CN109292022B - Bionic mechanism for continuous jumping - Google Patents
Bionic mechanism for continuous jumping Download PDFInfo
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- CN109292022B CN109292022B CN201811320335.6A CN201811320335A CN109292022B CN 109292022 B CN109292022 B CN 109292022B CN 201811320335 A CN201811320335 A CN 201811320335A CN 109292022 B CN109292022 B CN 109292022B
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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
- 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
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Abstract
The bionic mechanism for continuous jumping comprises a body, a jumping mechanism, a driving mechanism and a power supply; the body is a bionic trunk main body and is used for installing and fixing the bouncing mechanism, the driving mechanism and the power supply; the bouncing mechanisms are divided into two groups and are symmetrically arranged on the left side and the right side of the machine body through connecting rods; the driving mechanism is arranged in the machine body and comprises a speed reducing motor, an incomplete gear mechanism and a gear shaft, and a power supply is connected with the speed reducing motor and used for a power source of the whole mechanism. The gear motor is used for driving the incomplete gear mechanism, the connecting arm and the rocker arm of the bouncing mechanism are further driven to rotate in a combined mode, the connecting frame drives the front leg and the rear leg of the bouncing mechanism to rotate, then the torsion spring is compressed, the gear is meshed to the tooth-missing position, the energy of the torsion spring is released to realize the mechanism jumping, after the jumping, the big arm continues to rotate forwards to the initial position, the gear motor drives the incomplete gear to rotate, and the continuous jumping of the bionic mechanism is realized. The invention has simple structure and control system and low manufacturing cost.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a bionic mechanism for continuous jumping, which has continuous jumping capability.
Background
At present, the continuous jumping bionic robot is less researched and is in a starting stage, and along with the increasingly wide application range of the robot, people hope that the robot has certain obstacle crossing capability and can work in typical complex environments, such as field exploration, emergency rescue, planet exploration and the like. The robot moving in the jumping mode has strong obstacle-crossing capability and stronger terrain adaptability, and can meet corresponding requirements. The main research method is based on the motion mechanism of animals such as frog, kangaroo, locust and water strider, and the mechanism design is carried out on the basis to realize the function of continuous jumping.
In 2010, Lifei of university at Zhejiang adopts a front-mounted mode in the later stage of an active leg of a GRILLO series robot, so that the air posture is favorable for stable landing of the robot, and continuous jumping is realized.
In 2012, a water surface micro-jump robot imitating a water strider was designed by Hagongdahanxin, and the water strider was kept stable on the water surface by foamed nickel, and was continuously jumped on the water surface by a motor, an incomplete gear, a spring, and the like. However, the swing form of the leg is single, the control of the track or the motion process cannot be carried out, the jumping state on the water surface is still unstable, and the jumping frequency is low.
A mini-type hopping robot with a flexible oval cover is designed by Mirko Kova ˇ c of the Federal institute of Federal engineering, 2013, an additional spherical cover is selected to ensure a landing posture, but a large oval cover is wrapped outside a mechanism, so that the robot occupies a large space, the robot is not beneficial to hiding and influencing the motion flexibility of the robot, and the hopping robot has no directivity when hopping, cannot jump in a designated direction and is not beneficial to the route control of the robot.
Therefore, the invention provides a bionic mechanism which is simple in mechanism and can realize continuous jumping, aiming at the problem that the existing continuous jumping mechanisms are complex, and provides reference value for the research of a bionic jumping robot.
Disclosure of Invention
The technical problem to be solved is as follows: in order to avoid the defects of the prior art, the invention provides a bionic mechanism with continuous jumping based on the physiological characteristics of frogs, and the application value of the bionic robot is improved. The problems that the structure and control are complex, the cost is high, stable landing cannot be realized, and continuous jumping cannot be realized in the prior art are solved.
The technical scheme of the invention is as follows: a bionic mechanism with continuous jumping is characterized in that: comprises a machine body, a bouncing mechanism, a driving mechanism and a power supply;
the body is a bionic trunk main body and is used for fixedly mounting the bouncing mechanism, the driving mechanism and the power supply;
the bouncing mechanisms are divided into two groups and are symmetrically and parallelly arranged on the left side and the right side of the machine body through connecting rods; each group of bouncing mechanisms comprises a front leg, a rear leg, a connecting frame, a torsion spring and a rocker arm combination; the front leg and the rear leg are respectively arranged at two ends of the connecting frame through rivets, and the connecting frame is formed by overlapping two connecting sheets; included angles between the upper parts and the lower parts of the front legs and the rear legs form obtuse angles, and intersection points of the upper parts and the lower parts of the front legs are arranged between the two connecting plates through rivets and are positioned at one end of the connecting frame; the rear leg is composed of two rear leg pieces which are arranged in an overlapped mode, the included angle between the upper portion and the lower portion of each rear leg piece is smaller than that of the front leg, and the intersection point of the upper portion and the lower portion of each rear leg piece is arranged on the outer side of each connecting piece through a rivet and is located at the other end of each connecting frame; the rocker arm combination is arranged between the front legs and the rear legs and comprises a small arm, a large arm and a connecting arm, one end of the small arm is arranged between the two connecting plates through a rivet and is positioned in the middle of the connecting frame, and the other end of the small arm is connected with one end of the large arm through a rivet; the other end of the large arm and one end of the connecting arm are provided with constant-diameter through holes at opposite positions; the other end of the connecting arm is arranged on the outer side of the middle part of the connecting frame through a rivet, so that the large arm can rotate 360 degrees around the rivet connected with the small arm and the connecting arm; the torsion spring is sleeved on the rivet for connecting the rear leg with the connecting frame and arranged between the two connecting plates, and two tail ends of the torsion spring are clamped between the connecting arm, the rivet connected with the connecting sheet and the rivet connected with the lower parts of the two rear leg sheets; the front legs, the rear legs, the connecting frame, the rocker arm combination and the connecting arms are connected through rivets in clearance fit, and relative rotation can be realized;
the driving mechanism is arranged in the machine body and comprises a speed reducing motor, an incomplete gear mechanism and a gear shaft; the speed reducing motor is fixed in the machine body, an output shaft of the speed reducing motor is connected with a driving wheel of the incomplete gear mechanism, and a driven wheel of the incomplete gear mechanism is fixed on the gear shaft; two ends of the gear shaft respectively penetrate through the machine body and simultaneously penetrate through the large arm of the bouncing mechanism and the constant-diameter through hole in the connecting arm to be installed;
the power supply is fixedly arranged in the machine body and connected with the speed reducing motor.
The further technical scheme of the invention is as follows: the organism includes two curb plates of bilateral symmetry, a front bezel and a bottom plate, two curb plates pass through the mounting groove on the bottom plate and install on the bottom plate to be provided with connecting rod hole, gear shaft hole and front bezel mounting groove on the curb plate, the mounting groove on the front bezel through the bottom plate and two curb plates is installed on the bottom plate and is located the bottom plate front end, leave gear groove, curb plate mounting groove and front bezel mounting groove on the bottom plate.
The further technical scheme of the invention is as follows: and gaskets are arranged on the connecting rods between the front legs, the rear legs and the machine body, so that all parts of the bouncing mechanism are arranged in parallel with the side plates of the machine body, and movement gaps are reserved.
The further technical scheme of the invention is as follows: the left side and the right side of the bouncing mechanism are connected with the machine body through four connecting rods, and the four connecting rods respectively penetrate through the machine body to be connected with the upper ends and the lower ends of the two front legs of the bouncing mechanism and the upper ends and the lower ends of the two backward legs of the bouncing mechanism.
The further technical scheme of the invention is as follows: the upper part and the lower part of the front leg form an included angle of 110 DEG and 140 DEG, and the included angle of the front leg is 15 DEG larger than the included angle between the upper part and the lower part of the rear leg piece.
The further technical scheme of the invention is as follows: the connecting arms are equal to the upper parts of the front legs and the rear legs in length and are arranged in parallel.
The further technical scheme of the invention is as follows: the output shaft of the speed reducing motor is a D-shaped shaft, center holes of a driving wheel and a driven wheel of the incomplete gear mechanism are D-shaped holes, the gear shaft is a D-shaped shaft, and the equal-diameter through holes of the large arm and the connecting arm connected with the gear shaft are D-shaped holes.
The further technical scheme of the invention is as follows: the meshing stroke of the incomplete gear mechanism can enable the large arm to rotate 180 degrees, when the large arm continues to rotate forwards, the incomplete gear mechanism is meshed to a tooth-missing position, the bionic mechanism jumps, and the large arm drives the small arm to continue to rotate and recover to an initial position.
Advantageous effects
The invention has the beneficial effects that:
(1) the bouncing mechanism designed by the invention drives a gear by using a reducing motor, the gear drives a gear shaft, the gear shaft drives a connecting arm and a rocker arm to rotate in a combined manner, a front leg and a rear leg are driven to rotate by a connecting frame, the torsion spring is compressed by the rotation of the rear leg until the gear is meshed with a tooth-lacking part, the energy of the torsion spring is released so as to realize the bouncing of the mechanism, after the bouncing, a large arm continues to rotate forwards to an initial position, and an output shaft of the reducing motor continues to drive an incomplete gear to rotate, so that the continuous bouncing of the bionic mechanism. The invention has simple structure and control system and low manufacturing cost.
(2) The invention adopts a form of rocker arm combination, wherein the large arm can rotate 360 degrees to drive the small arm to rotate together, and the bionic mechanism can continuously jump under the condition that the speed reducing motor rotates in one direction.
(3) The invention realizes high-frequency stable continuous bounce by connecting the output shaft of the gear motor with the incomplete gear mechanism to ensure that the driving wheel and the driven wheel are continuously meshed in one direction.
(4) The bionic mechanism bounces forwards at the designed jumping-off angle through the matching of the angles of the front leg and the rear leg, so that the bouncing of the bionic mechanism has certain directionality, the bionic mechanism can stably land on the ground by imitating the shape of a frog flat body, an auxiliary device is not needed, the occupied space is small, and the motion of the bionic mechanism is more flexible.
Drawings
FIG. 1 is an overall schematic diagram of an embodiment of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a schematic view of the body;
FIG. 4 is a side panel schematic;
FIG. 5 is a schematic view of a front plate;
FIG. 6 is a schematic view of a base plate;
FIG. 7 is an overall schematic view of the bouncing mechanism;
FIG. 8 is a side view of FIG. 7;
FIG. 9 is a schematic view of FIG. 8 with the lateral rear leg panel and the lateral connecting panel removed;
FIG. 10 is a schematic view of a drive mechanism;
description of reference numerals: 1. the automobile engine comprises an engine body, 2 parts of a bouncing mechanism, 3 parts of a driving mechanism, 4 parts of a power supply, 5 parts of side plates, 6 parts of a front plate, 7 parts of a bottom plate, 8 parts of side plate installation grooves, 9 parts of gear shaft holes, 10 parts of a first front plate installation groove, 11 parts of connecting rod holes, 12 parts of a second front plate installation groove, 13 parts of front legs, 14 parts of rear legs, 15 parts of a connecting frame, 16 parts of a torsion spring, 17 parts of a gasket, 18 parts of a rivet, 19 parts of a connecting rod, 20 parts of a big arm, 21 parts of a small arm, 22 parts of a connecting arm, 23 parts of a connecting hole, 24 parts of a rear leg piece, 25 parts of a connecting piece, 26 parts of a gear shaft, 27 parts of a speed reducing.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The invention relates to a bionic mechanism for continuous jumping, which comprises a body 1, a jumping mechanism 2, a driving mechanism 3 and a power supply 4.
Referring to fig. 1-6, the machine body 1 includes two side plates 5, a front plate 6 and a bottom plate 7, which are bilaterally symmetrical and arranged in parallel, the two side plates are respectively installed on the bottom plate through two side plate installation grooves 8 of the bottom plate, and a gear shaft hole 9, a first front plate installation groove 10 and two link holes 11 are left on the side plates, the front plate 6 is installed on the bottom plate 7 of the machine body through two front plate installation grooves two 12 on the bottom plate 7 and the first front plate installation grooves 10 on the two side plates 5 and is located at the front end of the bottom plate 7, and a gear groove 30, a side plate installation groove 8 and a second front plate installation groove 12 are left on the bottom plate 7.
Referring to fig. 1, 2, 7, 8 and 9, the bouncing mechanisms are symmetrically installed on two sides of the machine body 1, and include a front leg 13, a rear leg 14, a connecting frame 15, a torsion spring 16, a gasket 17, a rivet 18, a connecting rod 19, a large arm 20, a small arm 21 and a connecting arm 22. The front leg 13 is bent at a certain angle imitating the leg of a frog, specifically, the included angle between the upper part and the lower part of the front leg 13 is 140 degrees, the upper end of the front leg is connected with the machine body 1 through a connecting hole 23, a rivet 18 is adopted at the intersection of the upper part and the lower part to penetrate through the connecting hole 23 to be connected with the connecting frame 15, the lower end of the front leg is contacted with the ground, and the front leg is connected with the bouncing mechanism at the other side through a connecting rod 19; the rear leg 14 is formed by overlapping and assembling two same rear leg pieces 24, the included angle of the front leg 13 is 15 degrees larger than the included angle between the upper part and the lower part of the rear leg piece 24, the upper end of the rear leg piece 24 penetrates through the connecting hole 23 through the connecting rod 19 to be connected with the machine body 1, the intersection point of the upper part and the lower part of the rear leg 14 penetrates through the connecting hole 23 by adopting a rivet 18 to be connected with the connecting frame 15, the lower end of the rear leg piece is contacted with the ground, and the rear leg piece penetrates through the connecting hole 23; the connecting frame 15 is formed by overlapping and assembling two same connecting sheets 25, one ends of the two connecting sheets 25 are respectively arranged at the left side and the right side of the intersection of the front legs 13, then the two connecting sheets 25 are connected with the front legs 13 through rivets 18, the other ends of the two connecting sheets 25 are arranged between the two rear leg sheets 24 and are positioned at the intersection of the rear leg sheets 24, and the two connecting sheets 25 are connected with the rear legs 14 through the rivets 18. The torsion spring 16 is installed on the rivet connecting the rear leg 14 and the connecting frame 15 and is arranged between the two connecting pieces 25, two ends of the torsion spring 16 are clamped between the rivet connecting the connecting arm 22 and the connecting pieces 25 and the rivet connecting the lower parts of the two rear leg pieces 24, namely, one foot of the torsion spring is placed between the two rear leg pieces at the lower part of the rear leg and is abutted against the upper part of the rivet connecting the lower parts of the two rear leg pieces 24, and the other foot is placed between the two connecting pieces and is abutted against the lower part of the rivet connecting the connecting arm 22 and the connecting pieces 25. One end of the large arm 20 is fixed on a gear shaft 26 through the gear shaft 26, the other end of the large arm is connected with the small arm 21 through the rivet 18 and forms a rotary connection, one end of the small arm 21 is connected with the large arm 20 through the rivet 18, the other end of the small arm is connected with the connecting frame 15 through the rivet 18 penetrating through the two connecting sheets and forms a rotary connection between the two connecting sheets; one end of the connecting arm 22 and one end of the large arm 20 are fixed on the gear shaft 26 at the same time, and are arranged on one side of the large arm 20 close to the machine body 1, the other end of the connecting arm is connected to one side of the connecting frame 15 through a rivet penetrating through the two connecting sheets, and the connecting frame is arranged on one side close to the machine body 1 to form rotary connection; the total number of the connecting rods 19 is 4, the bouncing mechanisms on the left side and the right side and the bouncing mechanisms are connected with the machine body 1, and the four connecting rods 19 respectively penetrate through the machine body 1 to be connected with the upper ends and the lower ends of the two front legs 13 of the bouncing mechanisms and the upper ends and the lower ends of the two retreating legs 14. Gaskets are arranged on the connecting rods 19 between the front legs 13 and the machine body 1 and between the rear legs 14, so that all parts of the bouncing mechanism are arranged in parallel with the side plates of the machine body 1, and movement gaps are reserved. The front legs 13, the rear legs 14, the connecting frame 15, the large arms 20, the small arms 21 and the connecting arms 22 are in clearance fit, and can rotate relatively.
Referring to fig. 1, 2 and 10, the driving mechanism is installed in the machine body 1 and includes a reduction motor 27, an incomplete gear mechanism and a gear shaft 26, a driving wheel of the incomplete gear mechanism is an incomplete gear 28, and a driven wheel of the incomplete gear mechanism is a bounce gear 29; the speed reducing motor 27 is fixed on the bottom plate 7, the incomplete gear 28 is arranged on the output shaft of the speed reducing motor 27 and is positioned in the gear groove 30 on the bottom plate 7, and the bounce gear 29 is arranged on the gear shaft 26 and is meshed with the incomplete gear 28. Two ends of a gear shaft 26 are arranged on the machine body 1 through gear shaft holes 9 on the two side plates 5 and are connected with the connecting arm 22 and the big arm 20 of the bouncing mechanisms on the two sides. The power supply 4 is connected with the speed reducing motor and is arranged on the bottom plate 7 together with the speed reducing motor.
The working process of the invention is that firstly the bionic mechanism is placed on a working platform, a power supply 4 is switched on, a speed reducing motor 27 starts to rotate, the speed reducing motor 27 drives an incomplete gear 28 connected with an output shaft of the speed reducing motor to rotate, the incomplete gear 28 drives a bouncing gear 29 meshed with the incomplete gear to rotate, the bouncing gear 29 is fixed on a gear shaft 26, further the gear shaft 26 rotates to drive a connecting arm 22 and a big arm 20 which are arranged at two ends of the gear shaft to rotate, the connecting arm 22 rotates to drive a connecting frame 15 to drive a front leg 13 and a rear leg 14 to move forwards together, meanwhile, the big arm 20 rotates to drive a small arm 21 to push the connecting frame 15 to move forwards, when the big arm 20 rotates to 180 degrees, the big arm 20 and the small arm 21 are in a straight line, at the moment, a torsion spring 16 placed on the rear leg 14 is compressed to the maximum degree, the elastic potential energy of the torsion spring 16 is stored to the maximum, the large arm 20 continues to rotate, when the large arm rotates to the tooth-missing position, the elastic potential energy stored in the torsion spring 16 is released instantly, the bionic mechanism jumps, at the moment, the large arm 20 drives the small arm 21 to continue to rotate for 360 degrees and then restores to the initial position, after the bionic mechanism falls to the ground, the bionic mechanism repeatedly jumps under the continuous rotation of the speed reduction motor 27, and continuous jumping is realized.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (8)
1. A bionic mechanism with continuous jumping is characterized in that: comprises a machine body, a bouncing mechanism, a driving mechanism and a power supply;
the body is a bionic trunk main body and is used for fixedly mounting the bouncing mechanism, the driving mechanism and the power supply;
the bouncing mechanisms are divided into two groups and are symmetrically and parallelly arranged on the left side and the right side of the machine body through connecting rods; each group of bouncing mechanisms comprises a front leg, a rear leg, a connecting frame, a torsion spring and a rocker arm combination; the front leg and the rear leg are respectively arranged at two ends of the connecting frame through rivets, and the connecting frame is formed by overlapping two connecting sheets; an included angle between the upper part and the lower part of the front leg and an included angle between the upper part and the lower part of the rear leg form an obtuse angle, and the intersection point of the upper part and the lower part of the front leg is arranged between the two connecting sheets through a rivet and is positioned at one end of the connecting frame; the rear leg is composed of two rear leg pieces which are arranged in an overlapped mode, the included angle between the upper portion and the lower portion of each rear leg piece is smaller than the included angle between the upper portion and the lower portion of each front leg, and the intersection point of the upper portions and the lower portions of the two rear leg pieces is arranged on the outer side of the two connecting pieces through rivets and is located at the other end of the connecting frame; the rocker arm combination is arranged between the front leg and the rear leg and comprises a small arm, a large arm and a connecting arm, one end of the small arm is arranged between the two connecting pieces through a rivet and is positioned in the middle of the connecting frame, and the other end of the small arm is connected with one end of the large arm through a rivet; the other end of the large arm and one end of the connecting arm are provided with constant-diameter through holes at opposite positions; the other end of the connecting arm is arranged on the outer side of the middle part of the connecting frame through a rivet, so that the large arm can rotate 360 degrees around the rivet connected with the small arm and the connecting arm; the torsion spring is sleeved on the rivet for connecting the rear leg with the connecting frame and arranged between the two connecting sheets, and two tail ends of the torsion spring are clamped between the connecting arm, the rivet connected with the connecting sheets and the rivet connected with the lower parts of the two rear leg sheets; the front legs, the rear legs, the connecting frame, the rocker arm combination and the connecting arms are connected through rivets in clearance fit, and relative rotation can be realized;
the driving mechanism is arranged in the machine body and comprises a speed reducing motor, an incomplete gear mechanism and a gear shaft; the speed reducing motor is fixed in the machine body, an output shaft of the speed reducing motor is connected with a driving wheel of the incomplete gear mechanism, and a driven wheel of the incomplete gear mechanism is fixed on the gear shaft; two ends of the gear shaft respectively penetrate through the machine body and simultaneously penetrate through the large arm of the bouncing mechanism and the constant-diameter through hole in the connecting arm to be installed;
the power supply is fixedly arranged in the machine body and connected with the speed reducing motor.
2. The biomimetic mechanism for continuous jumping of claim 1, wherein: the organism includes two curb plates of bilateral symmetry, a front bezel and a bottom plate, two curb plates pass through the mounting groove on the bottom plate and install on the bottom plate to be provided with connecting rod hole, gear shaft hole and front bezel mounting groove on the curb plate, the mounting groove on the front bezel through the bottom plate and two curb plates is installed on the bottom plate and is located the bottom plate front end, leave gear groove, curb plate mounting groove and front bezel mounting groove on the bottom plate.
3. The biomimetic mechanism for continuous jumping of claim 2, wherein: and gaskets are arranged on the connecting rods between the front legs, the rear legs and the machine body, so that all parts of the bouncing mechanism are arranged in parallel with the side plates of the machine body, and movement gaps are reserved.
4. The biomimetic mechanism for continuous jumping of claim 1, wherein: the left side and the right side of the bouncing mechanism are connected with the machine body through four connecting rods, and the four connecting rods respectively penetrate through the machine body to be connected with the upper ends and the lower ends of the two front legs and the upper ends and the lower ends of the two rear legs of the bouncing mechanism.
5. The biomimetic mechanism for continuous jumping of claim 1, wherein: the upper part and the lower part of the front leg form an included angle of 110-140 degrees, and the included angle between the upper part and the lower part of the front leg is 15 degrees larger than that between the upper part and the lower part of the rear leg piece.
6. The biomimetic mechanism for continuous jumping of claim 1, wherein: the connecting arms are equal in length to the upper portions of the front legs and the upper portions of the rear legs and are arranged in parallel.
7. The biomimetic mechanism for continuous jumping of claim 1, wherein: the output shaft of the speed reducing motor is a D-shaped shaft, center holes of a driving wheel and a driven wheel of the incomplete gear mechanism are D-shaped holes, the gear shaft is a D-shaped shaft, and the equal-diameter through holes of the large arm and the connecting arm connected with the gear shaft are D-shaped holes.
8. The biomimetic mechanism for continuous jumping of claim 1, wherein: the meshing stroke of the incomplete gear mechanism can enable the large arm to rotate 180 degrees, when the large arm continues to rotate forwards, the incomplete gear mechanism is meshed to a tooth-missing position, the bionic mechanism jumps, and the large arm drives the small arm to continue to rotate and recover to an initial position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320335.6A CN109292022B (en) | 2018-11-07 | 2018-11-07 | Bionic mechanism for continuous jumping |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320335.6A CN109292022B (en) | 2018-11-07 | 2018-11-07 | Bionic mechanism for continuous jumping |
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| CN109292022A CN109292022A (en) | 2019-02-01 |
| CN109292022B true CN109292022B (en) | 2020-11-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111572661B (en) * | 2020-05-29 | 2023-10-27 | 陕西科技大学 | Mini bouncing robot and bouncing method thereof |
| CN112082715B (en) * | 2020-08-19 | 2023-04-25 | 安徽省羽乐体育用品有限公司 | Elasticity detection device of badminton head |
| CN112960045B (en) * | 2021-03-10 | 2022-03-01 | 哈尔滨工业大学 | Frog-imitated amphibious robot and motion control method |
| CN114408043A (en) * | 2022-01-27 | 2022-04-29 | 吉林大学 | Bionic arc-shaped jumping device and jumping method thereof |
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| CN107128385A (en) * | 2017-05-24 | 2017-09-05 | 电子科技大学 | A kind of locust-simulated bouncing robot linked with leg with damping characteristics |
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| US20070043449A1 (en) * | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
| CN102092428B (en) * | 2011-02-11 | 2012-05-30 | 北方工业大学 | Four-bar mechanism based wheel-type hopping mechanism |
| JP5923621B2 (en) * | 2012-11-19 | 2016-05-24 | 株式会社日立製作所 | Moving body |
| CN104590412B (en) * | 2014-12-24 | 2017-01-11 | 浙江理工大学 | Multifunctional bionic jumping and walking robot |
| CN106956727B (en) * | 2017-04-05 | 2018-11-13 | 电子科技大学 | Imitative locust flight hopping robot based on metamorphic mechanisms and its flight control method |
| CN206900505U (en) * | 2017-06-28 | 2018-01-19 | 杭州师范大学钱江学院 | A kind of bionic kangaroo-hopping robot |
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| CN107128385A (en) * | 2017-05-24 | 2017-09-05 | 电子科技大学 | A kind of locust-simulated bouncing robot linked with leg with damping characteristics |
| CN207773295U (en) * | 2018-01-11 | 2018-08-28 | 苏州凡喆科技有限公司 | A kind of drive mechanism of bionical frog robot |
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