CN108394484A - A kind of imitative locust jumping robot with gliding function - Google Patents
A kind of imitative locust jumping robot with gliding function Download PDFInfo
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- CN108394484A CN108394484A CN201810135603.0A CN201810135603A CN108394484A CN 108394484 A CN108394484 A CN 108394484A CN 201810135603 A CN201810135603 A CN 201810135603A CN 108394484 A CN108394484 A CN 108394484A
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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 invention discloses a kind of imitative locust jumping robots with gliding function, are related to robotic technology field.Including trunk structure, buffering leg structure, gliding fin structure, jump leg structure, drive module.Buffering leg structure forms the landing buffer, it can be achieved that robot by four buffering leg branches.Gliding wing is made of two buffering leg branches and spring, and the gliding of the folding and unfolding realization robot of gliding wing is driven by camber of spring.The jump leg branch that jump leg structure is made of two six-bar mechanisms respectively forms, and realizes the efficient jump of robot.Drive module is made of gliding wing drive module and jump leg module, realizes energy storage and transient burst of energy by motor band moving cam pressuring spring deformation.The present invention buffers leg structure, gliding fin structure, jump leg three kinds of structures of structure by combining, and improves the obstacle climbing ability and jump performance of hopping robot, realizes the settling landing of robot.
Description
Technical field
The present invention relates to robotic technology fields, are a kind of imitative locust jumping machines with gliding function specifically
People, the technology may make hopping robot to realize higher jump performance and more stable landing data, can be applied to extreme ring
Border landing face.
Background technology
With the development of technology, robot technology is used widely in all fields.And in interspace detection, life rescue
With the fields such as military surveillance, there are various types of complicated, unstructured working environments, and this requires robot is small and has
There is powerful obstacle climbing ability.Since locust is small and can cross and is several times as much as the barriers of own dimensions, researcher is based on imitative
It is raw to learn principle, have devised all kinds of imitative locust jumping robots.
In imitative locust jumping robot field, some achievements are had been achieved at present.Publication No. is the hair of 105438306A
Bright patent《A kind of imitative locust jumping robot with locust performance》By designing four completely identical in structure buffering legs point
Branch, realizes the landing buffer of robot.But buffering leg design is thin, shock resistance is poor, the easy bending failure of buffering leg.It announces
Number be 101954935A patent of invention《The hopping robot of imitative locust movable joint lever ejection mechanism》According to locust lever
Ejection mechanism has devised the robot with slow energy storage and quick release ability.But there are energy for abrupt release in designing
It is lost and without landing buffer structure, ground shock is big.The problem of for above-mentioned design, needs to design a kind of Novel tripping
Jump robot, while ensureing to have good cushion performance, has higher jump performance and farther skip distance.
Invention content
The object of the present invention is to provide a kind of imitative locust jumping robots with gliding function, can be by jump process
Middle folding and unfolding gliding wing realizes farther skip distance；Higher jump performance is realized by the jump leg of six-bar mechanism；By slow
Rush the settling landing that leg realizes hopping robot.
The imitative locust jumping robot of gliding function of the present invention, including trunk structure (1), buffering leg structure (2), gliding wing
Structure (3), jump leg structure (4), drive module (5)；
With reference to Fig. 2, trunk structure (1) includes left connection board (11), right connection board (13), middle connecting plate (12) three
Point；Left connection board (11) is parallel with right connection board (13), and vertically fixation rides over left connection board (11), right connection to connecting plate (12)
Between plate (13)；Left connection board (11) lateral surface lower end is fixed with the first buffering leg support (111) and second in tandem and delays
Rush leg support (112)；Same right connection board (13) lateral surface lower end is fixed with two buffering leg supports in tandem.It is above-mentioned every
There are one the branches of buffering leg structure (2) to buffer leg branch for a buffering leg support installation.
Each buffering leg branch include with bend downward buffering thigh (211), inclined buffering shank (212),
First torsional spring (213), the second torsional spring (214) use axis connection between one end and buffering leg support of buffering thigh (211), delay
Thigh (211) current buffer leg support rotation in vertical corresponding left connection board (11), right connection board (13) face is rushed, simultaneously
Angle between corresponding left connection board (11) or right connection board (13) and buffering thigh is equipped with the first torsional spring
(213), i.e. one end of the first torsional spring (213) is fixedly connected with left connection board (11) or right connection board (13), the first torsional spring (213)
The other end with buffering thigh (211) be fixedly connected, the first torsional spring (213) be located at buffering thigh (211) top；Buffer thigh
(211) axis connection, buffering shank is used to be parallel to left company between the decurved other end and one end of buffering shank (212)
It is rotatable around buffering thigh (211) in the plane of fishplate bar (11) or right connection board (13)；Two in left connection board the same side
It is tilted in splayed between buffering shank (212)；Buffering shank in left connection board (11) or right connection board (13) the same side
(212) plane where is parallel with left connection board (11) or right connection board (13) respectively；Plane where each buffering thigh (211) is equal
Vertical left connection board (11) or right connection board (13)；It buffers and uses the second torsional spring between thigh (211) and buffering shank (212)
(214) it is limited, the both ends of the second torsional spring (214) are respectively and fixedly installed to buffering thigh (211) and buffering shank (212)
On；Second torsional spring (214) is located at the outside of eight words；
The fin structure (3) that glides includes two gliding wing branches and third spring (33) three parts；Gliding fin structure position
In positioned at the front of imitative locust jumping robot；Each gliding wing branch includes wing holder (311), wing shaft (312), wing
Wing skeleton structure, (313) four part of ala；Wherein, wing skeleton structure include the first skeleton (314), the second skeleton (315),
Third skeleton (316), the 4th skeleton (317), the 5th skeleton (318), the 6th skeleton (319), the 7th skeleton (320)；Wing branch
Frame (311) is harden structure；First skeleton (314), the second skeleton (315), third skeleton (316), the 4th skeleton (317), the 5th
Skeleton (318), the 6th skeleton (319), the 7th skeleton (320) are parallel successively to be arranged and axis connection is respectively adopted fixed to wing branch
In a side of frame (311), each skeleton is rotatable；First skeleton (314) is using the wing shaft (312) protruded and wing branch
Frame (311) axis connection, and wing shaft (312) is fixed as one with the first skeleton (314)；First skeleton (314), the second skeleton
(315), third skeleton (316), the 4th skeleton (317), the 5th skeleton (318), the 6th skeleton (319), the 7th skeleton (320) are adopted
It is linked together with ala (313)；Two gliding wing branches are respectively adopted wing holder (311) and are fixed on trunk structure (1)
In both sides, that is, corresponding left connection board (11) and right connection board (13)；It is adopted between the wing shaft (312) of two gliding wing branches
It is connected with torsional spring (33), the both ends of torsional spring (33) are fixed respectively and carry out spiral winding in wing shaft (312) so that torsional spring
(33) non-rectilinear dilatation can drive wing shaft (312) rotation to which driving opens and closes wing skeleton structure,
Ensure the synchronism of the wing skeleton structure opening and closing of two gliding wing branches simultaneously；
Leg structure of jumping (4) includes two jump leg branches and jump leg connecting rod (43) three parts；Two jump legs
Branch is located at the i.e. corresponding left connection board (11) in both sides and right connection board (13) opposite facing outside of trunk structure (1)；
Leg structure of jumping is located at the rear portion of imitative locust jumping robot；
Each jump leg branch includes connecting rod link block (411), first connecting rod (412), second connecting rod (413), third company
Bar (414), fourth link (415), footmuff (416), the 4th torsional spring (417), long fixed column (418), short fixed column (419) nine
Point；The connection relation of each component is：Connecting rod link block (411) overall appearance is triangle platy structure, and three angles are denoted as respectively
Angle A, angle B, angle C；Connecting rod link block (411) is adopted by angle A left connection boards (11) corresponding with place side or right connection board (13)
Axis connection is carried out with long fixed column (418)；Angle B and one end of first connecting rod (412) carry out axis connection, first connecting rod (412)
One end of the other end and second connecting rod (413) carries out axis connection；The other end of second connecting rod (413) is nested with footmuff (416) work
For free end, can be contacted with ground；The centre point of second connecting rod (413) carries out axis company with one end of third connecting rod (414)
It connects, the angle between second connecting rod (413) and third connecting rod (414) is attached using the 4th torsional spring (417), i.e. the 4th torsional spring
(417) one end is connected with second connecting rod 413, and the other end is connected with third connecting rod (414), and initial deformation amount can be as needed
It adjusts, energy is released with moment when jump for energy storage before leg jump of jumping；The other end of third connecting rod (414) and connecting rod link block
(411) angle C carries out axis connection；One end left connection board (11) corresponding with place side of fourth link (415) or right connection board
(13) axis connection, the short fixed column (419) and long fixed column of the same jump leg branch are carried out using short fixed column (419)
(418) in the fixed same left connection board (11) or right connection board (13), and long fixed column (418) is located at left connection board (11)
Or right connection board (13) top, and the position of short fixed column (419) is less than long fixed column (418)；Fourth link (415) it is another
End and the centre point of second connecting rod (413) carry out axis connection；Second connecting rod (413) and third connecting rod (414), fourth link
(415) position for carrying out axis connection can be identical, also can be preferably different with difference；Two connecting rods of two jump leg branches connect
It connects and is fixedly connected using jump leg connecting rod (43) between block (411), while driving the rotation of two connecting rod link blocks (411), and ensure
Two jump leg branches realize the synchronism of movement.
Drive module (5) includes wing drive module (51), jump leg drive module (52) two parts；Wing drive module
(51) include first motor (511), first motor axis (512), the first cam (513), (514) four part of the second cam；It is each
The connection relation of component is：First motor (511) connects with first motor axis (512) axis, and motor drives motor shaft rotation, the first electricity
Arbor (512) and third spring (33) be in line state when it is parallel, and first motor axis (512) is in line with third spring (33)
Parallel distance between when state is denoted as L1, is cased with respectively on first motor axis (512) and fixes the first cam (513) and second
Cam (514), the first cam (513) and the second cam (514) have identical contour curve and structure type, and flat
Row, the irregular cam structure of the first cam (513) and the second cam (514) for radial dimension not etc., the first cam (513) and
The radius of second cam (514) has the part more than L1 and the part less than or equal to L1；First cam (513) and the second cam
(514) radial edges can drive third spring (33) to lordosis or not convex, drive wing shaft (312) to rotate, to drive
Entire wing skeleton structure rotation, that is, realize the opening and closing of wing skeleton structure；First motor axis (512) one end axis is connected on a left side
On connecting plate (11), other end axis is connected in right connection board (13)；First motor (511) is connected on middle connecting plate (12).
Leg drive module of jumping (52) includes the second motor (512), the second motor shaft (522), third cam (523), the
(524) four part of four cams；The connection relation of each component is：Second motor (512) connects with the second motor shaft (522) axis, electricity
Machine drives motor shaft rotation；Third cam (523) is parallel with the 4th cam (524) and fixing sleeve is on the second motor shaft (522)；
First cam (513) has identical contour curve and structure type with the second cam (514)；Second motor shaft (522)
It is parallel with jump leg connecting rod (43), and parallel distance between the two is denoted as L2, third cam (523) and the 4th cam (524)
For the irregular cam structure that radial dimension does not wait, the radius of third cam (523) and the 4th cam (524) has the portion more than L2
Point and the part less than or equal to L2, pass through third cam (523) and the 4th cam (524) radial edges driving jump leg connecting rod
(43) it is moved forward and backward up and down, to drive entire jump leg structure bounce；
Second motor shaft (522) one end axis is connected in left connection board (11), and other end axis is connected in right connection board (13).The
Two motors (521) are connected on middle connecting plate (12).
The jump leg of the present invention forms single-degree-of-freedom six-bar mechanism and a watt type can also be used using Stefansson type, excellent
Change method is to solve with given centroid position immediate one group in the case of given beginning, last position swing of leg angle
Mechanism joint attitude angle, and as with reference to so that trunk rotational angle is minimum.Optimal Parameters are determined first, and according to practical feelings
Condition provides corresponding constraints.Particularly, the long difference of bar is excessive and lose contact with reality in order to prevent, it is also necessary to grow bar than carrying out
Constraint.Then according to kinematical equation, solve the centroid position under beginning, last current state, and judge the centroid position solved with
The deviation of given centroid position.After completing kinematics solution, the trunk rotational angle of whole story position is further solved, and will
The absolute value of its difference object function as an optimization.It is finally optimized using genetic algorithm so that the one of object function minimum
The as required value of group bar length.Particularly, according to the difference of design requirement, barycenter position can be also given when joint attitude angle determines
It sets so that swing of leg angle and given value are closest.
The advantage of the invention is that.
The present invention jumps leg structure as single-degree-of-freedom six-bar mechanism, by optimization method, realizes comprising end orbit, trunk
Multiple target including posture, take-off speed etc. can meet the requirement of kinematic constraint simultaneously, and then realization take-off pose is accurate, machine
The good advantage of structure robustness；
The present invention buffers the thinking that leg structure breaks through existing simulation locust leg physiological structure, devises a kind of New Buffering
Leg improves stability region when hopping robot lands, reduces the ground shock power that robot is subject to；
The present invention glides wing drive module by cam compressing torsional spring deformation folding and unfolding gliding wing, has the advantages of simple structure and easy realization；
While the design of gliding fin structure improves robot jump attitude stability, skip distance is also improved.
Description of the drawings
Robot overall structure diagram in Fig. 1 present invention；
Robot trunk structural schematic diagram in Fig. 2 present invention；
Robot buffering leg, jump leg schematic layout pattern in Fig. 3 present invention；
Robot buffering leg, jump leg, drive module structural schematic diagram in Fig. 4 present invention；
Robot gliding fin structure schematic diagram in Fig. 5 present invention；
Robotically-driven module assembling schematic diagram in Fig. 6 present invention；
Posture schematic diagram before robot jump in Fig. 7 present invention；
Posture schematic diagram after robot jump in Fig. 8 present invention；
In figure：
1- trunk structures 2- buffering leg structure 3- gliding wing structure 4- jump leg structure 5- drive modules
11- left connection board 12- middle connecting plate 13- right connection boards
111- first buffers leg support 112- second and buffers leg support 113- the first locating slot the second locating slots of 131-
21- first buffers leg branch 22- second and buffers the 4th buffering legs point of leg branch 23- thirds buffering leg branch 24-
Branch
211- hypsokinesis buffering thigh 212- buffering shank 213- the first torsional spring the second torsional springs of 214- 221- leans forward buffering
Thigh
The gliding wings of 31- first branch 32- the second gliding wing branch 33- third springs
311- wing holder 312- wing shaft 313- alas 314- the first skeleton 315- the second skeleton 316- thirds
The 7th skeletons of the 5th the 6th skeleton 320- of skeleton 319- of skeleton the 4th skeleton 318- of 317-
The jump legs of 41- first branch 42- the second jump leg branch 43- jump leg connecting rods
411- connecting rod link block 412- first connecting rod 413- second connecting rod 414- third connecting rod 415- fourth links
The 4th short fixed columns of torsional spring 418- long fixed columns 419- of 416- footmuffs 417-
51- wing drive modules 52- jump leg drive modules
511- first motor 512- first motor axis 513- the first cam 514- the second cam the second motors of 521-
The 4th cams of 522- the second motor shaft 523- third cams 524-
Specific implementation mode
Illustrate the present invention with reference to the accompanying drawings and examples, but the present invention is not limited to following embodiments.
Embodiment 1
Referring to Fig.1, the imitative locust jumping robot of gliding function of the present invention, including trunk structure 1, buffering leg structure 2, cunning
Xiang fin structure 3, jump leg structure 4, drive module 5.
With reference to Fig. 2, trunk structure 1 includes left connection board 11, right connection board 13,12 three parts of middle connecting plate.Left connection
Connection relation between plate 11, right connection board 13, middle connecting plate 12 is：Left connection board 11 passes through first in left connection board 11
The location fit of locating slot 113 and middle connecting plate 12, which is realized, to be connected, and right connection board 13 is fixed by second in right connection board 13
The location fit of position slot 131 and middle connecting plate 12, which is realized, to be connected, and left connection board 11 and right connection board 13 are connected relative to centre
The axisymmetrical of plate 12.
With reference to Fig. 2, Fig. 3, Fig. 4, buffering leg structure 2 includes that the first buffering leg branch 21, second buffers leg branch 22, third
It buffers leg branch the 23, the 4th and buffers 24 4 part of leg branch.First buffering leg branch 21 includes hypsokinesis buffering thigh 211, buffering
Shank 212, the first torsional spring 213,214 4 part of the second torsional spring.The connection relation of each component is：Hypsokinesis buffer thigh 211 with
Buffering 212 axis of shank connects, and the two can be achieved to relatively rotate；Second torsional spring, 214 one end is connected with hypsokinesis buffering thigh 211, one end
It is connected with buffering shank 212, initial deformation amount can be adjusted as needed, for limiting buffering shank 212 and relative to hypsokinesis
Buffer the relative rotation of thigh 211.It is identical with the structure type of the first buffering leg branch 21 that third buffers leg branch 23.The
One buffering leg branch 21 is buffered by the hypsokinesis of the first buffering leg branch 21 in thigh 211 and left connection board 11 with left connection board 11
First buffering 111 axis of leg support connect, the two can be achieved relatively rotate.First torsional spring, 213 one end is connected with left connection board 11, and one
End with hypsokinesis buffering thigh 211 be connected, initial deformation amount can be adjusted as needed, for limit hypsokinesis buffer thigh 211 and
Relative rotation relative to left connection board 11.First buffering leg branch 21, second buffers leg branch 22, third buffering leg branch 23
It is identical with the connection type of trunk structure 1 with the 4th buffering leg branch 24.Second buffering leg branch 22 includes the buffering that leans forward
Thigh 221, buffering shank 212, the first torsional spring 213,214 4 part of the second torsional spring.The connection relation of each component is：It leans forward slow
It rushes thigh 221 to connect with buffering 212 axis of shank, the two can be achieved to relatively rotate；Second torsional spring, 214 one end and the buffering thigh that leans forward
221 are connected, and one end is connected with buffering shank 212, and initial deformation amount can be adjusted as needed, for limiting buffering shank 212
With the relative rotation relative to the buffering thigh 221 that leans forward.The structure shape of 4th buffering leg branch 24 and the second buffering leg branch 22
Formula is identical.
With reference to Fig. 4, Fig. 5, Fig. 8, gliding fin structure 3 includes first the 31, second gliding wing branch of gliding wing branch 32, third
33 three parts of spring.First gliding wing branch 31 includes wing holder 311, wing shaft 312, wing skeleton structure, ala 313
Four parts.Wherein, wing skeleton structure include the first skeleton 314, the second skeleton 315, third skeleton 316, the 4th skeleton 317,
5th skeleton 318, the 6th skeleton 319, the 7th skeleton 320.The connection relation of each component is：Wing holder 311 turns with wing
312 axis of axis connects, and the two may be implemented to relatively rotate；First skeleton 314, the second skeleton 315, third skeleton 316, the 4th skeleton
317, the 5th skeleton 318, the 6th skeleton 319, the 7th skeleton 320 are sequentially connect with 311 axis of wing holder, it can be achieved that opposite wing branch
The rotation of frame 311；Wing shaft 312 and the first skeleton are connected；Ala 313 is sequentially connected on seven skeletons, ensures each bone
The consistency of frame movement.First gliding wing branch 31 is realized and left connection by the wing holder 311 of the first gliding wing branch 31
Plate 11 is connected.Second gliding wing branch 32 is identical with 31 structure of the first gliding wing branch and mounting means, relative in
Between 12 axisymmetrical of connecting plate.33 one end of third spring is connected with the wing shaft 312 in the first gliding wing branch 31, the other end
It is connected in same position with the second gliding wing branch 32, ensures 31 wing skeleton structure of the first gliding wing branch and the second gliding wing
The synchronism of branch's 32 wing skeleton structure opening and closing,
With reference to Fig. 3, Fig. 4, Fig. 7, jump leg structure 4 includes first the 41, second jump leg branch of jump leg branch 42, jump
43 three parts of leg connecting rod.First jump leg branch 41 includes connecting rod link block 411, first connecting rod 412, second connecting rod 413, third
Connecting rod 414, fourth link 415, footmuff 416, the 4th torsional spring 417, long fixed column 418,419 9 part of short fixed column.Each structure
The connection relation of part is：Connecting rod link block 411 connects with 418 axis of long fixed column, and first connecting rod 412 connects with 411 axis of connecting rod link block,
First connecting rod 412 connects with 413 axis of second connecting rod, and second connecting rod 413 connects with 414 axis of third connecting rod, and third connecting rod 414 connects with connecting rod
411 axis of block is connect to connect, 415 end of fourth link connects with 413 axis of second connecting rod, and fourth link 415 connects with 419 axis of short fixed column, and second
Connecting rod 413 is nested in inside footmuff 416, increases the frictional force of the first jump leg branch 41,417 one end of the 4th torsional spring connects with second
Bar 413 is connected, and the other end is connected with third connecting rod 414, and initial deformation amount can be adjusted as needed, is jumped for the first jump leg
Moment releases energy when energy storage and jump before jump.Long fixed column 418 is fixed on 11 top of left connection board, and short fixed column 419 is fixed on a left side
11 lower section of connecting plate.Second jump leg branch 42 is identical with 41 structure of the first jump leg branch and mounting means.Jump leg
43 one end of connecting rod is jumped with first, and 41 connecting rod link block 411 of leg branch is connected, and the other end is with the second jump leg branch 42 identical
Position is connected, and ensures that the first jump leg branch 41 and the second jump leg branch 42 realize the synchronism of movement.
With reference to Fig. 3, Fig. 4, Fig. 7, drive module 5 includes wing drive module 51,52 two parts of jump leg drive module.Wing
Wing drive module 51 includes first motor 511, first motor axis 512, the first cam 513,514 4 part of the second cam.It is each
The connection relation of component is：First motor 511 connects with 512 axis of first motor axis, and motor drives motor shaft rotation, the first cam
513 and second cam 514 it is parallel with first motor axis 512 be connected.First cam 513 has identical with the second cam 514
Contour curve and structure type.512 one end axis of first motor axis is connected in left connection board 11, and other end axis is connected on right connection board
On 13.First motor 511 is connected on middle connecting plate 12.Leg drive module 52 of jumping includes the second motor 521, the second motor
Axis 522, third cam 523,524 4 part of the 4th cam.The connection relation of each component is：Second motor 521 and the second electricity
522 axis of arbor connects, and motor drives motor shaft rotation, third cam 523 and the 4th cam 524 and the second motor shaft 522 parallel solid
Even.First cam 513 and the second cam 514 have identical contour curve and structure type.Second motor shaft, 522 one end
Axis is connected in left connection board 11, and other end axis is connected in right connection board 13.Second motor 521 is connected on middle connecting plate 12.
Working principle of the present invention is as follows：
With reference to Fig. 7, Fig. 8, before hopping robot's take-off, the first cam 513, the second cam 514 are in remote end of stopping, compressing
33 deformation and energy storage of third spring；Third cam 523, the 4th cam 524 are in the critical condition that will extend over remote end of stopping, and second
Connecting rod 513 and third connecting rod 514 oppress 417 deformation and energy storage of the 4th torsional spring；When take-off, third cam 523, the 4th cam 524 exist
Second motor 521 drive it is lower stop more too far end when, 417 transient burst of energy of the 4th torsional spring, the collision of second connecting rod 413 ground,
Hopping robot's take-off；During hopping robot skips to from and jumps to peak, first motor 511 drives the first cam
513, the second cam 514 stops end more too far, 33 transient burst of energy of third spring, passes through wing shaft 312 and drives the first bone
Frame 314 is rotated around wing holder 311, remaining 6 skeleton is rotated around wing holder 311 simultaneously under the constraint of ala 313, wing exhibition
It opens；Peak is jumped to before landing in hopping robot, and the second motor 521 reversion, jump leg structure 4 is restored to initial shape
State, the 4th energy storage again of torsional spring 417；After hopping robot's landing, first motor 511 drives the first cam 513, the second cam
514 to remote end of stopping, again 33 deformation and energy storage of third spring.
Claims (3)
1. a kind of imitative locust jumping robot of gliding function, which is characterized in that including trunk structure (1), buffering leg structure
(2), gliding fin structure (3), jump leg structure (4), drive module (5)；
Trunk structure (1) includes left connection board (11), right connection board (13), middle connecting plate (12) three parts；Left connection board
(11) parallel with right connection board (13), vertically fixation rides between left connection board (11), right connection board (13) connecting plate (12)；
Left connection board (11) lateral surface lower end is fixed with the first buffering leg support (111) and the second buffering leg support in tandem
(112)；Same right connection board (13) lateral surface lower end is fixed with two buffering leg supports in tandem；Above-mentioned each buffering leg
There are one the branches of buffering leg structure (2) to buffer leg branch for holder installation；
Each buffering leg branch includes having the buffering thigh (211) bent downward, inclined buffering shank (212), first
Torsional spring (213), the second torsional spring (214) use axis connection, buffering big between one end and buffering leg support of buffering thigh (211)
Leg (211) current buffer leg support rotation in vertical corresponding left connection board (11), right connection board (13) face, while in institute
Angle between corresponding left connection board (11) or right connection board (13) and buffering thigh is equipped with the first torsional spring (213), i.e.,
One end of first torsional spring (213) is fixedly connected with left connection board (11) or right connection board (13), the other end of the first torsional spring (213)
It is fixedly connected with buffering thigh (211), the first torsional spring (213) is located at the top of buffering thigh (211)；Buffer thigh (211)
Axis connection, buffering shank is used to be parallel to left connection board between the decurved other end and one end of buffering shank (212)
(11) or in the plane of right connection board (13) it is rotatable to surround buffering thigh (211)；Two bufferings in left connection board the same side
It is tilted in splayed between shank (212)；Buffering shank (212) institute in left connection board (11) or right connection board (13) the same side
It is parallel with left connection board (11) or right connection board (13) respectively in plane；The equal vertical left of plane where each buffering thigh (211)
Connecting plate (11) or right connection board (13)；Buffer used between thigh (211) and buffering shank (212) the second torsional spring (214) into
The both ends of row limit, the second torsional spring (214) are respectively and fixedly installed on buffering thigh (211) and buffering shank (212)；Second turns round
Spring (214) is located at the outside of eight words；
The fin structure (3) that glides includes two gliding wing branches and third spring (33) three parts；Gliding fin structure is located at position
In the front of imitative locust jumping robot；Each gliding wing branch includes wing holder (311), wing shaft (312), wing bone
Frame structure, (313) four part of ala；Wherein, wing skeleton structure includes the first skeleton (314), the second skeleton (315), third
Skeleton (316), the 4th skeleton (317), the 5th skeleton (318), the 6th skeleton (319), the 7th skeleton (320)；Wing holder
(311) it is harden structure；First skeleton (314), the second skeleton (315), third skeleton (316), the 4th skeleton (317), the 5th bone
Frame (318), the 6th skeleton (319), the 7th skeleton (320) are parallel successively to be arranged and axis connection is respectively adopted fixed to wing holder
(311) in a side, each skeleton is rotatable；First skeleton (314) is using the wing shaft (312) protruded and wing holder
(311) axis connection, and wing shaft (312) is fixed as one with the first skeleton (314)；First skeleton (314), the second skeleton
(315), third skeleton (316), the 4th skeleton (317), the 5th skeleton (318), the 6th skeleton (319), the 7th skeleton (320) are adopted
It is linked together with ala (313)；Two gliding wing branches are respectively adopted wing holder (311) and are fixed on trunk structure (1)
In both sides, that is, corresponding left connection board (11) and right connection board (13)；It is adopted between the wing shaft (312) of two gliding wing branches
It is connected with torsional spring (33), the both ends of torsional spring (33) are fixed respectively and carry out spiral winding in wing shaft (312) so that torsional spring
(33) non-rectilinear dilatation can drive wing shaft (312) rotation to which driving opens and closes wing skeleton structure,
Ensure the synchronism of the wing skeleton structure opening and closing of two gliding wing branches simultaneously；
Leg structure of jumping (4) includes two jump leg branches and jump leg connecting rod (43) three parts；Two jump leg branches
It is located at the i.e. corresponding left connection board (11) in both sides and right connection board (13) opposite facing outside of trunk structure (1)；Jump
Leg structure is located at the rear portion of imitative locust jumping robot；
Each jump leg branch includes connecting rod link block (411), first connecting rod (412), second connecting rod (413), third connecting rod
(414), fourth link (415), footmuff (416), the 4th torsional spring (417), long fixed column (418), short fixed column (419) nine
Point；The connection relation of each component is：Connecting rod link block (411) overall appearance is triangle platy structure, and three angles are denoted as respectively
Angle A, angle B, angle C；Connecting rod link block (411) is adopted by angle A left connection boards (11) corresponding with place side or right connection board (13)
Axis connection is carried out with long fixed column (418)；Angle B and one end of first connecting rod (412) carry out axis connection, first connecting rod (412)
One end of the other end and second connecting rod (413) carries out axis connection；The other end of second connecting rod (413) is nested with footmuff (416) work
For free end, can be contacted with ground；The centre point of second connecting rod (413) carries out axis company with one end of third connecting rod (414)
It connects, the angle between second connecting rod (413) and third connecting rod (414) is attached using the 4th torsional spring (417), i.e. the 4th torsional spring
(417) one end is connected with second connecting rod 413, and the other end is connected with third connecting rod (414), and initial deformation amount can be as needed
It adjusts, energy is released with moment when jump for energy storage before leg jump of jumping；The other end of third connecting rod (414) and connecting rod link block
(411) angle C carries out axis connection；One end left connection board (11) corresponding with place side of fourth link (415) or right connection board
(13) axis connection, the short fixed column (419) and long fixed column of the same jump leg branch are carried out using short fixed column (419)
(418) in the fixed same left connection board (11) or right connection board (13), and long fixed column (418) is located at left connection board (11)
Or right connection board (13) top, and the position of short fixed column (419) is less than long fixed column (418)；Fourth link (415) it is another
End and the centre point of second connecting rod (413) carry out axis connection；Second connecting rod (413) and third connecting rod (414), fourth link
(415) position for carrying out axis connection can be identical, also can be preferably different with difference；Two connecting rods of two jump leg branches connect
It connects and is fixedly connected using jump leg connecting rod (43) between block (411), while driving the rotation of two connecting rod link blocks (411), and ensure
Two jump leg branches realize the synchronism of movement；
Drive module (5) includes wing drive module (51), jump leg drive module (52) two parts；Wing drive module (51)
Including first motor (511), first motor axis (512), the first cam (513), (514) four part of the second cam；Each component
Connection relation be：First motor (511) connects with first motor axis (512) axis, and motor drives motor shaft rotation, first motor axis
(512) parallel when the state that is in line with third spring (33), and first motor axis (512) and third spring (33) are in line state
When between parallel distance be denoted as L1, be cased with respectively on first motor axis (512) and fix the first cam (513) and the second cam
(514), the first cam (513) and the second cam (514) have identical contour curve and structure type, and parallel, the
One cam (513) and the second cam (514) are the irregular cam structure of radial dimension not etc., the first cam (513) and second
The radius of cam (514) has the part more than L1 and the part less than or equal to L1；First cam (513) and the second cam
(514) radial edges can drive third spring (33) to lordosis or not convex, drive wing shaft (312) to rotate, to drive
Entire wing skeleton structure rotation, that is, realize the opening and closing of wing skeleton structure；First motor axis (512) one end axis is connected on a left side
On connecting plate (11), other end axis is connected in right connection board (13)；First motor (511) is connected on middle connecting plate (12)；
Leg drive module of jumping (52) includes the second motor (512), the second motor shaft (522), third cam (523), the 4th convex
Take turns (524) four parts；The connection relation of each component is：Second motor (512) connects with the second motor shaft (522) axis, motor band
Dynamic motor shaft rotation；Third cam (523) is parallel with the 4th cam (524) and fixing sleeve is on the second motor shaft (522)；First
Cam (513) has identical contour curve and structure type with the second cam (514)；Second motor shaft (522) and jump
The leg connecting rod (43) that jumps is parallel, and parallel distance between the two is denoted as L2, and third cam (523) and the 4th cam (524) are diameter
The radius of the irregular cam structure not equal to size, third cam (523) and the 4th cam (524) have part more than L2 with
Part less than or equal to L2 passes through third cam (523) and the 4th cam (524) radial edges driving jump leg connecting rod (43)
It is moved forward and backward up and down, to drive entire jump leg structure bounce；
Second motor shaft (522) one end axis is connected in left connection board (11), and other end axis is connected in right connection board (13)；Second electricity
Machine (521) is connected on middle connecting plate (12).
2. a kind of imitative locust jumping robot of gliding function described in accordance with the claim 1, which is characterized in that jump leg is formed
A watt type can also be used using Stefansson type in single-degree-of-freedom six-bar mechanism, and optimization method is in given beginning, last position leg
In the case of portion's swing angle, solve with the immediate one group of mechanism joint attitude angle of given centroid position, and as ginseng
It examines so that trunk rotational angle is minimum；Optimal Parameters are determined first, and provide corresponding constraints according to actual conditions.Especially
Ground, the long difference of bar is excessive and lose contact with reality in order to prevent, it is also necessary to constrain bar length ratio.Then according to kinematical equation,
The centroid position under beginning, last current state is solved, and judges the deviation of the centroid position and given centroid position that solve.It completes
After kinematics solution, the trunk rotational angle of whole story position is further solved, and by the absolute value of its difference mesh as an optimization
Scalar functions.It is finally optimized using genetic algorithm so that one group of bar of object function minimum grows the value required by being.Especially
Ground can also give centroid position according to the difference of design requirement when joint attitude angle determines so that swing of leg angle with give
Definite value is closest.
3. a kind of imitative locust jumping robot of gliding function described in accordance with the claim 1, which is characterized in that working method packet
It includes as follows：Before hopping robot's take-off, the first cam (513), the second cam (514) are in remote end of stopping, and oppress third spring
(33) deformation and energy storage；Third cam (523), the 4th cam (524) are in the critical condition that will extend over remote end of stopping, and second connects
Bar (513) and third connecting rod (514) oppress the 4th torsional spring (417) deformation and energy storage；When take-off, third cam (523), the 4th cam
(524) when stopping end under the second motor (521) drives more too far, the 4th torsional spring (417) transient burst of energy, second connecting rod
(413) ground, hopping robot's take-off are collided；During hopping robot skips to from and jumps to peak, first motor
(511) the first cam (513), the second cam (514) is driven to stop more too far end, third spring (33) transient burst of energy is logical
Cross wing shaft (312) drive the first skeleton (314) around wing holder (311) rotate, remaining 6 skeleton ala (313) about
It is rotated simultaneously around wing holder (311) under beam, wing expansion；Peak is jumped to before landing in hopping robot, the second electricity
Machine (521) inverts, and jump leg structure (4) returns to original state, the 4th torsional spring (417) energy storage again；Hopping robot lands
Afterwards, first motor (511) drives the first cam (513), the second cam (514) to remote end of stopping, and third spring (33) becomes again
Shape energy storage.
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| CN109292023A (en) * | 2018-11-08 | 2019-02-01 | 西北工业大学 | A kind of bio-robot of repeatable spring |
| CN109850026A (en) * | 2019-02-21 | 2019-06-07 | 北京航空航天大学 | It is a kind of to climb wall-gliding machine people with the ala that take down the exhibits |
| CN113443044A (en) * | 2021-07-30 | 2021-09-28 | 上海大学 | Buffer device with leg structure |
| CN113602373A (en) * | 2021-08-01 | 2021-11-05 | 北京工业大学 | Jumping robot used in complex terrain environment and test platform thereof |
| CN115320739B (en) * | 2022-08-31 | 2023-07-07 | 南京工程学院 | Jumping robot bouncing mechanism based on non-circular gear |
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|---|---|
| CN108394484B (en) | 2020-07-17 |
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