CN111152861A - Eight-connecting-rod structure jumping robot with adjustable aerial posture - Google Patents
Eight-connecting-rod structure jumping robot with adjustable aerial posture Download PDFInfo
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- 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
本发明公开了一种空中姿态可调的八连杆结构跳跃机器人，属于机器人技术领域，包括机身机构、蓄能与释放机构、摆杆机构和控制模块，机身机构为包括动力短臂杆一、动力长臂杆一、长臂杆一、长臂杆二、短臂杆、摇臂杆、动力长臂杆二和动力短臂杆二的平面八连杆结构，蓄能与释放机构主要由直流减速电机、行星架、单向轴承、齿轮一、齿轮二、齿轮三、卷绳轴和卷绳构成，摆杆结构包括旋转电机、摆杆和飞轮连接件，控制模块由核心控制板、通信模块、直流电机驱动器、锂电池和姿态采集模块构成。本发明能够稳定起跳，跳跃高度及跳跃空中姿态可控，灵活性好、能量利用率高。
The invention discloses an eight-link structure jumping robot with adjustable aerial attitude, belonging to the field of robotics technology, comprising a body mechanism, an energy storage and release mechanism, a pendulum mechanism and a control module. The body mechanism includes a power short arm rod 1. The plane eight-link structure of the power long arm rod 1, the long arm rod 1, the long arm rod 2, the short arm rod, the rocker rod, the power long arm rod 2 and the power short arm rod 2, the main energy storage and release mechanism It is composed of DC gear motor, planet carrier, one-way bearing, gear 1, gear 2, gear 3, winding shaft and winding rope. The swing rod structure includes a rotating motor, a swing rod and a flywheel connection. It consists of a communication module, a DC motor driver, a lithium battery and an attitude acquisition module. The invention can take off stably, the jump height and the jump attitude in the air are controllable, the flexibility is good, and the energy utilization rate is high.
Description
Technical Field
The invention relates to an eight-connecting-rod structure hopping robot with an adjustable aerial posture, and belongs to the technical field of robots.
Background
With the development of the technology, the robot technology is widely applied in various aspects, and particularly in the fields of interstellar exploration, life rescue, military reconnaissance and the like, various complex and unstructured working environments exist, so that the robot is required to be small in size and have strong obstacle crossing capability.
The bouncing is a very common motion mode in nature, such as frogs, kangaroos, locusts and the like, and compared with crawling, the bouncing has the characteristics of wide range of motion, high moving efficiency, strong explosive force and the like, so that the bouncing function is widely applied to the field of robots and is particularly suitable for being applied to unstructured working environments. However, most of the existing hopping robot designs are limited to the hopping principle, namely hopping can be achieved simply, but the hopping stability, the hopping height, the attitude controllability and the like are concerned little, and meanwhile, the control research on the air attitude is little, so that the existing robot has large angular momentum after hopping, the air rotation problem is serious, and the robot cannot control the air attitude.
Disclosure of Invention
The invention aims to provide an eight-connecting-rod structure hopping robot with adjustable air posture, which can stably take off and hop, is controllable in hopping height and hopping air posture, good in flexibility and high in energy utilization rate.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an eight-connecting-rod structure hopping robot with adjustable air postures comprises a body mechanism, an energy storage and release mechanism, a swing rod mechanism and a control module;
the machine body mechanism is a plane eight-connecting-rod structure comprising a first power short arm rod, a first power long arm rod, a first long arm rod, a second long arm rod, a short arm rod, a rocker arm rod, a second power long arm rod and a second power short arm rod, a supporting leg is fixedly connected with the tail end of the leg rod, one ends of the first power short arm rod and the second power short arm rod are respectively connected with two ends of a first connecting shaft, the first connecting shaft is fixedly connected on the leg rod, the other ends of the first power short arm rod and the second power short arm rod are respectively connected with two ends of a second connecting shaft, one ends of the first power long arm rod and the second power long arm rod are respectively connected with two ends of the second connecting shaft, the first torsion spring is sleeved at one end of the second connecting shaft, two ends of the first torsion spring are respectively connected on the first power short arm rod and the first power long arm rod, the second torsion spring is sleeved at the other end of the second connecting shaft, two ends of the second torsion spring are, one end of the rocker arm rod is connected with a third connecting shaft which is fixedly connected with the leg rod, the other end of the rocker arm rod is connected with a fourth connecting shaft which is fixedly connected with one end of a second long arm rod, one end of the connecting rod is connected with the second connecting shaft, the other end of the connecting rod is connected with a fifth connecting shaft which is fixedly connected with a fifth short arm rod, the other end of the short arm rod is connected with a sixth connecting shaft which is fixedly connected with the leg rod, one end of the first long arm rod is connected with the fifth connecting shaft, the other end of the first long arm rod is connected with a seventh connecting shaft which is fixedly connected with a first tail end machine body, one end of the second long arm rod is connected with the fourth connecting, the first power long arm rod and the second power long arm rod are respectively connected with the eighth connecting shaft, and two ends of the eighth connecting shaft are fixedly connected to the first tail end machine body and the second tail end machine body respectively;
the energy storage and release mechanism mainly comprises a direct current speed reducing motor, a planet carrier, a one-way bearing, a first gear, a second gear, a third gear, a rope winding shaft and a rope winding, wherein the direct current speed reducing motor is fixed on the second tail end machine body, the one-way bearing is sleeved on an output shaft of the direct current speed reducing motor, the planet carrier is sleeved on the outer side of the one-way bearing, the gear is sleeved on the output shaft of the direct current speed reducing motor, the second gear is connected to the planet carrier, the third gear is fixed on the rope winding shaft, the rope winding shaft is sleeved on a rotating shaft, the rotating shaft is fixedly connected with the second tail end machine body, the first gear and the second gear are always in a meshed state, the meshed state of the second gear and the third gear is related to the rotating direction of the direct current speed reducing motor, the second gear is meshed with the third gear when the direct current speed reducing motor rotates forwards, the, the other end is tied on the leg rod, and when the direct current reducing motor rotates forwards to drive the rope winding shaft to rotate, the rope winding can be wound on the rope winding shaft;
the swing rod structure comprises a rotating motor, a swing rod and a flywheel connecting piece, the rotating motor is fixed on a first tail end machine body, a first transmission gear is fixed on a motor shaft of the rotating motor, a rotating shaft of a second transmission gear is fixed on the first tail end machine body, the second transmission gear is meshed with the first transmission gear, the flywheel connecting piece is fixed on a second transmission gear, the swing rod is fixed on the flywheel connecting piece, one end of the swing rod is fixedly connected with a first counter weight connecting piece, the first counter weight connecting piece is fixedly connected with a first counter weight pin and a second counter weight pin, the other end of the swing rod is fixedly connected with a second counter weight connecting piece, and;
the control module is composed of a core control panel, a communication module, a direct current motor driver, a lithium battery and an attitude acquisition module, wherein the core control panel is fixed on the outer side of the second terminal machine body, the storage and the operation of a control program in the motion process of the robot are realized, the communication module is fixed on the outer side of the second terminal machine body, the communication with the core control panel is realized, and a control instruction from the outside is received, the direct current motor is driven and fixed on the inner side of the second terminal machine body, the motion rotation control of the direct current speed reducing motor and the rotating motor is realized, the lithium battery provides electric energy for the robot and is fixed on the outer side of the second terminal machine body, the attitude acquisition module is fixed on the inner side.
The technical scheme of the invention is further improved as follows: the first power long arm rod is located on the outer side of the first power short arm rod, and the second power long arm rod is located on the outer side of the second power short arm rod.
The technical scheme of the invention is further improved as follows: the first power short arm rod and the second power short arm rod are symmetrically arranged relative to the leg rod, and the first torsion spring and the second torsion spring are symmetrically sleeved at two ends of the second connecting shaft.
Due to the adoption of the technical scheme, the invention has the technical progress that:
according to the hopping robot with the eight-link structure and the adjustable air posture, disclosed by the invention, stable jumping motion of the posture is realized through the machine body mechanism, the controllability of the jumping height of the hopping robot is realized through the energy accumulation and release mechanism, the stable regulation and control of the air posture of the robot can be realized through the swing rod mechanism, and the control module realizes the control of the motion of the robot through the posture collection and remote communication feedback of the robot.
The robot body mechanism is a plane eight-connecting-rod structure comprising a first power short arm rod, a first power long arm rod, a first long arm rod, a second long arm rod, a short arm rod, a rocker arm rod, a second power long arm rod and a second power short arm rod, simulates a straight line ejection mechanism, realizes stable take-off of the hopping robot, and provides a foundation for realizing the stability of the robot in the air posture.
The energy storage and release structure adopts a rope driving mode, high-efficiency energy storage efficiency is achieved, meanwhile, the robot can release energy at any energy storage position such as take-off, in the air and the like, the jump height is effectively adjusted, and the swing rod structure controls the swing rod and the rotation of the balance weight connecting piece and the balance weight pin on the swing rod, so that the angular momentum of the robot is absorbed to control the air posture of the robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side schematic view of the fuselage mechanism of the present invention;
FIG. 3 is a right side schematic view of the fuselage mechanism of the present invention;
FIG. 4 is a schematic diagram of a partial structure of the energy storage and release mechanism of the present invention;
FIG. 5 is a schematic view of the overall structure of the energy storage and release mechanism of the present invention;
FIG. 6 is a schematic structural view of a swing link mechanism of the present invention;
FIG. 7 is a schematic diagram of a control module according to the present invention;
FIG. 8 is a schematic diagram of the robot energy storage state of the present invention;
FIG. 9 is a schematic view of the jumping state of the robot of the present invention;
wherein, 1, a machine body mechanism, 11, supporting feet, 12, leg rods, 13, a first connecting shaft, 14, a first power short arm rod, 15, a second connecting shaft, 16, a first power long arm rod, 17, a connecting rod, 18, a fifth connecting shaft, 19, a first long arm rod, 110, a seventh connecting shaft, 111, a first tail end machine body, 112, a eighth connecting shaft, 113, a second tail end machine body, 114, a second long arm rod, 115, a fourth connecting shaft, 116, a short arm rod, 117, a sixth connecting shaft, 118, a rocker arm rod, 119, a first torsion spring, 120, a second torsion spring, 121, a second power long arm rod, 122, a third connecting shaft, 123, a second power short arm rod, 2, an energy storage and release mechanism, 21, a direct current speed reducing motor, 22, a planet carrier, 23, a one-way bearing, 24, a first gear, 25, a second gear, 26, a rope winding shaft, 27, a third gear, 28, a rotating shaft, 29, a rope winding, a 3, a swing rod mechanism, 31, 33. the device comprises a second balance weight pin 34, a first balance weight connecting piece 35, a swing rod 36, a flywheel connecting piece 37, a second transmission gear 38, a first transmission gear 39, a second balance weight connecting piece 310, a third balance weight pin 311, a fourth balance weight pin 4, a control module 41, a core control board 42, a communication module 43, a direct current motor driver 44, a lithium battery 45 and an attitude acquisition module.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
an eight-link structure hopping robot with an adjustable air posture is shown in figure 1 and comprises a body mechanism 1, an energy storage and release mechanism 2, a swing rod mechanism 3 and a control module 4.
As shown in fig. 2 and 3, the fuselage mechanism 1 of the invention is a planar eight-link structure including a first power short-arm lever 14, a first power long-arm lever 16, a first long-arm lever 19, a second long-arm lever 114, a short-arm lever 116, a rocker lever 118, a second power long-arm lever 121 and a second power short-arm lever 123, the support leg 11 is fixedly connected with the end of the leg lever 12, one ends of the first power short-arm lever 14 and the second power short-arm lever 123 are respectively connected with two ends of a first connecting shaft 13, the first connecting shaft 13 is fixedly connected with the leg lever 12, the other ends of the first power short-arm lever 14 and the second power short-arm lever 123 are respectively connected with two ends of a second connecting shaft 15, one ends of the first power long-arm lever 16 and the second power long-arm lever 121 are respectively connected with two ends of a second connecting shaft 15, the first power long-arm lever 16 is positioned outside the first power short-arm lever 14, the second power long-arm lever 121 is positioned outside the second power short-arm lever 123, and the first power short-arm lever, the first torsion spring 119 is sleeved at one end of the second connecting shaft 15, two force arm ends of the first torsion spring 119 are respectively connected to the first power short arm rod 14 and the first power long arm rod 16, the second torsion spring 120 is sleeved at the other end of the second connecting shaft 15, the first torsion spring 119 and the second torsion spring 120 are symmetrically sleeved at two ends of the second connecting shaft 15, two force arm ends of the second torsion spring 120 are respectively connected to the second power short arm rod 123 and the second power long arm rod 121, one end of the rocker arm rod 118 is connected to the third connecting shaft 122, the third connecting shaft 122 is fixedly connected to the leg rod 12, the other end of the rocker arm rod 118 is connected to the fourth connecting shaft 115, the fourth connecting shaft 115 is fixedly connected to one end of the second long arm rod 114, one end of the connecting rod 17 is connected to the second connecting shaft 15, the other end of the connecting rod 17 is connected to the fifth connecting shaft 18, the fifth connecting shaft 18 is fixedly connected to the short arm, one end of the first long-arm rod 19 is connected to the first connecting shaft 18, the other end of the first long-arm rod is connected to the seventh connecting shaft 110, the seventh connecting shaft 110 is fixedly connected to the first tail end machine body 111, one end of the second long-arm rod 114 is connected to the fourth connecting shaft 115, the other end of the second long-arm rod is connected to the seventh connecting shaft 110, the second long-arm rod 114 is also connected to the fifth connecting shaft 18, the first power long-arm rod 16 and the second power long-arm rod 121 are respectively connected to the eighth connecting shaft 112, and two ends of the eighth connecting shaft 112 are fixedly connected to the first tail end machine.
As shown in fig. 4 and 5, the energy storage and release mechanism 2 of the present invention mainly comprises a dc gear motor 21, a planetary carrier 22, a one-way bearing 23, a first gear 24, a second gear 25, a third gear 27, a rope winding shaft 26 and a rope winding 29, wherein the dc gear motor 21 is fixed on the second terminal machine body 113, the one-way bearing 23 is sleeved on the output shaft of the dc gear motor 21, the planetary carrier 22 is sleeved on the outer side of the one-way bearing 23, the first gear 24 is sleeved on the output shaft of the dc gear motor 21, the second gear 25 is connected to the planetary carrier 22, the third gear 27 is fixed on the rope winding shaft 26, the rope winding shaft 26 is sleeved on the rotating shaft 28, the rotating shaft 28 is fixedly connected with the second terminal machine body 113, the first gear 24 and the second gear 25 are always in a meshed state, the meshed state of the second gear 25 and the third gear 27 is related to the rotation direction of the dc gear motor 21, when the dc gear motor 21 rotates reversely, the second gear 25 and the third gear 27 are in a non-meshed state under the action of the one-way bearing 23, one end of the rope reel 29 is tied to the rope reel 26, and the other end is tied to the leg rod 12, and when the dc gear motor 21 rotates clockwise to drive the rope reel 26 to rotate, the rope reel 29 is wound on the rope reel 26.
As shown in fig. 6, the swing link structure 3 includes a rotating electrical machine 31, a swing link 35 and a flywheel connecting piece 36, the rotating electrical machine 31 is fixed on the first end fuselage 111, the first transmission gear 38 is fixed on the electrical machine shaft of the rotating electrical machine 31, the rotating shaft of the second transmission gear 37 is fixed on the first end fuselage 111, the second transmission gear 37 is meshed with the first transmission gear 38, the flywheel connecting piece 36 is fixed on the second transmission gear 37, the swing link 35 is fixed on the flywheel connecting piece 36, one end of the swing link 35 is fixedly connected with the first counterweight connecting piece 34, the first counterweight connecting piece 34 is fixedly connected with the first counterweight pin 32 and the second counterweight pin 33, the other end of the swing link 35 is fixedly connected with the second counterweight connecting piece 39, and the second counterweight connecting piece 39.
As shown in fig. 7, the control module 4 is composed of a core control board 41, a communication module 42, a dc motor driver 43, a lithium battery 44 and an attitude acquisition module 45, the core control board 41 is fixed outside the second terminal body 113 to store and operate a control program during the movement of the robot, the communication module 42 is fixed outside the second terminal body 113 to communicate with the core control board 41 and receive control instructions from the outside, the dc motor driver 43 is fixed inside the second terminal body 113 to control the movement and rotation of the dc gear motor 21 and the rotating motor 31, the lithium battery 44 supplies power to the robot and is fixed outside the second terminal body 113, and the attitude acquisition module 45 is fixed inside the first terminal body 111 to monitor the air attitude of the jumping robot.
As shown in fig. 8 and 9, when the hopping robot with the eight-link structure and adjustable posture in the air takes off, the direct current speed reducing motor 21 rotates in the forward direction, the planet carrier 22 keeps unchanged due to the action of the one-way bearing 23, the direct current speed reducing motor 21 drives the gear one 24 to rotate, the gear one 24 drives the gear two 25 to rotate, the gear two 25 drives the gear three 27 to rotate, the gear three 27 is fixedly connected to the rope winding shaft 26, the rope winding shaft 26 rotates, the rope winding shaft 26 winds the rope winding 29, and at the moment, the torsion spring one 119 and the torsion spring 120 are compressed when the rope winding shaft 26 continuously winds the rope winding 29, so that energy accumulation is realized; during jumping, the direct current speed reducing motor 21 rotates reversely, the planet carrier 22 rotates under the action of the one-way bearing 23, the gear II 25 is separated from the gear III 27, the rope reel 29 is gradually separated from the rope reel 26, elastic potential energy accumulated by the torsion spring I119 and the torsion spring II 120 is released, and the jumping robot finishes jumping; when the robot jumps into the air, the rotating motor 31 rotates according to the attitude information acquired by the attitude acquisition module 45, and the swing rod 35 and the first counterweight connecting piece 34, the second counterweight connecting piece 39, the first counterweight pin 32, the second counterweight pin 33, the third counterweight pin 310 and the fourth counterweight pin 311 on the swing rod are controlled to rotate through the first transmission gear 38 and the second transmission gear 37, so that the angular momentum of the robot is absorbed to control the air attitude of the robot.
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| CN202010025516.7A CN111152861B (en) | 2020-01-10 | 2020-01-10 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
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| CN202010025516.7A CN111152861B (en) | 2020-01-10 | 2020-01-10 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846012A (en) * | 2020-08-28 | 2020-10-30 | 中国科学院合肥物质科学研究院 | A bionic bouncing robot with adjustable trajectory in multiple motion modes |
| CN112758203A (en) * | 2021-01-19 | 2021-05-07 | 上海工程技术大学 | Single-leg jumping robot mechanism |
| CN113602373A (en) * | 2021-08-01 | 2021-11-05 | 北京工业大学 | A jumping robot and its test platform in complex terrain environment |
| CN114275073A (en) * | 2022-01-25 | 2022-04-05 | 清华大学 | Jumping robot |
| CN114572323A (en) * | 2022-03-28 | 2022-06-03 | 武汉科技大学 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
| CN115257997A (en) * | 2022-09-05 | 2022-11-01 | 北京理工大学 | A bionic obstacle-surmounting bipedal jumping mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114572323A (en) * | 2022-03-28 | 2022-06-03 | 武汉科技大学 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
| CN115257997A (en) * | 2022-09-05 | 2022-11-01 | 北京理工大学 | A bionic obstacle-surmounting bipedal jumping mechanism |
| CN115257997B (en) * | 2022-09-05 | 2023-10-27 | 北京理工大学 | Bionic obstacle-surmounting biped jumping mechanical device |
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