8.Back leg big spring 11 is arranged on back leg connecting rod
The side of the outer end of 10 back leg power rail 8.Under off working state, the bottom surface of back leg sole bar 12 is concordant with frame bottom surface.
As shown in Fig. 1,4,5 and 6, transmission mechanism include battery retaining boards 13, motor 14, draw rolling wheel 15, energy-storaging spring 16,
Fixed pulley 17, gear train, second driven shaft 23, first driven shaft 24, the second fixing axle 25, the first fixing axle 26, power rail group
With cable wire 36.First fixing axle 26 be arranged in parallel with the second fixing axle 25, and is each attached in frame.Battery retaining boards 13 are fixed
In frame.Motor 14 and battery are fixed with battery retaining boards 13；Motor 14 is connected with battery；First driven shaft 24 with
Second driven shaft 23 be arranged in parallel, and is supported in frame.Gear train includes drive gear 18, driven gear 19, first and fanned
Shape gear 20, the second sector gear 21, the first roller gear 22 and the second roller gear 35.Drive gear 18 is defeated with motor 14
Shaft is fixed.Driven gear 19, the second sector gear 21 and two the first sector gears 20 are each attached in first driven shaft 24.
Two the first sector gears 20 are separately positioned on the two ends of the second sector gear 21.Two the first sector gears 20 are fan-shaped second
Projection on the end face of gear 21 is overlapped.Second roller gear 35 and two the first roller gears 22 are each attached to second driven shaft 23
On.Two the first roller gears 22 are separately positioned on the two ends of the second roller gear 35.Two the first roller gears 22 are second
Projection on the end face of roller gear 35 is overlapped.Drive gear 18 is engaged with driven gear 19.First sector gear 20 and the second fan
The corresponding central angle of shape gear 21 is 120 °.The corresponding central angle of first sector gear 20 is on the end face of the first sector gear 20
Be projected as the first projected angle；Projection of two corresponding central angles of the second sector gear 21 on the end face of the first sector gear 20
For the second projected angle；First projected angle is overlapped with a ray of the second projected angle.First roller gear 22 and the first sector
Wheel 20 is engaged, or two the second roller gears 35 engage respectively with two the second sector gears 21, or the first roller gear 22 and
First sector gear 20 is not engaged and the second roller gear 35 is not engaged with the second sector gear 21.The number of teeth of second roller gear 35
1.5 times be less than the number of teeth of the first roller gear 22.Rolling wheel 15 is drawn to be fixed in second driven shaft 23.Power rail group includes first and stored
Can bar 27, the second accumulation of energy bar 28, the 3rd accumulation of energy bar 29, the 4th accumulation of energy bar 30, foreleg drive link 31, back leg drive link 32, back leg
Rocking bar 33 and foreleg rocking bar 34.3rd accumulation of energy bar 29, the 4th accumulation of energy bar 30, one end of foreleg drive link 31 and back leg drive link 32
It is hinged by accumulation of energy jointed shaft.One end of that end of 3rd accumulation of energy bar 29 away from accumulation of energy jointed shaft and the first accumulation of energy bar 27 passes through the
One jointed shaft is hinged.The other end of first accumulation of energy bar 27 and the first fixing axle 26 constitute revolute pair.4th accumulation of energy bar 30 is away from storage
That end and one end of the second accumulation of energy bar 28 of energy jointed shaft are hinged by the second jointed shaft.The other end of second accumulation of energy bar 28 and
Two fixing axles 25 constitute revolute pair.First jointed shaft is connected with the second jointed shaft by energy-storaging spring 16.Foreleg drive link 31 is remote
That end and one end of foreleg rocking bar 34 from accumulation of energy jointed shaft are hinged.The other end of foreleg rocking bar 34 is fixed with foreleg axle 1.Back leg
Drive link 32 that end and one end of back leg rocking bar 33 away from accumulation of energy jointed shaft are hinged.The other end of back leg rocking bar 33 and back leg axle
7 fix.One end of cable wire 36 is with drawing rolling wheel 15 to fix, and the other end is fixed with accumulation of energy jointed shaft.Fixed pulley 17 is supported in frame；
Cable wire 36 bypasses fixed pulley 17.
The operation principle of the present invention is as follows：
Step 1: motor 14 is rotated, drive gear 18 drives driven gear 19 to rotate.Now, the second roller gear 35 with
Second sector gear 21 is engaged, therefore the second sector gear 21 drives second driven shaft 23 to rotate.Drawing volume in second driven shaft 23
Wheel 15 pulls cable wire 36 in rotation process, and accumulation of energy jointed shaft is moved under the pulling of cable wire 36 to fixed pulley 17, and then causes
Energy-storaging spring is deformed.Under the pulling of accumulation of energy jointed shaft, foreleg rocking bar 34 drives foreleg axle 1 to rotate, after back leg rocking bar 33 drives
Leg axle 7 is rotated so that foreleg power rail 2 and back leg power rail 8 are flipped up.Second sector gear 21 and the second roller gear
After 35 engagements are finished, two the first sector gears 20 start to engage respectively with two the first roller gears 22.Due to the first sector
The gearratio of the roller gear 22 of gear 20 and first is less than the gearratio of the second sector gear 21 and the second roller gear 35, therefore the
The rotating speed reduction of two driven shafts 23.With the increase of energy-storaging spring deformation length, the pulling force increase that cable wire 36 is transmitted, second from
In the case that the rotating speed of moving axis 23 is constant, the power of output also increases therewith needed for motor；Now reduce turning for second driven shaft 23
Speed, can slow down the translational speed of cable wire 36, so that defeated needed for the power of output needed for reducing motor 14, and then guarantee motor 14
Go out stablizing relatively for power.
Step 2: the second sector gear 21 is engaged with the second roller gear 35 after finishing, foreleg power rail 2 and back leg power
Bar 8 is quickly downwardly turned in the presence of energy-storaging spring, and foreleg sole bar 6 and the colliding surface of back leg sole bar 12, are frame
Spring, frame skip-forwards are provided.Second driven shaft 23 also turns to original state in the presence of energy-storaging spring.
Step 3: frame is landed, the second roller gear 35 restarts after engaging with the second sector gear 21, repeat step
One and two.
Claims (9)
1. the wheeled hopping robot of sector, including frame, foreleg hopping mechanism, back leg hopping mechanism and transmission mechanism；It is special
Levy and be：Described foreleg hopping mechanism includes foreleg axle (1), foreleg power rail (2), foreleg little spring (3), foreleg connecting rod
(4), foreleg big spring (5) and foreleg sole bar (6)；Described foreleg axle (1) is supported in frame；The two ends of foreleg axle (1)
Fixed respectively with the inner of two foreleg power rails (2)；The middle part of two foreleg power rails (2) and two foreleg connecting rods (4)
One end be respectively articulated with；The other end of two foreleg connecting rods (4) in the middle part of two foreleg sole bars (6) with being respectively articulated with；Institute
The one end for stating foreleg little spring (3) and foreleg big spring (5) is fixed with foreleg power rail (2), the other end with foreleg sole
Bar (6) is fixed；
Described back leg hopping mechanism includes back leg axle (7), back leg power rail (8), back leg little spring (9), back leg connecting rod
(10), back leg big spring (11) and back leg sole bar (12)；Described back leg axle (7) is supported in frame；The two of back leg axle (7)
The inner with two back leg power rails (8) is held to fix respectively；The middle part of two back leg power rails (8) and two back leg connecting rods
(10) one end is respectively articulated with；The other end of two back leg connecting rods (10) and the middle part of two back leg sole bars (12) are cut with scissors respectively
Connect；One end of the back leg little spring (9) and back leg big spring (11) is fixed with back leg power rail (8), and the other end is with after
Legs and feet palm bar (12) is fixed；
Described transmission mechanism include actuator, draw rolling wheel (15), spring (16), gear train, second driven shaft (23), first from
Moving axis (24), power rail group and cable wire (36)；First driven shaft (24) be arranged in parallel with second driven shaft (23), and is supported on
In frame；Described gear train includes the first sector gear (20), the second sector gear (21), the first roller gear (22) and the
Two roller gears (35)；Described the first sector gear (20) and the second sector gear (21) is each attached to first driven shaft (24)
On；Described first driven shaft (24) is driven by actuator；Described the first roller gear (22) and the second roller gear (35)
It is each attached in second driven shaft (23)；First sector gear (20) and the corresponding central angle sum of the second sector gear (21) are small
In or equal to 300 °；The corresponding central angle of first sector gear (20) is projected as first on the first sector gear (20) end face
Projected angle；The corresponding central angle of second sector gear (21) is projected as the second projection on the first sector gear (20) end face
Angle；First projected angle is overlapped with a ray of the second projected angle；First roller gear (22) and the first sector gear
(20) engage, or the second roller gear (35) is engaged with the second sector gear (21), or the first roller gear (22) and the first fan
Shape gear (20) is not engaged and the second roller gear (35) is not engaged with the second sector gear (21)；Described drawing rolling wheel (15) is solid
It is scheduled in second driven shaft (23)；Described power rail group includes the first accumulation of energy bar (27), the second accumulation of energy bar (28), the 3rd accumulation of energy
Bar (29), the 4th accumulation of energy bar (30), foreleg drive link (31), back leg drive link (32), back leg rocking bar (33) and foreleg rocking bar
(34)；3rd accumulation of energy bar (29), the 4th accumulation of energy bar (30), one end of foreleg drive link (31) and back leg drive link (32), which pass through, to be stored
Energy jointed shaft is hinged；That end of 3rd accumulation of energy bar (29) away from accumulation of energy jointed shaft and one end of the first accumulation of energy bar (27) pass through first
Jointed shaft is hinged；The other end of first accumulation of energy bar (27) is hinged with frame；That away from accumulation of energy jointed shaft of 4th accumulation of energy bar (30)
One end with the second accumulation of energy bar (28) is held to be hinged by the second jointed shaft；The other end of second accumulation of energy bar (28) is hinged with frame；
First jointed shaft is connected with the second jointed shaft by energy-storaging spring (16)；That end of foreleg drive link (31) away from accumulation of energy jointed shaft
It is hinged with one end of foreleg rocking bar (34)；The other end of foreleg rocking bar (34) is fixed with foreleg axle (1)；Back leg drive link (32) is remote
That end and one end of back leg rocking bar (33) from accumulation of energy jointed shaft are hinged；The other end of back leg rocking bar (33) is solid with back leg axle (7)
It is fixed；One end of cable wire (36) is with drawing rolling wheel (15) fixed, and the other end is fixed with accumulation of energy jointed shaft.
2. the wheeled hopping robot of sector according to claim 1, it is characterised in that：The foreleg little spring (3) with
The stiffness factor of foreleg big spring (5) is equal, and freedom of the drift less than foreleg big spring (5) of foreleg little spring (3)
Length；Foreleg little spring (3) is arranged on foreleg connecting rod (4) close to the inner side of foreleg power rail (2)；Foreleg big spring
(5) it is arranged on side of the foreleg connecting rod (4) close to foreleg power rail (2) outer end.
3. the wheeled hopping robot of sector according to claim 1, it is characterised in that：The back leg little spring (9) with
The stiffness factor of back leg big spring (11) is equal, and back leg little spring (9) drift be less than back leg big spring (11) from
By length；Back leg little spring (9) is arranged on back leg connecting rod (10) close to the inner side of back leg power rail (8)；The big bullet of back leg
Spring (11) is arranged on the side of back leg connecting rod (10) back leg power rail (8) outer end.
4. the wheeled hopping robot of sector according to claim 1, it is characterised in that：Described actuator includes motor
(14), drive gear (18) and driven gear (19)；Described motor (14) is fixed in frame；Drive gear (18) and motor
(14) output shaft is fixed；Driven gear (19) is fixed with first driven shaft (24)；Drive gear (18) and driven gear (19)
Engagement.
5. the wheeled hopping robot of sector according to claim 1, it is characterised in that：First sector gear (20)
And second the corresponding central angle of sector gear (21) be 120 °.
6. the wheeled hopping robot of sector according to claim 1, it is characterised in that：It is fixed to be supported with described frame
Pulley (17)；Described cable wire (36) bypasses fixed pulley (17).
7. the wheeled hopping robot of sector according to claim 1, it is characterised in that：Be fixed with described frame with
The connected battery of actuator.
8. the wheeled hopping robot of sector according to claim 1, it is characterised in that：Second roller gear (35)
1.5 times of the number of teeth are less than the first roller gear (22) number of teeth.
9. the wheeled hopping robot of sector according to claim 1, it is characterised in that：The first described sector gear
(20) two are had；Two the first sector gears (20) are separately positioned on the two ends of the second sector gear (21)；Two first fans
Projection of the shape gear (20) on the second sector gear (21) end face is overlapped；Described the first roller gear (22) has two；
Two the first roller gears (22) are separately positioned on the two ends of the second roller gear (35)；Two the first sector gears (20) and two
Individual first roller gear (22) is engaged respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710504316.8A CN107161236B (en) | 2017-06-28 | 2017-06-28 | Sector gear type hopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710504316.8A CN107161236B (en) | 2017-06-28 | 2017-06-28 | Sector gear type hopping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107161236A true CN107161236A (en) | 2017-09-15 |
| CN107161236B CN107161236B (en) | 2023-03-31 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710504316.8A Active CN107161236B (en) | 2017-06-28 | 2017-06-28 | Sector gear type hopping robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497960A (en) * | 2020-05-12 | 2020-08-07 | 中国科学院沈阳自动化研究所 | Wheel step self-adaptive variable-configuration mobile robot |
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| CN101797937A (en) * | 2010-04-12 | 2010-08-11 | 北京航空航天大学 | Bionic galloping robot based on connecting rod mechanism |
| CN102806951A (en) * | 2012-08-07 | 2012-12-05 | 北方工业大学 | Frog-inspired biomimetic jumping robot |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| CN105059412A (en) * | 2015-08-14 | 2015-11-18 | 西北工业大学 | Bionic hopping robot driven by internal combustion engine |
| CN105292291A (en) * | 2015-11-24 | 2016-02-03 | 刘阳 | Bionic frog electric robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111497960A (en) * | 2020-05-12 | 2020-08-07 | 中国科学院沈阳自动化研究所 | Wheel step self-adaptive variable-configuration mobile robot |
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