CN110126936B - Robot walking and bouncing mechanism - Google Patents
Robot walking and bouncing mechanism Download PDFInfo
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- CN110126936B CN110126936B CN201910543360.9A CN201910543360A CN110126936B CN 110126936 B CN110126936 B CN 110126936B CN 201910543360 A CN201910543360 A CN 201910543360A CN 110126936 B CN110126936 B CN 110126936B
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- connecting rod
- energy storage
- bouncing
- motor
- storage spring
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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
- B62D57/028—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 having wheels and mechanical legs
Abstract
A robot walking and bouncing mechanism comprises a case, driving wheels at the front parts of two outer side walls of the case, driven wheels at the rear end of the case and a connecting rod mechanism consisting of No. 1 to No. 6 connecting rods, energy storage springs and buffer springs on the two outer side walls of the case; a motor with double output shafts is arranged in the box body, the front shaft of the motor is connected with a bidirectional bevel gear reversing mechanism through a front clutch, and two output shafts of the bidirectional bevel gear reversing mechanism respectively drive a driving wheel; the rear shaft of the motor is connected with the roller through a rear clutch, and the roller is wound with two traction ropes which are opposite in winding direction and the tail ends of which are respectively connected with the connecting rod mechanism. The robot walking and bouncing mechanism drives the roller to rotate by means of the reverse rotation of the motor, so that the traction rope is released, the energy storage spring releases energy to realize a bouncing function, the transmission efficiency of the roller is higher than that of an open type transmission bevel gear, and the robot is short in bouncing time, high in speed and strong in bouncing force; the impact between the connecting rod and the ground can be buffered through the boot-shaped 6# connecting rod and the buffer spring, so that the damage of a connecting rod mechanism is avoided; the walking and bouncing dual functions of the robot can be completed by one motor.
Description
Technical Field
The invention relates to a robot, in particular to a robot walking and bouncing mechanism.
Background
In the modern times, robots have gradually replaced human power as an important tool in human life and production processes. Most of the existing wheel type and crawler type mobile robots, walking robots, crawling robots and the like are robots made by applying bionics, and the robots can only walk on relatively flat ground and cannot smoothly run when encountering complex ground with gully.
Mavingso, mijie, et al, in "manufacturing automation" 2014 15 (pages 41-44) disclose a robot bouncing mechanism that enables a robot to cross obstacles. The bouncing mechanism adopts a four-bar mechanism to simulate each leg of the locust, a spring is used to simulate tendon and tendon of the locust, a motor is connected with a driving swivel of the four-bar mechanism positioned on two sides of a box body through a transmission shaft and a bevel gear group reversing mechanism, the swivel is driven through the motor, then a thigh (a connecting rod 1 of the four-bar mechanism) is driven to rotate, and the spring is pulled to store energy; when jumping, the spring pulls the upper end of the shank ((the connecting rod 2 of the four-bar mechanism) to enable the shank to instantly rotate around the hinge, so that the pedaling force is generated between the tail end of the shank and the ground, and the locust jumping of the robot is realized.
The robot bouncing mechanism has the following defects in the using process:
1. when the robot bounces, the motor rotates reversely, the rotating section is driven to rotate reversely through the meshed steering bevel gear and the output shaft, and then the rotating section drives the connecting rod to rotate reversely, so that the spring releases energy, and jumping is achieved. Because the open type transmission bevel gear has low transmission efficiency (generally 0.92-0.95), and the subsequent transmission parts are rigid and have large friction force, the spring has longer time for releasing energy and slower speed, and the bouncing force of the robot is influenced.
2. When the robot bounces and lands on the ground, the four-bar mechanism is not provided with an anti-collision buffer mechanism and is easy to damage due to ground collision.
3. The robot walks on the flat ground by another motor, and the structure is complex.
Disclosure of Invention
In order to overcome the defects of the robot bouncing mechanism, the invention provides the robot walking and bouncing mechanism which has the advantages of high bouncing speed, good anti-collision performance of the bouncing mechanism and double functions of walking and cricket type bouncing.
The invention provides a robot walking and bouncing mechanism, which comprises a square case (robot body) consisting of a case body and a case cover, wherein two outer side walls of the front part of the case body are respectively provided with a driving wheel (29) which are mutually symmetrical, and the rear end of the case body is provided with a pair of driven wheels which are arranged through a supporting rod; the method is characterized in that:
a double-output-shaft motor is installed in the box body, a front shaft of the double-output-shaft motor is connected with a bidirectional bevel gear reversing mechanism consisting of three bevel gears meshed in pairs through a front friction plate type clutch, and two output shafts of the bidirectional bevel gear reversing mechanism respectively drive the driving wheels; the rear shaft of the motor with double output shafts is connected with the roller through a rear friction plate type clutch, the roller is wound with two traction ropes opposite to each other, and the tail ends of the two traction ropes are respectively connected with the connecting rod mechanism through holes arranged on the two side walls of the box body:
the connecting rod mechanism comprises a 1# connecting rod, a 2# connecting rod, a 3# connecting rod, a 4# connecting rod, a 5# connecting rod, a 6# connecting rod, an energy storage spring and a buffer spring; the connecting rod No. 1, the connecting rod No. 2, the connecting rod No. 5 and the connecting rod No. 6 are straight (in-line), the connecting rod No. 3 is bent in an arc shape with 135 degrees, and the connecting rod No. 4 is in an L shape with one end provided with an inclined plane; one end of the 1# connecting rod is fixedly connected with the side wall of the rear part of the box body through a screw, the other end of the 1# connecting rod is hinged with one end of the 2# connecting rod through a pin, the other end of the 2# connecting rod is hinged with the bent part of the 3# connecting rod through a pin, the end part of the short section of the 3# connecting rod is hinged with one end of the energy storage spring through a screw, and the other end of the energy storage spring is connected with the screw fixedly connected with the side wall of the rear part of the box body through the 1# connecting rod, so that a quadrilateral connecting rod mechanism formed by the 1# connecting rod, the 2# connecting rod, the short section of the 3# connecting rod and the energy storage spring is in a parallelogram shape when the energy storage; the free end (the end of the longer section) of the No. 3 connecting rod is connected with the traction rope, and the position close to the free end is hinged with the No. 5 connecting rod through a pin; the No. 5 connecting rod is hinged with the middle part of the No. 6 connecting rod through a pin shaft; the rear end of the No. 6 connecting rod is connected with the No. 3 connecting rod through the buffer spring; the middle part of the longer section of the No. 3 connecting rod is fixedly connected with the butt end of the No. 4 connecting rod through a bolt, and one end of the No. 4 connecting rod with an inclined plane is matched with a limiting cylinder on the No. 2 connecting rod to form an energy storage spring stretching limiting mechanism; the length design of each connecting rod of the link mechanism ensures that the 6# connecting rod has a certain distance with the ground when the energy storage spring extends to the limit length, and the 6# connecting rod can impact the ground when the energy storage spring is stretched and retracted to the limit length.
Further, the diameter of the driven wheel is smaller than that of the driving wheel; the rear part of the box body is provided with a balancing weight.
Furthermore, the 6# connecting rod is provided with a longitudinal through hole, and the 5# connecting rod is hinged with the middle part of the 6# connecting rod through a pin shaft penetrating through the through hole.
The working principle of the invention is as follows:
when the robot walks on a gentle road surface, the front friction plate type clutch is combined, the rear friction plate type clutch is separated, each connecting rod in the connecting rod mechanism is in an extreme contraction state under the action of a traction rope wound on a roller at the moment, the energy storage spring stretches and stores energy for jumping, and the No. 6 connecting rod keeps a certain distance from the ground; the motor is started and then positively transmitted, the pair of driving wheels are driven to rotate through the front friction plate type clutch and the bidirectional bevel gear transmission mechanism, and the motor rapidly walks under the support of the pair of driven wheels at the rear part of the box body. When meeting gully, the front friction plate type clutch is separated, and the running mechanism stops running; the rear friction plate type clutch is combined simultaneously, the motor drives the roller to rotate reversely, the traction rope wound on the roller is quickly released, the energy storage spring loses tensile force and contracts quickly, the 3# connecting rod is pulled to rotate anticlockwise around the hinges of the rest 2# connecting rods, the 6# connecting rod moves downwards quickly through the 5# connecting rod to impact the ground, potential energy released by the energy storage spring is converted into kinetic energy of the 6# connecting rod to act on the ground, the robot jumps up through the reaction force of the ground, and the function of jumping and obstacle crossing is completed; after the jump falls to the ground, the motor rotates reversely, so that the released traction rope is wound on the roller again, and the connecting rod mechanism is pulled to return to the limit contraction state to prepare for the next jump; then the rear friction plate type clutch is separated, the front friction plate type clutch is combined, and the motor drives the robot to return to the smooth road surface.
Compared with the prior art, the invention has the advantages that:
1. the robot drives the roller to rotate by the reverse rotation of the motor when jumping, so that the traction rope is released, the energy storage spring retracts through the 3# connecting rod, and energy is released, and the transmission efficiency (greater than 0.96) of the roller is higher than that of an open type transmission bevel gear, so that the robot has the advantages of shorter time required for jumping, higher speed and stronger jumping force.
2. The No. 6 connecting rod is in a boot shape with a through hole longitudinally formed, and the No. 5 connecting rod is hinged with the middle part of the No. 6 connecting rod through a pin shaft passing through the through hole; meanwhile, the buffer springs arranged among the 6# connecting rod, the 5# connecting rod and the 3# connecting rod are utilized, so that the impact between the connecting rod mechanism and the ground can be effectively buffered, and the connecting rod mechanism is prevented from being damaged due to the impact of the ground.
3. The walking and bouncing dual functions of the robot can be completed by using a motor with double output shafts, so that the structure of the robot is simplified.
Drawings
FIG. 1 is a three-dimensional view of an embodiment of the present invention;
fig. 2 is a top view of fig. 1 with the cover removed.
Detailed Description
Specific implementations of the present invention are further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the embodiment of the robot walking and bouncing mechanism of the invention comprises a square case (robot body) formed by connecting a case body 2 and a case cover 1 through bolts 31, wherein two outer side walls of the front part of the case body are respectively provided with a driving wheel 29 which are mutually symmetrical, the rear end of the case body is provided with a pair of driven wheels 30 which are arranged through a supporting rod 49, the diameters of the driven wheels are smaller than those of the driving wheels, and two side walls of the case body are provided with a connecting rod mechanism.
As shown in fig. 2, a dual output shaft motor 18 is installed in the box, the front shaft of the dual output shaft motor is connected with a bidirectional bevel gear reversing mechanism consisting of a first bevel gear 3, a second bevel gear 6 and a third bevel gear 11 which are meshed in pairs through a front friction plate type clutch 1), a first bevel gear shaft 5 and a flat key 4, two output shafts 8 of the bidirectional bevel gear reversing mechanism are respectively installed on the bottom plate of the box through conical roller bearings 10 and a shaft bracket 9, and respectively extend out of the box through conical roller bearings 51 and conical roller bearings 52 installed on the side walls of the box to be connected with a driving wheel to drive the driving wheel, and the two conical roller bearings 51 are respectively provided with shaft end covers 54 fixed by bolts 53; the third bevel gear output shaft 13 is mounted at both ends thereof to the bottom plate of the casing via tapered roller bearings 16 and 55 and a shaft bracket 14, respectively, and the shaft bracket 14 is fixed to the bottom plate of the casing by bolts 15. The rear shaft of the motor with double output shafts is connected with the front shaft 20 of the roller through a rear friction plate type clutch 19, the front end of the rear shaft 27 of the roller is connected with the roller 21 through a flat key 25, the roller is installed on a roller bracket 22, the roller bracket is fixed on the bottom plate of the box body through a bolt 23, the rear end of the rear shaft 27 of the roller is installed on a balancing weight 50 at the rear part of the box body through a conical roller bearing 26, and the balancing weight is used for balancing the front and rear weight of the robot when bouncing. Two hauling ropes 24 and 56 wound in opposite directions are wound on the roller, and the tail ends of the two hauling ropes are respectively connected with the connecting rod mechanism through holes (not shown) formed in two side walls of the box body.
As shown in fig. 1, the link mechanism includes a # 1 link 32, a # 2 link 33, a # 3 link 34, a # 4 link 36, a # 5 link 37, a # 6 link 38, an energy storage spring 35 and a buffer spring 39; the connecting rod No. 1, the connecting rod No. 2, the connecting rod No. 5 and the connecting rod No. 6 are straight (in-line), the connecting rod No. 3 is bent in an arc shape with 135 degrees, and the connecting rod No. 4 is in an L shape with one end provided with an inclined plane; one end of the 1# connecting rod is fixedly connected with the side wall of the rear part of the box body through a screw 40, the other end of the 1# connecting rod is hinged with one end of the 2# connecting rod through a pin 42, the other end of the 2# connecting rod is hinged with the bending part of the 3# connecting rod 34 through a pin 45, the end part of the short section of the 3# connecting rod is hinged with one end of an energy storage spring 35 through a screw 41, and the other end of the energy storage spring is connected with the screw 41 fixedly connected with the side wall of the rear part of the box body through the 1# connecting rod, so that a quadrilateral linkage mechanism formed by the 1# connecting rod, the 2# connecting rod, the short section of the 3# connecting rod and the energy storage spring is in a parallelogram shape when the energy storage spring; the free end (end of the longer section) of the 3# connecting rod is connected with the traction rope, and the position close to the free end is hinged with the 5# connecting rod through a pin 46; the No. 5 connecting rod is hinged with the middle part of the No. 6 connecting rod which is provided with a longitudinal through hole through a pin shaft 48; the rear end of the No. 6 connecting rod is connected with the No. 3 connecting rod through the buffer spring; the middle part of the longer section of the No. 3 connecting rod is fixedly connected with the butt end of the No. 4 connecting rod through a bolt 44, and one end of the No. 4 connecting rod with an inclined plane is matched with a limiting cylinder 43 on the No. 2 connecting rod to form an energy storage spring stretching limiting mechanism; the length design of each connecting rod of the link mechanism ensures that the 6# connecting rod has a certain distance with the ground when the energy storage spring extends to the limit length, and the 6# connecting rod can impact the ground when the energy storage spring is stretched and retracted to the limit length.
Claims (3)
1. A robot walking and bouncing mechanism comprises a square case consisting of a case body (2) and a case cover (1), wherein two outer side walls of the front part of the case body are respectively provided with a driving wheel (29) which are symmetrical with each other, and the rear end of the case body is provided with a pair of driven wheels (30) which are arranged through a supporting rod (49); the method is characterized in that:
a double-output-shaft motor (18) is arranged in the box body, a front shaft of the double-output-shaft motor is connected with a bidirectional bevel gear reversing mechanism consisting of three bevel gears (3, 6 and 11) meshed in pairs through a front friction plate type clutch (17), and two output shafts (8) of the bidirectional bevel gear reversing mechanism respectively drive the driving wheels; the rear shaft of the motor with double output shafts is connected with a roller (21) through a rear friction plate type clutch (19), the roller is wound with two traction ropes (24 and 56) which are opposite in direction, and the tail ends of the two traction ropes are respectively connected with a connecting rod mechanism through holes arranged on the two side walls of the box body:
the connecting rod mechanism comprises a 1# connecting rod (32), a 2# connecting rod (33), a 3# connecting rod (34), a 4# connecting rod (36), a 5# connecting rod (37), a 6# connecting rod (38), an energy storage spring (35) and a buffer spring (39); the connecting rod No. 1, the connecting rod No. 2, the connecting rod No. 5 and the connecting rod No. 6 are straight, the connecting rod No. 3 is bent in an arc shape of 135 degrees, and the connecting rod No. 4 is in an L shape with one end provided with an inclined plane; one end of the 1# connecting rod is fixedly connected with the side wall of the rear part of the box body through a screw (40), the other end of the 1# connecting rod (32) is hinged with one end of the 2# connecting rod through a pin (42), the other end of the 2# connecting rod is hinged with the bending part of the 3# connecting rod (34) through a pin (45), the end part of the shorter section of the 3# connecting rod is hinged with one end of an energy storage spring (35) through a screw (41), and the other end of the energy storage spring is connected with the screw (40) fixedly connected with the 1# connecting rod and the side wall of the rear part of the box body, so that a quadrilateral linkage mechanism formed by the 1# connecting rod, the 2# connecting rod, the shorter section of the 3# connecting rod and the energy storage spring is in a parallelogram shape when the energy storage spring is stretched to the; the free end of the No. 3 connecting rod is connected with the traction rope, and the position close to the free end is hinged with the No. 5 connecting rod through a pin (46); the 5# connecting rod is hinged with the middle part of the 6# connecting rod through a pin shaft (48); the rear end of the No. 6 connecting rod is connected with the No. 3 connecting rod through the buffer spring; the middle part of the longer section of the 3# connecting rod is fixedly connected with the butt end of the 4# connecting rod through a bolt (44), and one end of the 4# connecting rod with an inclined plane is matched with a limiting cylinder (43) on the 2# connecting rod to form an energy storage spring stretching limiting mechanism; the length design of each connecting rod of the link mechanism ensures that the 6# connecting rod has a certain distance with the ground when the energy storage spring extends to the limit length, and the 6# connecting rod can impact the ground when the energy storage spring is stretched and retracted to the limit length.
2. The robotic walking and bouncing mechanism of claim 1, wherein: the diameter of the driven wheel (30) is smaller than that of the driving wheel; the rear part of the box body is provided with a balancing weight (50).
3. The robotic walking and bouncing mechanism of claim 1, wherein: the 6# connecting rod is provided with a longitudinal through hole, and the 5# connecting rod is hinged with the middle part of the 6# connecting rod through a pin shaft (48) passing through the through hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543360.9A CN110126936B (en) | 2019-06-21 | 2019-06-21 | Robot walking and bouncing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543360.9A CN110126936B (en) | 2019-06-21 | 2019-06-21 | Robot walking and bouncing mechanism |
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| CN110126936A CN110126936A (en) | 2019-08-16 |
| CN110126936B true CN110126936B (en) | 2021-04-23 |
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| CN201910543360.9A Active CN110126936B (en) | 2019-06-21 | 2019-06-21 | Robot walking and bouncing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111169556B (en) * | 2020-01-06 | 2021-04-27 | 北京理工大学 | High-trafficability wheel-leg combined bounceable ground maneuvering platform |
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