CN108820065B - The locust-simulated bouncing robot that can be walked - Google Patents
The locust-simulated bouncing robot that can be walked Download PDFInfo
- Publication number
- CN108820065B CN108820065B CN201810595071.9A CN201810595071A CN108820065B CN 108820065 B CN108820065 B CN 108820065B CN 201810595071 A CN201810595071 A CN 201810595071A CN 108820065 B CN108820065 B CN 108820065B
- Authority
- CN
- China
- Prior art keywords
- gear
- spring
- energy
- rack
- accumulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses the locust-simulated bouncing robots that one kind can walk, including rack, four legs composition running gear and pass through the quadrangle bouncer that gear connecting rod forms: four walking legs can rotate respectively around rack left and right side, front and back leg is connected by connecting rod realizes asynchronous movement, plectrum is fixed together with foreleg, there are two protrusions on its surface, two special-shaped cams of 90 degree of difference in phase are installed in driving spindle, and tension spring is installed between the leg of front and back, it is connected between back leg upper and lower extremities of walking with sphere-pin pair；Hopping leg is then the energy storage device based on five bar rhombus-mechanisms；Control circuit, power supply, drive mechanism and screw-nut structure are provided in body.The present invention only uses two driving links to realize the entire coordinated movement of various economic factors bounced and walk, and meets the movement characteristic of locust, and total is simple, and freedom degree is low, and control is easy.
Description
Technical field
The invention belongs to bio-robot field, it is related to being a kind of robot, more particularly to a kind of imitative locust that can be walked
Hopping robot.
Background technique
Powerful obstacle performance makes hopping robot more suitable in complicated and uncertain environment, while bionics
Rise so that its principle is applied in the research of robot by more and more researcher, allow hopping robot to have more
Superior performance.Bionical object has the insects such as grasshopper, cricket, locust, leafhopper, also there is the mammals such as kangaroo, dog.Numerous
In bionical object, the jumping of locust great representativeness in nature biotechnology, skip capability is superior, and jumping height is reachable
From body long number times or more, body posture stability can also be kept by gliding in the sky, and landing and buffering performance is good, because forming
For the bionical object of numerous researchers.
In recent years, research is expanded to the bionic hopping robot based on locust there are many scholar both at home and abroad, also obtained
Certain achievement.Generally there are spring, high pressure gas, memorial alloy, artificial muscle as the energy-storage travelling wave tube in hopping robot
Deng.But because marmem response speed is slower, and utilize the device volume of combustion generated gas explosion larger, therefore they
It is not particularly suited in small-sized bionic hopping robot.Professor Nguyen then uses torsional spring as energy-storage travelling wave tube, devises miniature imitative
Locust leg hopping robot, this kind of humanoid robot layup is brilliant, and jumping height was jumping up to the long decades of times of body
Body is easily tumbled in journey, can be improved from this respect from now on；Chen Kewei devises a using artificial-muscle
As the imitative locust leg hopping robot of power source, simulation result shows robot jump height in the case where bearing a heavy burden 1kg
Still up to 199mm, it was demonstrated that feasibility of the artificial-muscle as power source；Zhang Jun has developed two generation robots: first generation machine
People can realize Self-resetting, take-off angle and direction regulatory function under the driving of single motor, and second generation robot can be
Single motor driving completes the compound motion function of creeping and bounce down, and the design for locust-simulated bouncing robot from now on provides
It uses for reference and refers to, but due to the difference of driving moment needed for creeping and bouncing is larger, the robot efficiency is not high；In addition to motor
Driving, Yuhang Qi also have developed locust-simulated bouncing robot using solenoid actuated, and what prototype experiment also demonstrated its design can
Row.However, hopping robot described above can only realize single bounce motion substantially, it is complicated in real nature
Terrain environment in far can not also adapt to.
Summary of the invention
The purpose of the present invention is being directed to the shortcoming of existing hopping robot structure, a kind of imitative locust that can be walked is provided
Hopping robot, in addition to can be realized that take-off that basic general hopping robot is possessed is steady, landing is smooth and jump away from
Outside from basic functions such as ideals, also there is walking function and control is simple, to adapt to increasingly complex environment.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that:
A kind of locust-simulated bouncing robot walked, it is characterised in that: including rack and rack-mounted walking
Device, back leg bending mechanism and bouncer, the running gear include that a pair of revolute pair that passes through is set to frame front two sides
The hoofing part dress of foreleg, a pair of back leg and driving foreleg and back leg walking that rack rear portion two sides are set to by revolute pair
It sets, the foreleg revolute pair upper and lower position and back leg revolute pair upper and lower position of rack same side pass through tension spring and stayed mast respectively
Cross-articulation is connected, and the back leg is connected to form by rear upper limb and rear lower limb by sphere-pin pair, which makes rear lower limb only
Can be relative to rear upper limb to front curve, rear upper limb bottom is equipped with the bending rack extended forward, bending rack front end and rear lower limb
Between be hinged and connected by the first support spring, make rear upper limb and rear lower limb keep straightened condition by the first support spring,
Every side is equipped with that guide rail slide block structure, the sliding block of the guide rail slide block structure pass through in the front-back direction along rack in the rack
Bent connecting rod is connected with the rear lower limb lower hinge of corresponding side；
The back leg bending mechanism is linear movement driving device, for pushing sliding block forward in bouncer spring
Movement provides space so that back leg is bent for spring；
The bouncer includes spring driving device and bouncing mechanism, the bouncing mechanism include sole, spring mobile jib,
Bounce time bar and a pair of of intermeshing transmission and rack-mounted accumulation of energy gear, is equipped on each accumulation of energy gear solid therewith
Surely connected accumulation of energy bar is connected between two accumulation of energy bar ends by energy-storaging spring, superposed accumulation of energy bar end and spring
It is hinged and connected at the top of mobile jib, is hinged and connected in the middle part of spring mobile jib bottom and sole, bounce time bar both ends respectively and in spring mobile jib
It portion and is hinged and connected positioned at the accumulation of energy bar end of lower part, also passes through the second support spring phase with sole rear portion in the middle part of spring mobile jib
Even, the second support spring, which to bounce between mobile jib and sole, forms stable support；The spring driving device passes through driving
One of accumulation of energy gear rotation, enables two accumulation of energy bars to be mutually turned out separated elongation energy-storaging spring accumulation of energy, and spring is driven
When dynamic device runs out of steam to accumulation of energy gear, energy-storaging spring, which just releases energy, completes spring by spring mobile jib and time bar that bounces.
As an improvement, being divided into rack rear portion two sides, the corresponding storage of two bouncing mechanisms there are two the bouncing mechanisms
It can be fixedly linked between gear by shaft.
As an improvement, the spring driving device includes gear wheel, teeth-missing gear, pinion gear and spring motor, it is described big
Gear is mounted on the rack by gear shaft, and teeth-missing gear is connected by ratchet mechanism with gear wheel, and the pinion gear is mounted on
It bounces on the output shaft of motor, pinion gear is connected by transmission gear group with gear wheel power transmission, and the teeth-missing gear has portion
Divide tooth missing, teeth-missing gear is engaged with an accumulation of energy gear of bouncing mechanism to be connected, and installation site meets, when teeth-missing gear band
Dynamic accumulation of energy gear rotation, when so that energy-storaging spring reaching maximum accumulation of energy length, is engaged to scarce between teeth-missing gear and accumulation of energy gear
At tooth, i.e., accumulation of energy gear, which runs out of steam, is released.
As an improvement, the transmission gear group is the big transmission gear being coaxially fixedly linked by change gear shaft and small change
Fast gear, big transmission gear and pinion gear engaged transmission, small transmission gear and gear wheel engaged transmission.
As an improvement, the back leg bending mechanism includes push rod and leading screw and nut mechanism, the leading screw and nut mechanism is lateral
It is mounted on bottom of the frame, by being hinged and connected in the middle part of swing rod and push rod, push rod both ends are mounted on to be set the nut of leading screw and nut mechanism
In in rack two sides in the front-back direction guide groove, being additionally provided on push rod can connect with the sliding block of respective track slide block structure in rack
The mandril of touching, screw rod and big transmission gear are existed by gear engaged transmission, feed screw nut's machine by swing rod and push rod band movable slider
It travels forward on guide rail.
As an improvement, the travel driving unit includes driving spindle, a pair of of plectrum and movable motor, the pair of plectrum
It is opposite to be set on the inside of rack, and by main shaft with corresponding side foreleg is relatively fixed is connected, main shaft can turn with rack
Dynamic to be connected to form revolute pair, the driving spindle is set in the front-back direction between two plectrums, and is mounted on rack by bearing
On, driving spindle rear and front end is respectively equipped with a special-shaped cam, symmetrical salient point there are two tools on the abnormal shape cam, and two
A abnormal shape cam phase difference is 90 degree, can be convex with corresponding abnormal shape to be respectively equipped at front and back two on symmetrical plectrum with main shaft
The protrusion of contact is taken turns, special-shaped cam intermittent protrusion on its two sides plectrum in driving spindle rotary course is in contact, makes
The rotation before and after its corresponding main shaft of plectrum and foreleg is obtained, two forelegs alternatings are made by the phase difference of two special-shaped cams
Walking function is completed in swing, and the driving spindle is connected with movable motor power transmission.
It is connected as an improvement, the driving spindle is engaged by gear with movable motor.
As an improvement, the rack includes three cross that is located at the side plate on both sides and will be fixedly linked among two side plates
Plate, preceding transverse slat, middle transverse slat and rear transverse slat, before driving spindle is mounted on by bearing between transverse slat and middle transverse slat, walk electric respectively
Machine is mounted on middle transverse slat by motor rack.
As an improvement, the main shaft is mounted on side plate by bearing, pass through at the top of foreleg at the top of corresponding plectrum
Connector is fixedly linked, and stable connection is formed between foreleg and plectrum, and the side plate is equipped with for connector around main transmission
The allowing property notch of axis rotation.
The medicine have the advantages that
The present invention imitates locust structure, can be any between the two movement by spring-like movement and walking motion together as one
Switching, greatly improves robot motion's power and to movement environment adaptability, adapts to various complex environments.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the frame of the invention structural schematic diagram；
Fig. 3 is locust-simulated bouncing robot of the present invention top view；
Fig. 4 is partial bottom view of the present invention；
Fig. 5 is back leg structural schematic diagram of the present invention；
Fig. 6 is present invention spring driving device structure schematic diagram；
Fig. 7 is bouncer schematic diagram of the present invention；
Fig. 8 is travel driving unit assembling schematic diagram of the present invention.
1- rack, 2- foreleg, 3- stayed mast, 4- tension spring, upper limb after 5-, 6- movable motor, transverse slat in 7-, 8,9- subtract
Fast gear, 10,12- abnormal shape cam, 11- driving spindle, 13- plectrum, 14- sliding block, 15- bent connecting rod, lower limb after 16-, 17-
One support spring, 18- sphere-pin pair, 19- screw rod, 20- pinion gear, 21- spring motor, the big transmission gear of 22-, 23- gear wheel,
24- teeth-missing gear, 25,26- accumulation of energy gear, 27,33- accumulation of energy bar, 28- spring mobile jib, the second support spring of 29-, 30- sole,
31- spring time bar, 32- energy-storaging spring, the small transmission gear of 34-, 35- guide pad, 36- main shaft, 37- push rod, 38- swing rod,
39- nut, transverse slat before 40-, transverse slat after 41-, 42- bending rack, 43- protrusion, 44- guide rail, 45- shaft, 46- gear shaft, 47-
Ratchet mechanism, 48- allowing property notch, 49- guide groove, 50- side plate.
Specific embodiment
The present invention is illustrated with reference to the accompanying drawing, it is pointed out that below with the side of 1 skip-forwards of rack
To for front end, place where bouncer is 1 rear of rack.
As shown in Figures 1 to 7, a kind of locust-simulated bouncing robot walked, including rack 1 and be mounted in rack 1
Running gear, back leg bending mechanism and bouncer；
As shown in Figure 2, the rack 1 includes three that is located at the side plate 50 on both sides and will be fixedly linked among two side plates 50
A transverse slat, preceding transverse slat 40, middle transverse slat 7 and rear transverse slat 41, driving spindle 11 are mounted on preceding transverse slat 40 and middle cross by bearing respectively
Between plate 7, movable motor 6 is mounted on middle transverse slat 7 by motor rack；
As shown in figures 1 and 3, the running gear includes a pair of foreleg that 1 front part sides of rack are set to by revolute pair
2, the travel driving unit of a pair of back leg and driving foreleg 2 and back leg walking that 1 rear portion two sides of rack are set to by revolute pair,
The 2 revolute pair upper and lower position of foreleg and back leg revolute pair upper and lower position of 1 same side of rack pass through tension spring 4 and stayed mast respectively
3 cross-articulations are connected, specifically: two 2 tops of foreleg pass through two that main shaft 36 is rotatably mounted on rack 1 respectively
50 front of side plate, forms revolute pair between foreleg 2 and side plate 50, and two upper rear legs pass through shaft respectively and are mounted on rack 1
Two 50 rear portions of side plate, also form revolute pair between back leg and side plate 50；Divide above and below the main shaft 36 of foreleg 2
Not She You a pillar, the shaft upper and lower of back leg is also respectively equipped with a pillar, below the pillar and back leg of 2 top of foreleg
Pillar is hinged and connected by tension spring 4, and the pillar above the pillar and back leg of 2 lower section of foreleg is hinged and connected by stayed mast 3,
Collectively constitute four legs of walking；Back leg is connected to form by rear upper limb 5 and rear lower limb 16 by sphere-pin pair 18, which makes
Lower limb 16 can only be relative to rear upper limb 5 to front curve after obtaining, and rear 5 bottom of upper limb is equipped with the bending rack 42 extended forward, bending
Be hinged and connected between 42 front end of bracket and rear lower limb 16 by the first support spring 17, after being made by the first support spring 17 on
Limb 5 and rear lower limb 16 keep straightened condition, are equipped with leading along 1 anterior-posterior horizontal direction of rack on every side plate 50 in the rack 1
Rail slide block structure, the sliding block 14 of the guide rail slide block structure pass through the 16 lower hinge phase of rear lower limb of bent connecting rod 15 and corresponding side
Even；
As shown in figures 3 and 8, the travel driving unit includes driving spindle 11, a pair of of plectrum 13 and movable motor 6,
The pair of plectrum 13 it is opposite be set to the inside of rack 1, and by main shaft 36 with corresponding side foreleg 2 is relatively fixed is connected,
Main shaft 36 and rack 1 are rotatably connected to form revolute pair, 40 He of transverse slat before the driving spindle 11 is mounted on by bearing
Between middle transverse slat 7,11 rear and front end of driving spindle is respectively equipped with special-shaped cam 10,12, has two on the abnormal shape cam 10,12
A symmetrical salient point, and two special-shaped cams 10,12 phase differences are 90 °, are front and back on symmetrical plectrum 13 with main shaft 36
The protrusion 43 that can be contacted with corresponding special-shaped cam 10,12 is respectively equipped at two, special-shaped cam 10,12 is rotated through in driving spindle 11
The intermittent protrusion 43 on its two sides plectrum 13 of journey is in contact, so that plectrum 13 is with foreleg 2 before its corresponding main shaft 36
After rotate, make two forelegs 2 replace swings by the phase difference of two special-shaped cams 10,12 and complete walking functions, institute
It states driving spindle 11 to be connected by reduction gearing 8,9 with movable motor 6, realizes that the increasing square that slows down, movable motor 6 pass through motor rack and pacify
On middle transverse slat 7；As shown in figure 3, two special-shaped cams 10,12 are special-shaped respectively horizontal by 45° angle when original state
On raised 43 lower contacts on 10 one end salient point of cam and right side plectrum 13, other end salient point and another left side plectrum 13 in protrusion 43
Side contact, special-shaped cam 12 just be in 90 ° of phase differences so that on the abnormal shape cam 12 and two plectrums 13 contact direction just with
Special-shaped cam 10 is symmetrical opposite；When driving driving spindle 11 to rotate by movable motor 6, drive two special-shaped cams 10,
12 rotations, one of abnormal shape cam 10 drive right front leg 2 to rotate counterclockwise to extension, and right front leg 2 passes through 4 He of tension spring
Stayed mast 3 drives right rear leg to kick backward, while the abnormal shape cam 10 drive left front leg 2 is rotated clockwise and received backward, left front leg 2
Drive left back leg to extension by tension spring 4 and stayed mast 3, when driving spindle 11 rotates 90 °, another special-shaped cam 12 is just
It is good with the upper one special-shaped driving of cam 10 on the contrary, driving foreleg 2 and back leg do reverse order movement, thus may be implemented four
Leg intersection strides forward and kicks backward ground.
As shown in Figure 6 and Figure 7, the bouncer includes spring driving device and bouncing mechanism, the bouncing mechanism packet
Include sole 30, spring mobile jib 28, bounce time bar 31 and a pair of of intermeshing transmission and the accumulation of energy gear 25 being mounted in rack 1,
26, connected accumulation of energy bar 33 fixed thereto is equipped on accumulation of energy gear 25, is equipped on accumulation of energy gear 26 fixed thereto connected
Accumulation of energy bar 27 is connected between two accumulation of energy bars 27,33 ends by energy-storaging spring 32, superposed 27 end of accumulation of energy bar and bullet
Jump and be hinged and connected at the top of mobile jib 28, is hinged and connected in the middle part of spring 28 bottom of mobile jib and sole 30, secondary 31 both ends of bar of spring respectively with
It is hinged and connected in the middle part of spring mobile jib 28 and positioned at 33 end of accumulation of energy bar of lower part, 28 middle part of spring mobile jib and 30 rear portion of sole are also logical
The second support spring 29 to be crossed to be connected, the second support spring 29, which to bounce between mobile jib 28 and sole 30, forms stable support,
Bounce mobile jib 28 and bounce time bar 31 and two composition quadrilateral structures of accumulation of energy bars 27,33；The spring driving device passes through drive
It moves one of accumulation of energy gear 25 to rotate, two accumulation of energy bars 27,33 is enabled mutually to be turned out separated elongation energy-storaging spring 32
Accumulation of energy, when spring driving device runs out of steam to accumulation of energy gear 25,26, energy-storaging spring 32 just releases energy through the mobile jib 28 that bounces
Time bar 31 completes spring with bouncing；There are two the bouncing mechanisms, is divided into 1 rear portion two sides of rack, the phase of two bouncing mechanisms
It is fixedly linked between corresponding accumulation of energy gear 25,26 by shaft 45, shaft 45 is mounted in rack 1 by bearing.
Spring driving device includes gear wheel 23, teeth-missing gear 24, pinion gear 20 and spring motor 21, institute as described in Figure 7
State gear wheel 23 and be mounted in rack 1 by gear shaft 46, and gear wheel 23 with gear shaft 46 is relatively fixed is connected, teeth-missing gear
24 are mounted on the gear shaft 46 of gear wheel 23 by ratchet mechanism 47, and the pinion gear 20 is fixedly mounted on spring motor 21
On output shaft, spring motor 21 is mounted on the middle transverse slat 7 of rack 1 by motor mounting rack；Pinion gear 20 passes through transmission gear
Group is connected with 23 power transmission of gear wheel, and the teeth-missing gear 24 has part tooth missing, the storage of teeth-missing gear 24 and bouncing mechanism
Can gear 25 be meshed transfer motion power, installation site meets, and (is with Fig. 7 when teeth-missing gear 24 drives the rotation of accumulation of energy gear 25
Example is clockwise), by intermeshing, side rotates accumulation of energy gear 25,26 out against, so that energy-storaging spring 32 reaches maximum accumulation of energy
It when length, is just engaged at hypodontia between teeth-missing gear 24 and accumulation of energy gear 25, i.e., accumulation of energy gear 25, which runs out of steam, is released；
The transmission gear group is the big transmission gear 22 and small transmission gear 34 being coaxially fixedly linked by change gear shaft, big speed change
20 engaged transmission of gear 22 and pinion gear, small transmission gear 34 and 23 engaged transmission of gear wheel.
As shown in Figure 4 and Figure 6, the back leg bending mechanism is linear movement driving device, for bouncing in bouncer
When, it pushes sliding block 14 to travel forward, so that back leg is bent, provides space for spring comprising push rod 37 and leading screw and nut mechanism,
The screw rod 19 of the leading screw and nut mechanism is transversely mounted on 1 bottom of rack by bearing, and the nut 39 of leading screw and nut mechanism passes through
It being hinged and connected in the middle part of swing rod 38 and push rod 37,37 both ends of push rod are mounted in 1 two sides of rack in the front-back direction guide groove 49,
Be additionally provided with the mandril that can be in contact with the sliding block 14 of respective track slide block structure in rack 1 on push rod 37, screw rod 19 be equipped with
The connected screw gear of the big engagement of transmission gear 22, big transmission gear 22 engage driving screw rod 19 by gear and rotate, and drive spiral shell
Mother 39 moves back and forth on screw rod 19, and nut 39 is moved back and forth through swing rod 38 and push rod 37 with movable slider 14 on guide rail 44
It travels forward, the guide pad 35 to 39 motion guide of nut of leading screw and nut mechanism is additionally provided on motor mounting rack.
Be mounted on side plate 50 as a kind of more preferably embodiment, the main shaft 36 by bearing, 2 top of foreleg and
It is fixedly linked at the top of corresponding plectrum 13 by connector, which is cylindrical body, is integrated knot with the pillar of 2 top of foreleg
Structure forms stable connection between foreleg 2 and plectrum 13, and the side plate 50, which is equipped with, to be rotated for connector around main shaft 36
Allowing property notch 48, the allowing property notch 48 be with main shaft 36 be the arc notch in the center of circle.
In the process of walking, the liftoff of sole 30 has a distance, the sole 30 of bouncer and ground when can make to walk
It does not contact, does not interfere walking.When starting jump, running gear controls four legs and is in vertical state.
When spring-like movement, the nut 39 of leading screw and nut mechanism is in 19 one end of screw rod first, at this time due to swing rod 38
Pulling function, push rod 37 are near 19 position of screw rod, namely farthest away from the position of sliding block 14, the motor 21 that bounces starts, leads to
The engagement for crossing pinion gear 20, big transmission gear 22 and screw gear drives screw rod 19 to rotate, and screw rod 19 is converted to nut 39
To intermediary movements, nut 39 drives push rod 37 to travel forward by swing rod 38, and push rod 37 pushes sliding block by the mandril at its both ends
14 travel forward, and lower limb 16 are bent after sliding block 14 is pulled by bent connecting rod 15, and 1 posterior subsidence of rack, sole 30 lands, and are foot
30 spring of the palm provides space, and the motor 21 that bounces at the same time is acted on by the deceleration force amplifier of pinion gear 20 and transmission gear group to be driven
Gear wheel 23 rotates, and gear wheel 23 drives teeth-missing gear 24 to rotate by ratchet mechanism 47, and teeth-missing gear 24 drives accumulation of energy gear
25 rotations, which drives another, and accumulation of energy gear 26 is incorgruous is turned out, with two accumulation of energy gears 25,26 stationary phases
Accumulation of energy bar 27,33 even is located remotely from each other, and energy-storaging spring 32 is elongated accumulation of energy, at the same separate the drive of two accumulation of energy bars 27,33 and
Connected spring mobile jib 28 and time bar 31 that bounces shrink, by the effect of quadrilateral structure, sole 30 is driven to shrink upwards, this
The entire rack of sample 1 is further sunk, the gravity motion of entire robot to the top or rear of 30 impetus of sole；Work as accumulation of energy
Spring 32 stretches accumulation of energy to maximum, and teeth-missing gear 24 is engaged with accumulation of energy gear 25 just reaches hypodontia part, and accumulation of energy gear 25 loses
Power is removed, is turned round rapidly under the elastic force of energy-storaging spring 32, energy-storaging spring 32 drives two accumulation of energy bars 27,33 mutually to lean on rapidly
Hold together, drives the hinge joint (that is to say sole 30) of spring mobile jib 28 and time bar 31 that bounces rapidly to the back lower place by quadrilateral structure
Jump action is completed in elongation, and after jump, the spring reversion of motor 21 drives nut 39 to draw close on side, and nut 39 passes through swing rod 38
Push rod 37 is pulled to retreat, rear lower limb 16 reply vertical position under the action of the first support spring 17, and sliding block 14 is in bent connecting rod
Movement resets backward under pulling, and since there are ratchet mechanisms 47 between gear wheel 23 and teeth-missing gear 24, bounce motor 21
When reversion, the rotation of teeth-missing gear 24 not will drive, and when the next rotating forward of the motor 21 that bounces, gear wheel 23 can drive hypodontia again
Accumulation of energy movement is completed in the rotation of gear 24；In the embodiment of the present invention, spring-like movement can be carried out individually, can also be with walking motion
Alternately, it can also be carried out according to a certain percentage with walking motion.
Controller can also be more preferably set, the setting limit sensing on leading screw and nut mechanism or guide rail slide block structure
Device, by limiter feedback signal to controller, to control movable motor 6 and spring 21 positive and negative rotation of motor movement, movable motor 6
It is servo motor with spring motor 21, the sequence of movement and speed of movable motor 6 and the motor 21 that bounces is set by controller
Degree, according to setting sequentially-operating, to realize automatic control spring or walking function.
More preferably driving spindle 11 is rotary square shaft in the present embodiment.
It additionally needs in the embodiment of the present invention pointed out, the first support spring 17 and the second support spring 29 are Rigid Projectiles
Spring, the first support spring 17 make, sliding block 14 when not pushed forward by push rod 37, holding back leg be vertical state, second
Support spring 29, which to bounce between mobile jib 28 and sole 30, forms triangular structure, guarantees during spring, sole 30 begins
It is able to maintain eventually and ground is close to and capable of playing good support to spring mobile jib 28, guarantee spring stability；In addition more excellent
, the present invention needs back leg bending contraction speed to be greater than 30 contraction speed of sole, and sole 30 can be made to land well in this way,
Enough operating spaces are provided for bouncing function, guarantee that the speed can be real by adjusting the transmission ratio of transmission gear group
It is existing, change transmission ratio, so that there is accumulation of energy gear 25,26 slower velocity of rotation above-mentioned requirements can be realized.
Claims (9)
1. the locust-simulated bouncing robot that one kind can walk, it is characterised in that: filled including rack and rack-mounted walking
It sets, back leg bending mechanism and bouncer, the running gear include a pair of revolute pair that passes through before frame front two sides
The travel driving unit of leg, a pair of back leg and driving foreleg and back leg walking that rack rear portion two sides are set to by revolute pair,
The foreleg revolute pair upper and lower position and back leg revolute pair upper and lower position of rack same side pass through tension spring respectively and stayed mast is handed over
Fork is hinged and connected, and the back leg is connected to form by rear upper limb and rear lower limb by sphere-pin pair, which makes rear lower limb can only
Relative to rear upper limb to front curve, rear upper limb bottom is equipped with the bending rack extended forward, bending rack front end and rear lower limb it
Between be hinged and connected by the first support spring, make rear upper limb and rear lower limb keep straightened condition, institute by the first support spring
It states every side in rack to be equipped with along rack guide rail slide block structure in the front-back direction, the sliding block of the guide rail slide block structure passes through curved
Bent connecting rod is connected with the rear lower limb lower hinge of corresponding side；
The back leg bending mechanism is linear movement driving device, for pushing sliding block to travel forward in bouncer spring,
So that back leg is bent, space is provided for spring；
The bouncer includes spring driving device and bouncing mechanism, and the bouncing mechanism includes sole, spring mobile jib, spring
Secondary bar and a pair are intermeshed transmission and rack-mounted accumulation of energy gear, are equipped with phase fixed thereto on each accumulation of energy gear
Accumulation of energy bar even is connected between two accumulation of energy bar ends by energy-storaging spring, superposed accumulation of energy bar end and spring mobile jib
Top is hinged and connected, and is hinged and connected in the middle part of spring mobile jib bottom and sole, bounce time bar both ends respectively with spring mobile jib middle part and
Accumulation of energy bar end positioned at lower part is hinged and connected, and is also passed through the second support spring with sole rear portion in the middle part of spring mobile jib and is connected, the
Two support springs, which to bounce between mobile jib and sole, forms stable support；The spring driving device passes through driving wherein one
A accumulation of energy gear rotation, enables two accumulation of energy bars to be mutually turned out separated elongation energy-storaging spring accumulation of energy, driving device of bouncing
When running out of steam to accumulation of energy gear, energy-storaging spring, which just releases energy, completes spring by spring mobile jib and time bar that bounces.
2. locust-simulated bouncing robot as described in claim 1, it is characterised in that: there are two the bouncing mechanisms, is divided into
Rack rear portion two sides are fixedly linked between the corresponding accumulation of energy gear of two bouncing mechanisms by shaft.
3. locust-simulated bouncing robot as claimed in claim 2, it is characterised in that: the spring driving device includes canine tooth
Wheel, teeth-missing gear, pinion gear and spring motor, the gear wheel are mounted on the rack by gear shaft, and teeth-missing gear passes through spine
Wheel mechanism be connected with gear wheel, the pinion gear be mounted on spring motor output shaft on, pinion gear pass through transmission gear group and
Gear wheel power transmission is connected, and the teeth-missing gear has part tooth missing, an accumulation of energy gear of teeth-missing gear and bouncing mechanism
Engagement is connected, and installation site meets, when teeth-missing gear drives the rotation of accumulation of energy gear, so as to reach maximum accumulation of energy long for energy-storaging spring
It when spending, is engaged at hypodontia between teeth-missing gear and accumulation of energy gear, i.e., accumulation of energy gear, which runs out of steam, is released.
4. locust-simulated bouncing robot as claimed in claim 3, it is characterised in that: the transmission gear group is connected big change
Fast gear and small transmission gear, big transmission gear and pinion gear engaged transmission, small transmission gear and gear wheel engaged transmission.
5. locust-simulated bouncing robot as claimed in claim 4, it is characterised in that: the back leg bending mechanism include push rod and
Leading screw and nut mechanism, the leading screw and nut mechanism are transversely mounted on bottom of the frame, the nut of leading screw and nut mechanism by swing rod with
It is hinged and connected in the middle part of push rod, push rod both ends are mounted in rack two sides in the front-back direction guide groove, and energy is additionally provided on push rod
The mandril being in contact with the sliding block of respective track slide block structure in rack, screw rod and big transmission gear by gear engaged transmission,
Feed screw nut's machine is travelled forward on guide rail by swing rod and push rod band movable slider.
6. the locust-simulated bouncing robot as described in claim 1 to 5 any one, it is characterised in that: the hoofing part dress
It sets including driving spindle, a pair of of plectrum and movable motor, the pair of plectrum is opposite to be set on the inside of rack, and passes through main transmission
Axis with corresponding side foreleg is relatively fixed is connected, main shaft and rack are rotatably connected to form revolute pair, before the driving spindle
Rear direction is set between two plectrums, and is mounted on the rack by bearing, and driving spindle rear and front end is respectively equipped with one
Special-shaped cam, tool is there are two symmetrical salient point on the abnormal shape cam, and two special-shaped cam phase differences are 90 degree, with main transmission
Axis can be with the protrusion of corresponding special-shaped cam contact to be respectively equipped at front and back two on symmetrical plectrum, and special-shaped cam is in driving spindle
The intermittent protrusion on its two sides plectrum is in contact in rotary course, so that plectrum and foreleg are before and after its corresponding main shaft
Rotation makes two forelegs replace swing and completes walking function, the driving master by the phase difference of two special-shaped cams
Axis is connected with movable motor power transmission.
7. locust-simulated bouncing robot as claimed in claim 6, it is characterised in that: the driving spindle by gear engagement with
Movable motor is connected.
8. locust-simulated bouncing robot as claimed in claim 6, it is characterised in that: the rack includes the side plate positioned at both sides
With three transverse slats that will be fixedly linked among two side plates, preceding transverse slat, middle transverse slat and rear transverse slat, driving spindle pass through bearing respectively
Before being mounted between transverse slat and middle transverse slat, movable motor is mounted on middle transverse slat by motor rack.
9. locust-simulated bouncing robot as claimed in claim 6, it is characterised in that: the main shaft is mounted on by bearing
On side plate, it is fixedly linked at the top of corresponding plectrum by connector at the top of foreleg, forms stable company between foreleg and plectrum
It connects, the side plate is equipped with the allowing property notch rotated for connector around main shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595071.9A CN108820065B (en) | 2018-06-11 | 2018-06-11 | The locust-simulated bouncing robot that can be walked |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595071.9A CN108820065B (en) | 2018-06-11 | 2018-06-11 | The locust-simulated bouncing robot that can be walked |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108820065A CN108820065A (en) | 2018-11-16 |
| CN108820065B true CN108820065B (en) | 2019-07-09 |
Family
ID=64145010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810595071.9A Expired - Fee Related CN108820065B (en) | 2018-06-11 | 2018-06-11 | The locust-simulated bouncing robot that can be walked |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108820065B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533077B (en) * | 2018-12-13 | 2020-04-07 | 燕山大学 | Robot simulating jumping and walking of bombyx |
| CN109533076B (en) * | 2018-12-13 | 2020-04-03 | 燕山大学 | Imitative bullet tail worm jumping robot with ability of crawling |
| CN110236808B (en) * | 2019-05-09 | 2020-05-01 | 哈工大机器人（合肥）国际创新研究院 | Active support obstacle avoidance device, stair climbing robot and stair climbing method thereof |
| CN110329378B (en) * | 2019-06-28 | 2021-06-15 | 南京航空航天大学 | Motion bionic mechanism for simulating flea-beetle jump and jump method thereof |
| 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 |
| CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
| CN114872808B (en) * | 2022-06-24 | 2023-03-14 | 北京理工大学 | Robot bouncing mechanism and bouncing method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590413A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Bionic jumping and walking mechanism |
| CN205706945U (en) * | 2016-04-11 | 2016-11-23 | 长春理工大学 | Bionic locust jumping mechanism |
| CN207208244U (en) * | 2017-08-24 | 2018-04-10 | 中国科学技术大学 | It is a kind of can actively adjust landing before posture hopping robot |
| CN108032919A (en) * | 2017-12-12 | 2018-05-15 | 重庆大学 | A kind of hopping robot with posture balancing adjusting mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10189519B2 (en) * | 2015-05-29 | 2019-01-29 | Oregon State University | Leg configuration for spring-mass legged locomotion |
-
2018
- 2018-06-11 CN CN201810595071.9A patent/CN108820065B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590413A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Bionic jumping and walking mechanism |
| CN205706945U (en) * | 2016-04-11 | 2016-11-23 | 长春理工大学 | Bionic locust jumping mechanism |
| CN207208244U (en) * | 2017-08-24 | 2018-04-10 | 中国科学技术大学 | It is a kind of can actively adjust landing before posture hopping robot |
| CN108032919A (en) * | 2017-12-12 | 2018-05-15 | 重庆大学 | A kind of hopping robot with posture balancing adjusting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108820065A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108820065B (en) | The locust-simulated bouncing robot that can be walked | |
| CN101716962B (en) | Locust-simulated bouncing and turning robot | |
| CN101850794B (en) | Frog jump robot | |
| CN102009705B (en) | Self-reset wheel-leg jumping composite mobile robot | |
| CN109178137B (en) | Multi-foot robot based on Three Degree Of Freedom pedipulator | |
| CN112960045B (en) | Frog-imitated amphibious robot and motion control method | |
| CN103879470B (en) | A kind of single robot leg hopping mechanism of link transmission | |
| CN104590413A (en) | Bionic jumping and walking mechanism | |
| CN105172927B (en) | It is a kind of to be bounced mobile robot from master reset three class gear shift | |
| CN105966482A (en) | Multi-connection-rod jumping mechanism | |
| CN201769932U (en) | Breaststroke hopping robot power system | |
| CN107089275B (en) | It is a kind of aerial posture adjustment and the sufficient roll-type interval hopping robot of energy regenerating to be landed | |
| CN110077486A (en) | A kind of bionical eight sufficient specialized robot | |
| CN109292022A (en) | A kind of bio-mechanism of vertical jump in succession | |
| CN110304166B (en) | Hopping robot bouncing mechanism based on energy meshing conversion | |
| CN103010327B (en) | Single-motor driven climbing jumping robot | |
| CN109398523B (en) | Closed-chain quadruped robot with intermittent adjustment characteristic | |
| CN108908367B (en) | Bionic bouncing device with adjustable jumping degree | |
| Nakanishi et al. | Design of powerful and flexible musculoskeletal arm by using nonlinear spring unit and electromagnetic clutch opening mechanism | |
| CN208826643U (en) | A kind of adjustable bionic hopping device of jumping degree | |
| Zhang et al. | A novel one-motor driven robot that jumps and walks | |
| CN115257997B (en) | Bionic obstacle-surmounting biped jumping mechanical device | |
| CN203620238U (en) | Multifunctional bionic tail-chasing toy dog | |
| CN102114880B (en) | Shape memory alloy spring-driven jumping robot | |
| CN110329378B (en) | Motion bionic mechanism for simulating flea-beetle jump and jump method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190709 Termination date: 20200611 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |