CN110304166B - Hopping robot bouncing mechanism based on energy meshing conversion - Google Patents
Hopping robot bouncing mechanism based on energy meshing conversion Download PDFInfo
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- CN110304166B CN110304166B CN201910648496.6A CN201910648496A CN110304166B CN 110304166 B CN110304166 B CN 110304166B CN 201910648496 A CN201910648496 A CN 201910648496A CN 110304166 B CN110304166 B CN 110304166B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses a hopping robot bouncing mechanism based on energy meshing conversion, which comprises a main body bracket and an energy conversion mechanism; the energy conversion mechanism comprises a driving motor, a transmission unit and two groups of energy conversion bouncing units; the two energy conversion bouncing units are respectively positioned at two sides outside the main body bracket; the energy conversion bouncing unit comprises a driving non-circular gear, a driven non-circular gear, a rack, an elastic component and a sole; the driven non-circular gear is meshed with the driving non-circular gear; the circular gear and the driven non-circular gear are coaxially arranged; the lower end of the rack is fixed on the sole; the circular gear is meshed with the rack; the lower end of the elastic component is arranged on the sole, and the elastic component comprises a spring. The invention has the advantages of high energy conversion efficiency, high motor utilization rate, high bouncing performance and the like.
Description
Technical Field
The invention belongs to the field of robots, relates to a bouncing mechanism, and particularly relates to a bouncing mechanism of a hopping robot based on energy meshing conversion.
Background
The jumping robot is an important component of intelligent robot development, has the advantages of strong maneuvering performance, high moving speed, strong obstacle crossing capability and the like, and has good application prospect in fields unsuitable for human operation, such as rescue and relief work, military investigation, forest protection, foreign exploration, anti-terrorism explosion prevention and the like.
The jumping mechanism is the most basic element for determining the performance of the jumping robot, and is mainly divided into two types according to different construction methods. One is a bionic bouncing mechanism, i.e. elicitation and imitation from the jumping action of natural creatures, such as mechanical crickets, mechanical fleas, etc. As is known, each motion function of an organism is realized under the action of multiple factors such as bones, muscles, nervous systems and the like, and the energy conversion efficiency is as high as 100%, while most of the existing bionic bouncing mechanisms are rigid structures and have great difference with the physiological characteristics of the organism, so that the energy conversion efficiency and the explosive force of the existing bionic bouncing mechanisms cannot be comparable to the real muscle system of the organism. The other is an elastic bouncing mechanism, i.e. a bouncing mechanism which generates an elastic force by a simple mechanism (such as a spring). At present, in the existing elastic bouncing mechanism, when the linear spring is not completely bounced, that is, the elastic potential energy is not completely converted into kinetic energy, the mechanism starts to leave the ground in advance, so that the energy conversion efficiency is low. In addition, the maximum output torque of the motor depends on the elastic force of the spring when the spring is compressed to the maximum, so that the output torque of the motor does not need to reach the maximum value, namely, the utilization rate of the motor is low. As described above, one of the common problems of the two types of bouncing mechanisms is low energy conversion efficiency. Therefore, the jumping mechanism has the advantages of improving the energy conversion efficiency of the jumping mechanism, realizing efficient storage and release of energy and necessary buffering action, having important theoretical and practical significance for improving jumping performance and relieving landing impact, and being one of key technologies which need to be solved urgently in the field of robots.
Disclosure of Invention
The invention provides a jumping mechanism of a jumping robot based on energy meshing conversion, which overcomes the defects of the prior art.
In order to achieve the aim, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which comprises a main body bracket and an energy conversion mechanism; the energy conversion mechanism comprises a driving motor, a transmission unit and two energy conversion bouncing units; the driving motor is fixed in the main body bracket; the two energy conversion bouncing units are respectively positioned at two sides outside the main body bracket; the energy conversion bouncing unit comprises a driving non-circular gear, a driven non-circular gear, a rack, an elastic component and a sole; the driven non-circular gear is meshed with the driving non-circular gear; the circular gear and the driven non-circular gear are coaxially arranged and synchronously rotate along with the circular gear and the driven non-circular gear; the rack is in an inverted U shape and is provided with two straight line sections and an arc section at the upper end, and the lower end of the rack is fixed on the sole; the circular gear is meshed with the rack; the lower end of the elastic component is arranged on the sole, and the elastic component comprises a spring; the driving motor drives the driving non-circular gears of the two energy conversion bouncing units to rotate through the transmission unit, the driving non-circular gears rotate to drive the driven non-circular gears to rotate, the circular gears rotate along with the driven non-circular gears and rotate downwards on a straight line section of the rack, the upper end of the elastic component and the main body support move downwards along with the circular gears, the spring is stretched, and elastic energy is stored.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the gear pitch curve of the driving non-circular gear is formed by sequentially connecting three curves of a driving acceleration section, a driving constant speed section and a driving deceleration section end to end in a smooth manner in a clockwise direction; according to the clockwise direction, the active speed increasing section is a gradually reducing curve, the active constant speed section is an equal radius curve, and the active speed reducing section is a gradually expanding curve; the gear pitch curve of the driven non-circular gear is formed by sequentially connecting three curves of a driven speed reducing section, a driven constant speed section and a driven speed increasing section end to end in a smooth manner according to the clockwise direction; according to the clockwise direction, the driven deceleration section is a gradually-expanding curve, the driven constant-speed section is an equal-radius curve, and the driven acceleration section is a gradually-reducing curve.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the spring of the elastic component stores elastic energy and then enters a take-off stage, the driving motor reversely runs, the spring contracts to release energy, the upper end of the elastic component moves upwards along with the spring, so that the circular gear is driven to upwards rotate on the rack, the driven non-circular gear synchronously rotates along with the circular gear, in the process, the driven acceleration section of the driven non-circular gear is meshed with the driving deceleration section of the driving non-circular gear, and the driven non-circular gear and the driving non-circular gear perform acceleration transmission; after the jumping mechanism is emptied, the circular gear continues to rotate on the rack, a driven constant-speed section of the driven non-circular gear is meshed with a driving constant-speed section of the driving non-circular gear, and the driven non-circular gear and the driving non-circular gear perform constant-speed transmission; when the circular gear rotates to the other straight line segment of the rack, the circular gear rotates downwards along the straight line segment, the upper end of the elastic component moves downwards along with the circular gear, the spring is stretched again to store elastic energy, the bouncing mechanism retracts legs in the air, when the legs retract and land, the driven deceleration section of the driven non-circular gear is meshed with the driving acceleration section of the driving non-circular gear, and the driven non-circular gear and the driving non-circular gear perform deceleration transmission.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the device also comprises a steering mechanism; the steering mechanism comprises a steering engine, a steering gear shaft, two steering gears and two steering wheels; the steering engine is fixed in the main body bracket; the middle part of the steering gear shaft is arranged in the main body bracket, and two ends of the steering gear shaft penetrate through the side surface of the main body bracket; the two steering gears are respectively positioned at two sides outside the main body bracket and fixedly arranged at two ends of the steering gear shaft; the two steering wheels are respectively positioned on the two sides outside the main body bracket and behind the steering gear; each steering wheel is positioned between the side surface of the main body bracket and the driving non-circular gear corresponding to the side surface, the steering wheels are rotationally connected with the side surface of the main body bracket, and the front rim of each steering wheel is provided with teeth; the steering gear is meshed with the front rim of the steering wheel on the same side; the steering engine runs to make the steering gear shaft rotate to drive the steering gear to rotate on the front rim of the steering wheel, and the main body support rotates in a pitching mode along with the steering gear around the rotating connection position of the steering gear and the steering wheel.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the elastic component also comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the upper ends of the first connecting rod and the second connecting rod are hinged on the outer side surface of the steering wheel, and the second connecting rod is positioned on the front side of the first connecting rod; the upper end of the third connecting rod is hinged with the lower end of the first connecting rod, and the lower end of the third connecting rod is hinged with the sole; the upper end of the fourth connecting rod is hinged with the lower end of the second connecting rod, and the lower end of the fourth connecting rod is hinged with the non-end point of the third connecting rod; one end of the spring is connected with the hinged part of the first connecting rod and the third connecting rod, and the other end of the spring is connected with the hinged part of the second connecting rod and the fourth connecting rod; when the steering wheel moves downwards, the upper ends of the first connecting rod and the second connecting rod move downwards along with the steering wheel, the hinged part of the second connecting rod and the fourth connecting rod and the hinged part of the first connecting rod and the third connecting rod move forwards and backwards respectively, and the spring is stretched; when the spring releases energy, the hinged part of the second connecting rod and the fourth connecting rod and the hinged part of the first connecting rod and the third connecting rod respectively move towards the direction between the first connecting rod and the third connecting rod, the upper ends of the first connecting rod and the second connecting rod move upwards, and the steering wheel moves upwards along with the upper ends of the first connecting rod and the second connecting rod.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the energy conversion bouncing unit also comprises a plurality of guide rails which are vertically arranged and arranged along the front-back direction, and the bottom ends of the guide rails are fixed in the sole; the lower rim of the steering wheel is provided with a plurality of guide rail holes, the number of the guide rail holes is equal to that of the guide rails, and the guide rail holes correspond to the guide rails one by one; the top ends of the guide rails are inserted into the corresponding guide rail holes, and the steering wheel can move up and down along the guide rails.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: wherein, the transmission unit comprises a secondary gear shaft; the secondary gear shaft is arranged along the left and right direction, the middle part of the secondary gear shaft is positioned in the main body bracket and behind the steering gear shaft, and two ends of the secondary gear shaft sequentially penetrate through the side wall of the main body bracket and the steering wheel; the driving noncircular gears of the two energy conversion bouncing units are fixedly arranged at two end parts of the secondary gear shaft and rotate along with the two end parts; when the circular gear rotates on the rack, the driven non-circular gear is driven to move up and down, the driven non-circular gear drives the driving non-circular gear to move up and down, the secondary gear shaft moves up and down along with the driving non-circular gear, and the steering wheel and the main body support are driven to move up and down.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the transmission unit also comprises a primary gear shaft, two secondary input circular gears and two secondary output circular gears; the primary gear shaft is arranged in the main body bracket along the left-right direction and is positioned between the secondary gear shaft and the steering gear shaft; the two secondary input circular gears are respectively and fixedly arranged at two ends of the primary gear shaft and rotate along with the primary gear shaft; the two secondary output circular gears are positioned in the main body bracket, fixedly arranged on the secondary gear shaft, respectively correspond to the two secondary input circular gears and are meshed with the two secondary output circular gears; the first-stage gear shaft rotates, the two second-stage input circular gears rotate along with the first-stage gear shaft and drive the two second-stage output circular gears to rotate, and the second-stage gear shaft rotates along with the second-stage output circular gears; the transmission unit also comprises a primary input bevel gear and a primary output bevel gear; a motor output shaft of the driving motor is arranged along the front-back direction; the primary input bevel gear is fixedly connected with a motor output shaft of the driving motor; the first-stage output bevel gear is fixedly arranged on the first-stage gear shaft and is meshed with the first-stage input bevel gear; the driving motor drives the first-stage input bevel gear to rotate, the first-stage input bevel gear drives the first-stage output bevel gear to rotate, and the first-stage gear shaft rotates along with the first-stage output bevel gear; the radius of the second-stage output circular gear is larger than that of the second-stage input circular gear.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the energy conversion bouncing unit also comprises a three-level gear shaft; the driven non-circular gear and the circular gear are respectively and fixedly arranged at two ends of the three-level gear shaft and synchronously rotate through the three-level gear shaft; the energy conversion bouncing unit further comprises a tie bar, one end of the tie bar is sleeved on the tertiary gear shaft and located between the driven non-circular gear and the circular gear, and the other end of the tie bar is sleeved on the end portion of the secondary gear shaft and located on the outer side of the driving non-circular gear.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the steering mechanism further comprises a steering input bevel gear and a steering output bevel gear; a steering engine output shaft of the steering engine is arranged along the front and back directions; the steering input bevel gear is fixedly connected with a steering engine output shaft of the steering engine; the steering output bevel gear is fixedly arranged on the steering gear shaft and is meshed with the steering input bevel gear; the steering engine drives the steering input bevel gear to rotate, the steering input bevel gear drives the steering output bevel gear to rotate, and the steering gear shaft rotates along with the steering output bevel gear.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the rotation center of the driving non-circular gear is located at the position corresponding to the vertical center line of the rack.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the tail rod mechanism is also included; the tail rod mechanism comprises a tail rod and a pitching tail rod unit; the pitching tail rod unit comprises a pitching tail rod steering engine, a tail rod shaft and a tail rod installation body; the pitching tail rod steering engine is fixed in the main body bracket; the tail rod shaft is arranged in the main body bracket along the left-right direction; the tail rod installation body is hollow and is fixedly installed on the tail rod shaft; the back plate of the main body bracket is provided with a tail rod movable hole; one end of the tail rod is inserted into the tail rod installation body, and the other end of the tail rod penetrates out of the tail rod movable hole backwards; the pitching tail rod steering engine operates to rotate the tail rod shaft to drive the tail rod installation body to rotate, and the tail rod makes pitching motion along with the tail rod installation body; the pitching tail rod unit also comprises a pitching tail rod input gear and a pitching tail rod output gear; the output shaft of the steering engine of the pitching tail rod steering engine is arranged along the left and right directions; the pitching tail rod input gear is fixedly connected with a steering engine output shaft of the pitching tail rod steering engine; the pitching tail rod output gear is fixedly arranged on the tail rod shaft; the pitching tail rod steering engine drives the pitching tail rod input gear to rotate, the pitching tail rod input gear drives the pitching tail rod output gear to rotate, and the tail rod shaft rotates along with the pitching tail rod output gear; the radius of the pitching tail rod output gear is larger than that of the pitching tail rod input gear.
Further, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which can also have the following characteristics: the tail rod installation body is in a semi-cylindrical shape and is formed by connecting a semi-circular arc plate at the front side, two semi-circular plates at the left side and the right side and a flat plate at the rear side; the flat plate is provided with a tail rod insertion hole, and the front end of the tail rod is inserted into the tail rod installation body from the tail rod insertion hole; the tail rod mechanism also comprises a left tail rod unit and a right tail rod unit; the left tail rod unit and the right tail rod unit comprise a left tail rod steering engine, a right tail rod input bevel gear, a left tail rod output bevel gear and a right tail rod output bevel gear; the bottom surfaces of the left and right tail rod steering engines are fixed on a semi-circular arc plate in the tail rod installation body; the left tail rod input bevel gear and the right tail rod input bevel gear are fixedly connected with steering engine output shafts of left tail rod steering engines and right tail rod steering engines; the left tail rod output bevel gear and the right tail rod output bevel gear are fixed at the front ends of the tail rods and are meshed with the left tail rod input bevel gear and the right tail rod input bevel gear; left and right tail rod steering engines drive left and right tail rod input bevel gears to rotate, the left and right tail rod input bevel gears drive left and right tail rod output bevel gears to rotate under the limitation of tail rod insertion holes, and the tail rods swing left and right along with the rotation of the left and right tail rod output bevel gears.
The invention has the beneficial effects that: the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which utilizes the meshing of non-circular gears with special motion rules to sequentially realize the bouncing processes of speed-increasing jumping, constant speed and finally speed-decreasing leg-retracting landing, and the speed-increasing transmission of the non-circular gears can enable the energy of springs to be efficiently released; when the deceleration leg is retracted and landed, the spring can effectively store energy by the deceleration transmission of the non-circular gear and the combination of downward buffering force. By controlling the effective storage and release of energy, the conversion between the linear power of the spring and the nonlinear increasing bouncing power is further controlled, the energy conversion efficiency of the motor and the spring is improved, the problems of low energy conversion efficiency and low motor utilization rate of the existing hopping robot are solved, and the bouncing performance of the robot is improved.
Drawings
FIG. 1 is a schematic perspective view of a hopping robot bouncing mechanism based on energy meshing conversion;
FIG. 2 is a schematic structural view of a steering mechanism;
FIG. 3 is a schematic diagram of a right-view structure of a hopping robot bouncing mechanism based on energy meshing conversion;
FIG. 4 is a schematic diagram of a top view structure of a hopping robot bouncing mechanism based on energy meshing conversion;
FIG. 5 is a schematic right view of the driving and driven non-circular gears;
FIG. 6a is a schematic view of a gear pitch curve of an active non-circular gear;
FIG. 6b is a gear pitch graph of a driven non-circular gear;
FIG. 7 is a schematic structural view of a pitch tail boom unit;
fig. 8 is a schematic structural view of the left and right tail lever units.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in figure 1, the invention provides a hopping robot bouncing mechanism based on energy meshing conversion, which comprises a main body bracket 1, an energy conversion mechanism and a posture adjusting mechanism, wherein the posture adjusting mechanism comprises a steering mechanism and a tail rod mechanism.
As shown in fig. 1 to 5, the main body frame 1 is hollow.
The steering mechanism comprises a steering engine 31, a steering gear shaft 32, a steering input bevel gear 33, a steering output bevel gear 34, two steering gears 35 and two steering wheels 36.
The steering engine 31 is fixed in the main body bracket 1. The steering engine output shaft of the steering engine 31 is arranged in the front-rear direction. The steering gear shaft 32 is provided at the middle portion thereof in the main body frame 1, and at the both ends thereof through the side surface of the main body frame 1. And the steering input bevel gear 33 is fixedly connected with a steering engine output shaft of the steering engine 31. The steering output bevel gear 34 is fixedly mounted on the steering gear shaft 32 and meshes with the steering input bevel gear 33. The two steering gears 35 are respectively positioned at two sides outside the main body bracket 1 and fixedly installed at two ends of the steering gear shaft 32. The two steering wheels 36 are respectively positioned on two sides outside the main body bracket 1 and behind the steering gear 35. The steering wheel 36 is rotatably connected to the side surface of the body frame 1, and the front rim of the steering wheel 36 has teeth. The steering gear 35 meshes with the front rim of the steering wheel 36 on the same side as the steering gear.
The steering engine 31 operates, that is, the steering engine 31 drives the steering input bevel gear 33 to rotate, the steering input bevel gear 33 drives the steering output bevel gear 34 to rotate, and the steering gear shaft 32 rotates along with the steering output bevel gear 34. The steering gear shaft 32 rotates to drive the steering gear 35 to rotate on the front rim of the steering wheel 36, and the main body bracket 1 rotates in a pitching manner along with the steering gear 35 around the rotating connection position of the steering gear 35 and the steering wheel 36.
The energy conversion mechanism comprises a driving motor 21, a transmission unit and two energy conversion bouncing units.
The driving motor 21 is fixed in the main body frame 1. The motor output shaft of the drive motor 21 is arranged in the front-rear direction.
The transmission unit includes a primary gear shaft 221, a primary input bevel gear 222, a primary output bevel gear 223, a secondary gear shaft 224, two secondary input circular gears 225, and two secondary output circular gears 226.
The primary gear shaft 221 is disposed in the left-right direction inside the main body bracket 1, behind the steering gear shaft 32. The primary input bevel gear 222 is fixedly connected with a motor output shaft of the drive motor 21. The primary output bevel gear 223 is fixedly mounted on the primary gear shaft 221 to be engaged with the primary input bevel gear 222.
The secondary gear shaft 224 is disposed in the left-right direction, and the middle portion is located in the main body bracket 1 and behind the primary gear shaft 221. Both ends of the secondary gear shaft 224 pass through the side wall of the main body bracket 1 and the steering wheel 36 in turn. Wherein, the steering wheel 36 is rotatably connected with the main body bracket 1 through a secondary gear shaft 224.
Two second-stage input circular gears 225 are respectively fixedly installed at both ends of the first-stage gear shaft 221 to rotate therewith. Two second-stage output circular gears 226 are positioned in the main body bracket 1, fixedly mounted on the second-stage gear shaft 224, and respectively correspond to and mesh with the two second-stage input circular gears 225. Wherein the radius of the secondary output circular gear 226 is larger than the radius of the secondary input circular gear 225.
The driving motor 21 drives the primary input bevel gear 222 to rotate, the primary input bevel gear 222 drives the primary output bevel gear 223 to rotate, and the primary gear shaft 221 rotates along with the primary output bevel gear 223. The primary gear shaft 221 rotates, the two secondary input circular gears 225 rotate along with the primary gear shaft, the two secondary output circular gears 226 are driven to rotate, and the secondary gear shaft 224 rotates along with the secondary output circular gears 226.
The two energy conversion bouncing units are respectively positioned at two sides outside the main body bracket 1.
The energy conversion bouncing unit comprises a driving non-circular gear 231, a driven non-circular gear 232, a circular gear 233, a rack 234, an elastic component, a sole 236 and two guide rails 237.
The driving noncircular gears 231 of the two energy conversion bouncing units are fixedly arranged at two ends of the secondary gear shaft 224 and rotate along with the two ends.
In the same energy conversion bouncing unit, the driven non-circular gear 232 is meshed with the driving non-circular gear 231. The planes of the driving noncircular gear 231 and the driven noncircular gear 232 are located outside the steering wheel 36 on the same side, that is, each steering wheel 36 is located between the side surface of the main body frame 1 and the driving noncircular gear 231 corresponding to the side surface.
The circular gear 233 is disposed coaxially with the driven non-circular gear 232 and rotates synchronously therewith.
Specifically, the energy conversion bouncing unit further includes a tertiary gear shaft 238 and a tie bar 239. The driven non-circular gear 232 and the circular gear 233 are respectively fixedly installed at both ends of the tertiary gear shaft 238, and synchronously rotated by the tertiary gear shaft 238. One end of the tie bar 239 is sleeved on the tertiary gear shaft 238 and is positioned between the driven non-circular gear 232 and the circular gear 233, and the other end of the tie bar 239 is sleeved on the end part of the secondary gear shaft 224 and outside the driving non-circular gear 231, so that the driving non-circular gear 231 and the driven non-circular gear 232 are always meshed and driven.
The rotation center of the driving non-circular gear 231 is located at a position corresponding to the vertical center line of the rack 234.
The lower end of the resilient assembly is disposed on the ball 236 and the resilient assembly includes a spring 2351.
The resilient assembly also includes a first link 2352, a second link 2353, a third link 2354, and a fourth link 2355. The upper ends of the first link 2352 and the second link 2353 are each hinged at the outboard side of the steering wheel 36, with the second link 2353 being located forward of the first link 2352. The third link 2354 has an upper end hinged to the lower end of the first link 2352 and a lower end hinged to the sole 236. The upper end of the fourth link 2355 is hinged to the lower end of the second link 2353, and the lower end is hinged to a non-end point of the third link 2354. One end of the spring 2351 is connected to the hinge of the first link 2352 and the third link 2354, and the other end is connected to the hinge of the second link 2353 and the fourth link 2355.
The lower end of the fourth link 2355 is hinged to the third link 2354 at a position one-third of the distance from the lower end to form an ankle joint for bouncing. Two parallel, fore-aft hinged mounting plates 2361 are secured to the front side of the sole 236. The lower end of the third link 2354 is hinged at the front end between the two hinged mountings.
The two guide rails 237 are vertically arranged and arranged in the front-rear direction, and the bottom ends of the guide rails 237 are fixed in the sole 236. The lower rim of the steering wheel 36 has two guide rail holes in equal number to the guide rails 237, one for one. The top ends of the guide rails 237 are inserted into the corresponding guide rail holes, and the steering wheel 36 is movable up and down along the guide rails 237.
The driving motor 21 drives the driving noncircular gears 231 of the two energy conversion bouncing units at the two sides of the main body support 1 to rotate through the transmission unit, the driving noncircular gears 231 rotate to drive the driven noncircular gears 232 to rotate, the circular gears 233 rotate along with the driven noncircular gears 232 and downwards rotate on a straight line segment of the racks 234, the upper end of the elastic component and the main body support 1 downwards move along with the circular gears, and the springs 2351 are stretched to store elastic energy.
Specifically, when the circular gear 233 rotates on the rack 234, the driven non-circular gear 232 is driven to move up and down, the driven non-circular gear 232 drives the driving non-circular gear 231 to move up and down, and the secondary gear shaft 224 moves up and down along with the driving non-circular gear 231 and drives the steering wheel 36 and the main body bracket 1 to move up and down.
When the steering wheel 36 moves downward, the upper ends of the first link 2352 and the second link 2353 move downward, the hinge joint between the second link 2353 and the fourth link 2355 and the hinge joint between the first link 2352 and the third link 2354 move in the forward and backward directions, and the spring 2351 is extended. When the spring 2351 releases energy, the articulation of the second link 2353 and the fourth link 2355, and the articulation of the first link 2352 and the third link 2354, respectively, move in a direction therebetween, the first link 2352 and the second link 2353 move upward, and the steering wheel 36 moves upward accordingly.
As shown in fig. 6a, the gear pitch curve of the driving non-circular gear 231 is formed by sequentially connecting three curves of the driving speed increasing section 231a, the driving constant speed section 231b and the driving speed reducing section 231c end to end in a smooth manner in a clockwise direction. In the clockwise direction, the active speed increasing section 231a is a tapered curve, the active constant velocity section 231b is an equal radius curve, and the active speed reducing section 231c is a diverging curve. The gradually-reduced curve means that the distance from each point on the curve to the rotation center A of the gear is gradually reduced along the clockwise direction. The equal radius curve means that the distances from each point on the curve to the rotation center of the gear are equal. The gradually expanding curve means that the distance from each point on the curve to the rotation center of the gear gradually increases along the clockwise direction.
As shown in fig. 6b, the gear pitch curve of the driven non-circular gear 232 is formed by sequentially connecting three curves of a driven deceleration section 232a, a driven constant speed section 232b and a driven acceleration section 232c end to end in a smooth manner in a clockwise direction. In the clockwise direction, the driven deceleration section 232a is a diverging curve, the driven constant velocity section 232b is an equal radius curve, and the driven acceleration section 232c is a converging curve.
After the spring 2351 of the elastic component stores elastic energy, the jumping stage is started, the driving motor 21 runs reversely, the spring 2351 contracts to release energy, when the energy is released, the upper end of the elastic component moves upwards, namely the upper ends of the first connecting rod 2352 and the second connecting rod 2353 move upwards, the steering wheel 36 and the main body bracket 1 move upwards, so that the circular gear 233 is driven to rotate upwards on the rack 234, the driven non-circular gear 232 rotates synchronously, in the process, the driven acceleration section 232c of the driven non-circular gear 232 is meshed with the driving deceleration section 231c of the driving non-circular gear 231, and the driven non-circular gear 232 and the driving non-circular gear 231 are in acceleration transmission due to the fact that the meshing of the driven non-circular gear 232 and the driving non-circular gear 231 has a special motion rule. The release of energy from the spring 2351 is accelerated, and at the moment of releasing the energy, the driven non-circular gear 232 and the driving non-circular gear 231 complete the speed-up transmission. The increased speed of the driven noncircular gear 232 and the driving noncircular gear 231 can accelerate the release of the energy of the spring 2351, so that the bouncing mechanism releases all the stored energy of the spring 2351 before leaving the ground as much as possible, thereby completely converting the elastic potential energy into kinetic energy.
After the jumping mechanism empties, the circular gear 233 continues to rotate on the rack 234, the driven constant-speed section 232b of the driven non-circular gear 232 is meshed with the driving constant-speed section 231b of the driving non-circular gear 231, and the driven non-circular gear 232 and the driving non-circular gear 231 perform constant-speed transmission. At this time, the circular gear 233 is engaged with an arc-shaped section of the upper end of the rack 234.
When the circular gear 233 rotates to another straight line segment of the rack 234, the circular gear 233 rotates downward along the straight line segment, the steering wheel 36 and the main body support 1 move downward, so that the upper end of the elastic assembly, i.e., the upper ends of the first link 2352 and the second link 2353 move downward, the spring 2351 is stretched again to store elastic energy, the bouncing mechanism retracts the leg in the air, the driven deceleration section 232a of the driven non-circular gear 232 is engaged with the driving acceleration section 231a of the driving non-circular gear 231 during leg retraction and landing, and the driven non-circular gear 232 and the driving non-circular gear 231 perform deceleration transmission. At the same time, the downward impact force of the bouncing mechanism upon landing may further stretch the spring 2351, effectively storing energy.
As shown in fig. 7 and 8, the tail lever mechanism includes a tail lever 41, a pitch tail lever unit, and right and left tail lever units.
The pitching tail rod unit comprises a pitching tail rod steering engine 421, a tail rod shaft 422, a pitching tail rod input gear 423, a pitching tail rod output gear 424 and a tail rod installation body 425.
Pitching tail rod steering engine 421 is fixed in main part support 1, is located the below of secondary gear axle 224. The output shaft of the pitch tail rod steering engine 421 is arranged along the left-right direction.
The tail rod shaft 422 is arranged in the main body bracket 1 along the left-right direction. The pitch tail rod input gear 423 is fixedly connected with a steering engine output shaft of the pitch tail rod steering engine 421. Pitch tail shaft output gear 424 is fixedly mounted on tail shaft 422. Wherein the radius of pitch tail output gear 424 is greater than the radius of pitch tail input gear 423.
The tail rod mounting body 425 is hollow and fixedly mounted on the tail rod shaft 422.
The tail rod mounting body 425 has a semi-cylindrical shape and is formed by connecting a front semi-circular plate 4251, two left and right semi-circular plates 4252 and a rear flat plate 4253. The plate 4253 has a tail rod insertion hole 4254.
The back plate of the main body bracket 1 is provided with a tail rod moving hole. One end of the tail rod 41 is inserted into the tail rod mounting body 425 from the tail rod insertion hole 4254, and the other end thereof passes out rearward from the tail rod movable hole.
Pitching tail rod steering gear 421 operates, pitching tail rod steering gear 421 drives pitching tail rod input gear 423 to rotate, pitching tail rod input gear 423 drives pitching tail rod output gear 424 to rotate, and tail rod shaft 422 rotates along with pitching tail rod output gear 424. The tail rod shaft 422 rotates to drive the tail rod installation body 425 to rotate, and the tail rod 41 makes pitching motion along with the tail rod installation body.
The left and right tail rod units comprise left and right tail rod steering gears 431, left and right tail rod input bevel gears 432 and left and right tail rod output bevel gears 433.
The bottom surfaces of the left and right tail rod steering engines 431 are fixed on a semi-circular arc plate 4251 in the tail rod installation body 425. The left tail rod input bevel gear 432 and the right tail rod input bevel gear 432 are fixedly connected with steering engine output shafts of the left tail rod steering engine 431 and the right tail rod steering engine 431. Left and right tail bar output bevel gears 433 are fixed to the front ends of the tail bars 41 and mesh with the left and right tail bar input bevel gears 432.
The left and right tail rod steering engines 431 drive the left and right tail rod input bevel gears 432 to rotate, the left and right tail rod input bevel gears 432 drive the left and right tail rod output bevel gears 433 to rotate under the limitation of the tail rod insertion holes 4254, and the tail rods 41 swing left and right along with the rotation of the left and right tail rod output bevel gears 433.
The invention provides a jumping robot bouncing mechanism based on energy meshing conversion, which comprises the following specific working processes: first, the hopping robot is placed in a work environment.
Then, the driving motor 21 of the energy conversion mechanism is controlled by the control system to operate, the driving motor 21 drives the first-stage input bevel gear 222 on the motor output shaft to rotate, the first-stage input bevel gear 222 drives the first-stage output bevel gear 223 to rotate, the second-stage input circular gear 225 drives the second-stage output circular gear 226 to rotate, the driving non-circular gear 231 is driven to rotate by the second-stage gear shaft 224, the driving non-circular gear 231 is meshed with the driven non-circular gear 232, so that the third-stage gear shaft 238 drives the circular gear 233 to rotate, therefore, the circular gear 233 rotates downwards on the rack 234, and at the same time, the second-stage gear shaft 224 drives the main body support 1 and the steering wheel 36 to slide downwards along the guide rail 237, and the spring 2351 stretches to store elastic.
When the posture is required to be adjusted, the control system controls the steering engine 31 of the steering mechanism to operate, the steering engine 31 drives the steering input bevel gear 33 on the output shaft of the motor to rotate, the steering input bevel gear 33 drives the steering output bevel gear 34 to rotate, the steering gear shaft 32 drives the steering gear 3 to rotate, and the steering gear 3 drives the steering wheel 36 to rotate, so that the bounce angle is adjusted. In addition, the control system controls a pitching tail rod steering engine 421 and a left tail rod steering engine 431 and a right tail rod steering engine 431 of the tail rod mechanism to operate, the pitching tail rod steering engine 421 drives a pitching tail rod input gear 423 on a motor output shaft to rotate, the pitching tail rod input gear 423 drives a pitching tail rod output gear 424 to rotate, a tail rod mounting body 425 is driven to swing up and down through a tail rod shaft 422, the tail rod mounting body 425 drives a tail rod 41 to swing up and down, the left tail rod steering engine 431 and the right tail rod steering engine 431 drive a left tail rod input bevel gear 432 and a right tail rod input bevel gear 432 on the motor output shaft to rotate, the left tail rod input bevel gear 432 and the right tail rod output bevel gear 433 drive the tail rod 41 to swing left.
When the posture of the robot is adjusted, the driving motor 21 of the energy conversion mechanism is rotated reversely by the control system, and simultaneously, gears at all stages are rotated reversely, the spring 2351 contracts to release elastic energy instantly, and the robot starts to jump.
The driving noncircular gear 231 and the driven noncircular gear 232 are in acceleration transmission in the robot take-off stage, the energy release of the spring 2351 can be accelerated, at the moment when the spring 2351 releases the energy, the driving noncircular gear 231 and the driven noncircular gear 232 complete acceleration transmission, after the robot empties, the driving noncircular gear 231 and the driven noncircular gear 232 are in constant-speed transmission, when the legs are retracted in the air and landed, the driving noncircular gear 231 and the driven noncircular gear 232 are in deceleration transmission, the spring 2351 is stretched, the energy is stored, after landing, if the next cycle is to be restarted, the preparation stage is started, and otherwise, the jumping process is ended.
Wherein, the rotation between the steering engine 31 of the steering mechanism and the pitching tail rod steering engine 421 and the left and right tail rod steering engines 431 of the tail rod mechanism is not synchronous, that is, when the driving motor 21 rotates, the steering engine 31, the pitching tail rod steering engine 421 and the left and right tail rod steering engines 431 all stop running, and similarly, when the steering engine 31, the pitching tail rod steering engine 421 and the left and right tail rod steering engines 431 run, the driving motor 21 stops running, that is, the posture adjustment (adjustment through the steering mechanism and the tail rod mechanism) and the jumping of the main body support 1 are not synchronous.
Claims (11)
1. The utility model provides a hopping robot mechanism that bounces based on energy meshing conversion which characterized in that:
comprises a main body bracket and an energy conversion mechanism;
the energy conversion mechanism comprises a driving motor, a transmission unit and two energy conversion bouncing units;
the driving motor is fixed in the main body bracket;
the two energy conversion bouncing units are respectively positioned at two sides outside the main body bracket;
the energy conversion bouncing unit comprises a driving non-circular gear, a driven non-circular gear, a rack, an elastic component and a sole;
the driven non-circular gear is meshed with the driving non-circular gear;
the circular gear and the driven non-circular gear are coaxially arranged and synchronously rotate along with the circular gear and the driven non-circular gear;
the rack is in an inverted U shape and is provided with two straight line sections and an arc-shaped section at the upper end, and the lower end of the rack is fixed on the sole;
the circular gear is meshed with the rack;
the lower end of the elastic component is arranged on the foot pad, and the elastic component comprises a spring;
the driving motor drives the driving non-circular gears of the two energy conversion bouncing units to rotate through the transmission unit, the driving non-circular gears rotate to drive the driven non-circular gears to rotate, the circular gears rotate along with the driven non-circular gears and rotate downwards on a straight line section of the rack, the upper end of the elastic component and the main body support move downwards along with the circular gears, the spring is stretched, and elastic energy is stored;
the gear pitch curve of the driving non-circular gear is formed by sequentially connecting three curves of a driving acceleration section, a driving constant speed section and a driving deceleration section end to end in a smooth manner in a clockwise direction;
according to the clockwise direction, the driving acceleration section is a gradually-reducing curve, the driving constant-speed section is an equal-radius curve, and the driving deceleration section is a gradually-expanding curve;
the gear pitch curve of the driven non-circular gear is formed by sequentially connecting three curves of a driven speed reducing section, a driven constant speed section and a driven speed increasing section end to end in a smooth manner according to the clockwise direction;
according to the clockwise direction, the driven deceleration section is a gradually-expanding curve, the driven constant-speed section is an equal-radius curve, and the driven acceleration section is a gradually-reducing curve;
the spring of the elastic component stores elastic energy and then enters a take-off stage, the driving motor runs in a reverse direction, the spring contracts to release energy, the upper end of the elastic component moves upwards along with the spring, so that the circular gear is driven to rotate upwards on the rack, the driven non-circular gear synchronously rotates along with the circular gear, in the process, the driven acceleration section of the driven non-circular gear is meshed with the driving deceleration section of the driving non-circular gear, and the driven non-circular gear and the driving non-circular gear perform acceleration transmission;
after the jumping mechanism is emptied, the circular gear continues to rotate on the rack, a driven constant-speed section of the driven non-circular gear is meshed with a driving constant-speed section of the driving non-circular gear, and the driven non-circular gear and the driving non-circular gear perform constant-speed transmission;
when the circular gear rotates to the other straight line segment of the rack, the circular gear rotates downwards along the straight line segment, the upper end of the elastic component moves downwards along with the circular gear, the spring is stretched again to store elastic energy, the bouncing mechanism retracts legs in the air, when the legs retract and land, the driven deceleration section of the driven non-circular gear is meshed with the driving acceleration section of the driving non-circular gear, and the driven non-circular gear and the driving non-circular gear perform deceleration transmission.
2. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 1, wherein:
the device also comprises a steering mechanism;
the steering mechanism comprises a steering engine, a steering gear shaft, two steering gears and two steering wheels;
the steering engine is fixed in the main body bracket;
the middle part of the steering gear shaft is arranged in the main body bracket, and two ends of the steering gear shaft penetrate through the side surface of the main body bracket;
the two steering gears are respectively positioned at two sides outside the main body bracket and fixedly arranged at two ends of a steering gear shaft;
the two steering wheels are respectively positioned on two sides outside the main body bracket and behind the steering gear;
each steering wheel is positioned between the side surface of the main body bracket and the driving non-circular gear corresponding to the side surface, the steering wheels are rotationally connected with the side surface of the main body bracket, and the front rim of each steering wheel is provided with teeth;
the steering gear is meshed with the front rim of the steering wheel on the same side as the steering gear;
the steering engine runs to enable the steering gear shaft to rotate and drive the steering gear to rotate on the front rim of the steering wheel, and the main body support rotates in a pitching mode along with the steering gear around the rotating connection position of the steering gear and the steering wheel.
3. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 2, wherein:
the elastic component further comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod;
the upper ends of the first connecting rod and the second connecting rod are hinged to the outer side face of the steering wheel, and the second connecting rod is located on the front side of the first connecting rod;
the upper end of the third connecting rod is hinged with the lower end of the first connecting rod, and the lower end of the third connecting rod is hinged with the sole;
the upper end of the fourth connecting rod is hinged with the lower end of the second connecting rod, and the lower end of the fourth connecting rod is hinged with the non-end point of the third connecting rod;
one end of the spring is connected with the hinged part of the first connecting rod and the third connecting rod, and the other end of the spring is connected with the hinged part of the second connecting rod and the fourth connecting rod;
when the steering wheel moves downwards, the upper ends of the first connecting rod and the second connecting rod move downwards along with the steering wheel, the hinged part of the second connecting rod and the fourth connecting rod and the hinged part of the first connecting rod and the third connecting rod move forwards and backwards respectively, and the spring is stretched;
when the spring releases energy, the hinged part of the second connecting rod and the fourth connecting rod and the hinged part of the first connecting rod and the third connecting rod respectively move towards the direction between the first connecting rod and the third connecting rod, the upper ends of the first connecting rod and the second connecting rod move upwards, and the steering wheel moves upwards along with the first connecting rod and the second connecting rod.
4. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 3, wherein:
the energy conversion bouncing unit also comprises a plurality of guide rails which are vertically arranged and are arranged along the front-back direction, and the bottom ends of the guide rails are fixed in the sole;
the lower disc edge of the steering wheel is provided with a plurality of guide rail holes, the number of the guide rail holes is equal to that of the guide rails, and the guide rail holes correspond to the guide rails one by one;
the top ends of the guide rails are inserted into the corresponding guide rail holes, and the steering wheel can move up and down along the guide rails.
5. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 4, wherein:
wherein the transmission unit includes a secondary gear shaft;
the secondary gear shaft is arranged along the left and right direction, the middle part of the secondary gear shaft is positioned in the main body bracket and behind the steering gear shaft, and two ends of the secondary gear shaft sequentially penetrate through the side wall of the main body bracket and the steering wheel;
the driving noncircular gears of the two energy conversion bouncing units are fixedly arranged at two ends of the secondary gear shaft and rotate along with the two ends of the secondary gear shaft;
when the circular gear rotates on the rack, the driven non-circular gear is driven to move up and down, the driven non-circular gear drives the driving non-circular gear to move up and down, the secondary gear shaft moves up and down along with the driving non-circular gear and drives the steering wheel and the main body support to move up and down.
6. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 5, wherein:
the transmission unit further comprises a primary gear shaft, two secondary input circular gears and two secondary output circular gears;
the primary gear shaft is arranged in the main body bracket along the left-right direction and is positioned between the secondary gear shaft and the steering gear shaft;
the two secondary input circular gears are respectively and fixedly arranged at two ends of the primary gear shaft and rotate along with the primary gear shaft;
the two secondary output circular gears are positioned in the main body bracket, fixedly arranged on the secondary gear shaft, respectively correspond to the two secondary input circular gears and are meshed with the two secondary output circular gears;
the first-stage gear shaft rotates, the two second-stage input circular gears rotate along with the first-stage gear shaft and drive the two second-stage output circular gears to rotate, and the second-stage gear shaft rotates along with the second-stage output circular gears;
the transmission unit also comprises a primary input bevel gear and a primary output bevel gear;
a motor output shaft of the driving motor is arranged along the front-back direction;
the primary input bevel gear is fixedly connected with a motor output shaft of the driving motor;
the primary output bevel gear is fixedly arranged on the primary gear shaft and is meshed with the primary input bevel gear;
the driving motor drives the first-stage input bevel gear to rotate, the first-stage input bevel gear drives the first-stage output bevel gear to rotate, and the first-stage gear shaft rotates along with the first-stage output bevel gear;
the radius of the secondary output circular gear is larger than that of the secondary input circular gear.
7. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 5, wherein:
the energy conversion bouncing unit further comprises a three-level gear shaft;
the driven non-circular gear and the circular gear are respectively and fixedly arranged at two ends of the three-level gear shaft and synchronously rotate through the three-level gear shaft;
the energy conversion bouncing unit further comprises a tie bar, one end of the tie bar is sleeved on the tertiary gear shaft and located between the driven non-circular gear and the circular gear, the other end of the tie bar is sleeved on the end portion of the secondary gear shaft, and the driving non-circular gear is arranged on the outer side of the driving non-circular gear.
8. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 2, wherein:
the steering mechanism further comprises a steering input bevel gear and a steering output bevel gear;
the steering engine output shaft of the steering engine is arranged along the front and back direction;
the steering input bevel gear is fixedly connected with a steering engine output shaft of the steering engine;
the steering output bevel gear is fixedly arranged on the steering gear shaft and is meshed with the steering input bevel gear;
the steering engine drives the steering input bevel gear to rotate, the steering input bevel gear drives the steering output bevel gear to rotate, and the steering gear shaft rotates along with the steering output bevel gear.
9. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 1, wherein:
and the rotation center of the driving non-circular gear is positioned at the position corresponding to the vertical central line of the rack.
10. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 1, wherein:
the tail rod mechanism is also included;
the tail rod mechanism comprises a tail rod and a pitching tail rod unit;
the pitching tail rod unit comprises a pitching tail rod steering engine, a tail rod shaft and a tail rod installation body;
the pitching tail rod steering engine is fixed in the main body bracket;
the tail rod shaft is arranged in the main body bracket along the left-right direction;
the tail rod installation body is hollow and is fixedly installed on the tail rod shaft;
the back plate of the main body bracket is provided with a tail rod movable hole;
one end of the tail rod is inserted into the tail rod installation body, and the other end of the tail rod penetrates out of the tail rod movable hole backwards;
the pitching tail rod steering engine operates to rotate the tail rod shaft to drive the tail rod installation body to rotate, and the tail rod makes pitching motion along with the tail rod installation body;
the pitching tail rod unit further comprises a pitching tail rod input gear and a pitching tail rod output gear;
the output shaft of the steering engine of the pitching tail rod steering engine is arranged along the left and right directions;
the pitching tail rod input gear is fixedly connected with a steering engine output shaft of the pitching tail rod steering engine;
the pitching tail rod output gear is fixedly arranged on the tail rod shaft;
the pitching tail rod steering engine drives the pitching tail rod input gear to rotate, the pitching tail rod input gear drives the pitching tail rod output gear to rotate, and the tail rod shaft rotates along with the pitching tail rod output gear;
the radius of the pitch tail rod output gear is larger than that of the pitch tail rod input gear.
11. The hopping robot bouncing mechanism based on energy meshing transformation as claimed in claim 10, wherein:
the tail rod installation body is in a semi-cylindrical shape and is formed by connecting a semi-circular arc plate at the front side, two semi-circular plates at the left side and the right side and a flat plate at the rear side;
the flat plate is provided with a tail rod insertion hole, and the front end of the tail rod is inserted into the tail rod installation body from the tail rod insertion hole;
the tail rod mechanism further comprises a left tail rod unit and a right tail rod unit;
the left tail rod unit and the right tail rod unit comprise a left tail rod steering engine, a right tail rod input bevel gear, a left tail rod output bevel gear and a right tail rod output bevel gear;
the bottom surfaces of the left tail rod steering engine and the right tail rod steering engine are fixed on a semicircular arc plate in the tail rod installation body;
the left tail rod input bevel gear and the right tail rod input bevel gear are fixedly connected with steering engine output shafts of the left tail rod steering engine and the right tail rod steering engine;
the left tail rod output bevel gear and the right tail rod output bevel gear are fixed at the front ends of the tail rods and are meshed with the left tail rod input bevel gear and the right tail rod input bevel gear;
left and right tail rod steering engines drive left and right tail rod input bevel gears to rotate, the left and right tail rod input bevel gears drive left and right tail rod output bevel gears to rotate under the limitation of tail rod insertion holes, and the tail rods swing left and right along with the rotation of the left and right tail rod output bevel gears.
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| CN113247131B (en) * | 2021-07-01 | 2021-10-29 | 中国科学院地质与地球物理研究所 | Small celestial body surface elastic power type jumping robot and moving method thereof |
| CN114161441B (en) * | 2021-12-07 | 2023-05-23 | 深圳大学 | Jumping robot power device and jumping robot |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001246585A (en) * | 2000-02-29 | 2001-09-11 | Sony Corp | Leg type mobile robot |
| JP2006051559A (en) * | 2004-08-10 | 2006-02-23 | Riyuukoku Univ | Leg module and leg type robot using it |
| CN102009706B (en) * | 2010-11-26 | 2012-01-25 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN201999100U (en) * | 2010-12-31 | 2011-10-05 | 南京航空航天大学 | Dielectric EAP(Equivalent Air Pressure) drive-based vertical jumping mechanism for robots |
| CN102514643B (en) * | 2011-12-08 | 2013-06-05 | 浙江大学 | Hopping robot based on structure of bi-mass model |
| CN106379433B (en) * | 2016-09-29 | 2018-05-29 | 浙江工业职业技术学院 | A kind of mechanism that leaps on one leg based on eccentric non-circular gear driving |
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