CN108189922A - Single-degree-of-freedom accumulation of energy discharges integrated bionic hopping mechanism - Google Patents
Single-degree-of-freedom accumulation of energy discharges integrated bionic hopping mechanism Download PDFInfo
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- CN108189922A CN108189922A CN201810010189.0A CN201810010189A CN108189922A CN 108189922 A CN108189922 A CN 108189922A CN 201810010189 A CN201810010189 A CN 201810010189A CN 108189922 A CN108189922 A CN 108189922A
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- Prior art keywords
- crank
- gear
- rocker mechanism
- bar
- elastic torsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The single-degree-of-freedom accumulation of energy release integrated bionic hopping mechanism of the present invention, including rack, driving motor, the first crank and rocker mechanism, the second crank and rocker mechanism, the first elastic torsion component, the second elastic torsion component, first gear bar, second gear bar and pedestal；The driving motor is corresponding respectively to be rotated in a reverse direction by the crank of the first crank and rocker mechanism and the second crank and rocker mechanism described in the first elastic torsion component and the second elastic torsion Component driver；Rocking bar one end of first crank and rocker mechanism is extended to be hinged with rack, and the other end is articulated with first gear bar；Rocking bar one end of second crank and rocker mechanism is extended to be hinged with rack, and the other end is articulated with second gear bar；Elastic stretching part is connected between the first gear bar and second gear bar, the gear of the two is rotatable and is installed on the pedestal and intermeshing；This hopping mechanism can be driven using a motor one direction continuous rotation, realize that elasticity can put aside, the integration of abrupt release solves, and have the characteristics that drive less, compact-sized, capacity usage ratio is high and controls simple.
Description
Technical field
The present invention relates to hopping robot field, specifically a kind of single-degree-of-freedom accumulation of energy release integrated bionic jump machine
Structure.
Background technology
Traditional legged type robot adapts to general road conditions, but if encountering emergency case and excessively high obstacle is with regard to incapability
Power.Hopping robot can then solve this problem.
At present, there are many hopping robots, but such robot of the prior art generally uses leading screw
Etc. mechanisms compressed spring, can complete simply to jump, the supporting mechanism of hopping mechanism is generally using the mechanisms such as double leval jib, robot
The time that ontology take-off rear support position is contacted with ground is short, if to jump to the high height of comparison, this just needs energy storage
Mechanism has bigger explosive force.In addition, existing hopping robot, when completing jump action, energy storage and release is to pass through
What different mechanisms separately drove, such hopping mechanism is generally prevented in energy storage using non-return mechanisms such as clicks
Recoil of spring releases the non-return effect of non-return mechanism so as to complete jump action during jump using individual trigger device, therefore,
Existing jump device is there are complicated, and less efficient, dead weight is larger, and the shortcomings that lack practicability.
Invention content
In view of this, the purpose of the present invention is overcoming in the prior art the defects of, provides a kind of single-degree-of-freedom accumulation of energy release
Integrated bionic hopping mechanism, the mechanism can be driven using a motor one direction continuous rotation, realize elastic energy product
Store, the integration of abrupt release solves, have the characteristics that driving less, compact-sized, capacity usage ratio is high and controls simple.
The single-degree-of-freedom accumulation of energy release integrated bionic hopping mechanism of the present invention, including rack, driving motor, the first crank
Rocker device, the second crank and rocker mechanism, the first elastic torsion component, the second elastic torsion component, first gear bar, the second tooth
Take turns bar and pedestal；The driving motor is corresponding by described in the first elastic torsion component and the second elastic torsion Component driver respectively
The crank of first crank and rocker mechanism and the second crank and rocker mechanism rotates in a reverse direction；First crank and rocker mechanism
Rocking bar one end extend to and be hinged with rack, the other end is articulated with first gear bar；The rocking bar of second crank and rocker mechanism
One end is extended to be hinged with rack, and the other end is articulated with second gear bar；Connect between the first gear bar and second gear bar
Elastic stretching part is connected to, the gear of the two is rotatable and is installed on the pedestal and intermeshing；
Further, the first elastic torsion component includes the first input gear, the first output gear and is connected to described
The first torsional spring between first input gear and the first output gear；The second elastic torsion component includes the second input tooth
Wheel, the second output gear and the second torsional spring being connected between second input gear and the second output gear；Described first
Input gear be sequentially connected in driving motor output shaft and be engaged in the second input gear, first output gear and second
Output gear corresponds to the crank of crank and the second crank and rocker mechanism for being fixed on the first crank and rocker mechanism, and the two phase respectively
Mutually engagement；
Further, the rack is axially symmetric structure, and first crank and rocker mechanism and the second crank and rocker mechanism close
It is symmetrically arranged in the rack in the symmetry axis of rack；
Further, the elastic stretching part is tension spring；
Further, the specification of first input gear and the second input gear is identical；First output gear and
The specification of two output gears is identical.
The beneficial effects of the invention are as follows：The single-degree-of-freedom accumulation of energy release integrated bionic hopping mechanism of the present invention, based on ten
Connecting rod-gear composite structure imitates the jumping mechanism of the symmetrical accumulation of energys of both legs such as leafhopper, frog and spring, employs ten companies
The bionical hopping mechanism of single-degree-of-freedom of bar-compound closed chain mechanism of bidentate wheel set.The bionical hopping mechanism is made using tension spring and torsional spring
For energy-accumulating element jumped needed for elasticity can savings, be driven using a motor one direction continuous rotation, it can be achieved that
Elasticity can put aside, the integration of abrupt release solves, have driving less, compact-sized, capacity usage ratio is high and controls simply
Feature.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is matching for the first input gear of the invention, the second input gear, the first output gear and the second output gear
Close schematic diagram；
Fig. 3 is the first gear bar of the present invention and the cooperation schematic diagram of second gear bar.
Specific embodiment
Fig. 1 is the structural diagram of the present invention, as shown in the figure, the single-degree-of-freedom accumulation of energy release integrated bionic of the present embodiment
Hopping mechanism, including rack 1, driving motor 2, the first crank and rocker mechanism, the second crank and rocker mechanism, the first elastic torsion group
Part, the second elastic torsion component, first gear bar 7, second gear bar 9 and pedestal 8；Correspondence passes through the driving motor 2 respectively
First crank and rocker mechanism and the second crank and rocker mechanism described in first elastic torsion component and the second elastic torsion Component driver
Crank rotate in a reverse direction, i.e., driving motor 2 passes through first the first crank and rocker mechanism of elastic torsion Component driver
Crank rotates；Driving motor 2 is rotated by the crank of the second crank and rocker mechanism described in the second elastic torsion Component driver,
In, elastic torsion component is that all can carry out the parts of elastic transmission in the prior art, can be occurred in transmission process
Elastic torsion, the elastic potential energy formed during elastic torsion will be used to jump, and driving motor 2 is to the first elastic torsion group
Part and the second elastic torsion component can be realized by the transmission mechanism of existing all forms；First crank and rocker mechanism
6 one end of rocking bar is extended to be hinged with rack 1, and the other end is articulated with first gear bar 7；The rocking bar of second crank and rocker mechanism
10 one end are extended to be hinged with rack 1, and the other end is articulated with second gear bar 9；Rack include a gear and with the gear phase
To fixed rod piece, rocking bar (6,10) lower end of crank and rocker mechanism is articulated with the rod piece upper end of rack；The first gear
It is connected with elastic stretching part between bar 7 and second gear bar 9, the gear of the two is rotatable and is installed on the pedestal 8 and mutually
Engagement；
Driving motor 2 is respectively by the first elastic torsion component and two crank of the second elastic torsion Component driver with opposite
Direction rotates, and in the energy storage stage, torsional spring deforms in transmission process starts energy storage.Simultaneously as the rotation of two cranks, will drive
Crank rocker moves, and the spacing between two racks is made gradually to increase, and elastic stretching part is driven to elongate, and elastic stretching part starts to store up
Can, entire mechanism starts longitudinal contraction (rack 1 moves downward, and is drawn close to pedestal 8).When the E points and second on first gear bar 7
When the distance between K points on rack 9 are maximum, position is reached the limit of, energy storage finishes, and entire hopping mechanism is retracted to the limit
Position.In thermal energy storage process, due to the gravity of mechanism itself, ground is less than gravity, therefore machine in face of the reaction force of bottom plate 8
Device people is in energy storage state and will not take-off always.When reaching the limit of position, motor is rotated further, the rotation of two cranks and
Distance reduces between the effect of elastic stretching part can drive the K points on E points and second gear bar 9 on first gear bar 7, this
When the abrupt release simultaneously of the energy saved in thermal energy storage process of elastic torsion part and elastic stretching part, pedestal 8 produces ground moment
Raw maximum bursts out power effect, and under the action of ground reaction force, jump is emptied in robot realization.
In the present embodiment, the first elastic torsion component includes the first input gear 3, the first output gear 4 and connection
The first torsional spring between 3 and first output gear 4 of the first input gear；The second elastic torsion component includes second
Input gear 13, the second output gear 12 and be connected between 13 and second output gear 12 of the second input gear second
Torsional spring；First input gear 3 be sequentially connected in driving motor 2 output shaft and be engaged in the second input gear 13, it is described
The corresponding crank for being fixed on the first crank and rocker mechanism and the second crank shake respectively for first output gear 4 and the second output gear 12
The crank of linkage, and the two is intermeshed.In the energy storage stage, driving motor 2 drives the first input gear 3 to rotate, and first is defeated
Entering gear 3 drives the second input gear 13 to rotate, since the first output gear 4 and 12 equal empty set of the second output gear are on axis,
The rotation of first input gear 3 and the second input gear 13 will not drive the first output gear 4 and the second output gear 12 at once
Synchronized rotation, be connected in the first input gear 3 and the first output gear 4, the second input gear 13 and the second output gear 12 it
Between torsional spring under differential torsional deflection start energy storage.Due to the effect of torsional spring, two cranks will start slowly to rotate, as long as
There are speed discrepancies, torsional spring between input gear and output gear to continue to energy storage.
In the present embodiment, the rack 1 is isosceles trapezoidal structure, naturally it is also possible to described using other axially symmetric structures
Correspondence is articulated with isosceles trapezoidal structure to the rocking bar 10 of 6 and second crank and rocker mechanism of rocking bar of first crank and rocker mechanism respectively
Two base angles of rack 1, and the symmetry axis pair of the first crank and rocker mechanism and the second crank and rocker mechanism about isosceles trapezoid
Claim to be mounted in rack, therefore, entire hopping mechanism is axially symmetric structure, and symmetry axis is the symmetry axis of isosceles trapezoid, this
Structure can be ensured that the center of gravity of entire hopping mechanism is located on symmetry axis, it is ensured that it is dynamic that hopping mechanism can smoothly carry out jump
Make.
In the present embodiment, the elastic stretching part is tension spring.
In the present embodiment, first input gear 3 is identical with the specification of the second input gear 13；First output gear
Wheel 4 is identical with the specification of the second output gear 12, and " specification is identical " referred to herein refers to the angle of engagement of gear, gear die
Number, number of teeth all same, are co-axially mounted, second is defeated additionally, due to the first input gear 3 in the present embodiment and the first output gear 4
Enter 13 and second output gear 12 of gear to be co-axially mounted, therefore the reference radius of the first input gear 3 and the first output gear 4
Identical, the second input gear 13 is identical with the reference radius of the second output gear 12, this structure can be ensured that two groups it is symmetrical
The first toggle and the second toggle of installation can synchronize same amplitude action, while reduce whole device
Manufacture cost, improve interchangeability of parts, while make the layout between parts more compact.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail in good embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered the present invention's
In right.
Claims (5)
1. a kind of single-degree-of-freedom accumulation of energy discharges integrated bionic hopping mechanism, it is characterised in that：Including rack, driving motor,
One crank and rocker mechanism, the second crank and rocker mechanism, the first elastic torsion component, the second elastic torsion component, first gear bar,
Second gear bar and pedestal；The driving motor is corresponding respectively to be driven by the first elastic torsion component and the second elastic torsion component
The crank for moving first crank and rocker mechanism and the second crank and rocker mechanism rotates in a reverse direction；First crank shakes
Rocking bar one end of linkage is extended to be hinged with rack, and the other end is articulated with first gear bar；Second crank and rocker mechanism
Rocking bar one end extend to and be hinged with rack, the other end is articulated with second gear bar；The first gear bar and second gear bar
Between be connected with elastic stretching part, the gear of the two is rotatable and is installed on the pedestal and intermeshing.
2. single-degree-of-freedom accumulation of energy according to claim 1 discharges integrated bionic hopping mechanism, it is characterised in that：Described
One elastic torsion component includes the first input gear, the first output gear and is connected to first input gear and the first output
The first torsional spring between gear；The second elastic torsion component includes the second input gear, the second output gear and is connected to
The second torsional spring between second input gear and the second output gear；First input gear is sequentially connected in driving electricity
The output shaft of machine is simultaneously engaged in the second input gear, and first output gear and the second output gear are corresponding respectively to be fixed on the
The crank of the crank of one crank and rocker mechanism and the second crank and rocker mechanism, and the two is intermeshed.
3. single-degree-of-freedom accumulation of energy according to claim 2 discharges integrated bionic hopping mechanism, it is characterised in that：The machine
Frame is axially symmetric structure, and first crank and rocker mechanism and the second crank and rocker mechanism are symmetrically installed about the symmetry axis of rack
In in the rack.
4. single-degree-of-freedom accumulation of energy according to claim 3 discharges integrated bionic hopping mechanism, it is characterised in that：The bullet
Property tensioning member be tension spring.
5. single-degree-of-freedom accumulation of energy according to claim 4 discharges integrated bionic hopping mechanism, it is characterised in that：Described
The specification of one input gear and the second input gear is identical；The specification of first output gear and the second output gear is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010189.0A CN108189922B (en) | 2018-01-05 | 2018-01-05 | Single-degree-of-freedom accumulation of energy discharges integrated bionic hopping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010189.0A CN108189922B (en) | 2018-01-05 | 2018-01-05 | Single-degree-of-freedom accumulation of energy discharges integrated bionic hopping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108189922A true CN108189922A (en) | 2018-06-22 |
| CN108189922B CN108189922B (en) | 2019-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810010189.0A Active CN108189922B (en) | 2018-01-05 | 2018-01-05 | Single-degree-of-freedom accumulation of energy discharges integrated bionic hopping mechanism |
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Citations (9)
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|---|---|---|---|---|
| RU97106U1 (en) * | 2010-04-05 | 2010-08-27 | Государственное образовательное учреждение высшего профессионального образования Курский государственный технический университет | Jumping Robot |
| CN102050157A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Energy storage and release device of hopping robot |
| CN102050156A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Bionic hopping robot with two degrees of freedom |
| CN105966482A (en) * | 2016-06-12 | 2016-09-28 | 重庆大学 | Multi-connection-rod jumping mechanism |
| CN105966483A (en) * | 2016-06-13 | 2016-09-28 | 西北工业大学 | Gear five-rod jumping ankle joint based on hydraulic driving |
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
| CN106965867A (en) * | 2017-05-02 | 2017-07-21 | 南开大学 | It is a kind of to lead the driver that passive accumulation of energy is combined |
| CN107089275A (en) * | 2017-03-27 | 2017-08-25 | 西北工业大学 | It is a kind of can posture adjustment in the air and land energy regenerating sufficient roll-type interval hopping robot |
| CN107161228A (en) * | 2017-06-28 | 2017-09-15 | 杭州师范大学钱江学院 | Bionic kangaroo-hopping robot |
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2018
- 2018-01-05 CN CN201810010189.0A patent/CN108189922B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050157A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Energy storage and release device of hopping robot |
| CN102050156A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Bionic hopping robot with two degrees of freedom |
| RU97106U1 (en) * | 2010-04-05 | 2010-08-27 | Государственное образовательное учреждение высшего профессионального образования Курский государственный технический университет | Jumping Robot |
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
| CN105966482A (en) * | 2016-06-12 | 2016-09-28 | 重庆大学 | Multi-connection-rod jumping mechanism |
| CN105966483A (en) * | 2016-06-13 | 2016-09-28 | 西北工业大学 | Gear five-rod jumping ankle joint based on hydraulic driving |
| CN107089275A (en) * | 2017-03-27 | 2017-08-25 | 西北工业大学 | It is a kind of can posture adjustment in the air and land energy regenerating sufficient roll-type interval hopping robot |
| CN106965867A (en) * | 2017-05-02 | 2017-07-21 | 南开大学 | It is a kind of to lead the driver that passive accumulation of energy is combined |
| CN107161228A (en) * | 2017-06-28 | 2017-09-15 | 杭州师范大学钱江学院 | Bionic kangaroo-hopping robot |
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| Publication number | Publication date |
|---|---|
| CN108189922B (en) | 2019-11-29 |
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