CN111284580B - Bouncing device - Google Patents
Bouncing device Download PDFInfo
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- CN111284580B CN111284580B CN202010092106.4A CN202010092106A CN111284580B CN 111284580 B CN111284580 B CN 111284580B CN 202010092106 A CN202010092106 A CN 202010092106A CN 111284580 B CN111284580 B CN 111284580B
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- bouncing
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- moving
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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 relates to a bouncing device, which comprises a bracket, a bouncing mechanism and a bouncing driving mechanism, wherein the bouncing mechanism and the bouncing driving mechanism are arranged on the bracket, the bracket comprises a rotating shaft, the bouncing driving mechanism comprises an inertia stick-slip type movement component arranged on the bracket, a cam arranged on one side of the inertia stick-slip type movement component and a moving member arranged on one side of the cam and abutted against the inner side of the cam, the inertia stick-slip type movement component comprises a friction part, the cam is sleeved on the rotating shaft, the friction part is abutted against the side wall of the cam and drives the cam to rotate around the rotating shaft, the bouncing mechanism comprises a base, a supporting rod, one end of the supporting rod is arranged on the base, the other end of the supporting rod penetrates through the bracket and is fixedly connected with. The bouncing device uses the inertia stick-slip type motion component to be matched with the cam as a bouncing driving mechanism, so that the bouncing device can bounce continuously, and the elastic piece is used for realizing landing self-resetting.
Description
Technical Field
The invention relates to a bouncing device.
Background
In the existing mobile robots, for example, wheel robots, crawler robots, walking robots or crawling robots often cannot pass through smoothly or have low movement efficiency when meeting large obstacles or ravines. The bouncing robot has the characteristics of good flexibility, large movement range, strong obstacle crossing capability, quick danger avoidance and the like, can adapt to rugged terrains and can easily cross when encountering obstacles or gullies, and the current research on the bouncing robot mainly focuses on how the robot can continuously jump and move besides using different working principles to improve the bouncing height, and thus the landing self-resetting of the robot is involved.
Disclosure of Invention
The invention aims to provide a bouncing device which has good flexibility and a simple structure and can continuously bounce.
In order to achieve the purpose, the invention provides the following technical scheme: a bouncing device comprises a support, a bouncing mechanism and a bouncing driving mechanism, wherein the bouncing mechanism and the bouncing driving mechanism are arranged on the support, the support comprises a rotating shaft, the bouncing driving mechanism comprises an inertia stick-slip type movement component arranged on the support, a cam positioned on one side of the inertia stick-slip type movement component and a moving member positioned on one side of the cam and abutted against the inner side of the cam, the inertia stick-slip type movement component comprises a friction part, the friction part is a long rod arranged in parallel with the rotating shaft, the cam is sleeved on the rotating shaft, the long rod is abutted against the side wall of the cam and drives the cam to rotate around the rotating shaft so as to drive the moving member to move relative to the cam along the radial direction, the bouncing mechanism comprises a base, a supporting rod, one end of the supporting rod is arranged on the base, the other end of the supporting rod penetrates through the support and is fixedly connected, And the elastic part is clamped between the bracket and the base and sleeved on the supporting rod.
Furthermore, the inertia stick-slip type movement assembly comprises piezoelectric ceramics, a movement transmission component and an inertia assembly, the inertia assembly comprises an inertia transmission component, the inertia transmission component is connected with the friction component, the piezoelectric ceramics is provided with a first end and a second end which are oppositely arranged, the first end is in contact with the movement transmission component, the second end is in contact with the inertia transmission component, the movement transmission component is connected with the inertia transmission component through an elastic deformation assembly, and the movement transmission component is fixed on the support.
Furthermore, the inertia transmission part comprises an inertia block and a connecting piece connected with the inertia block, one end of the friction part is fixed on the inertia block, and the other end of the friction part is abutted against the side wall of the cam.
Further, the connecting piece is a T-shaped part located in the elastic deformation assembly frame, and the second end of the piezoelectric ceramic is in contact with the T-shaped part.
Further, the elastic deformation assembly is of a frame structure, and the piezoelectric ceramic is arranged in a frame of the elastic deformation assembly.
Furthermore, the inertia transmission part, the motion transmission part and the elastic deformation component are of an integrated structure.
Furthermore, the side wall of the cam is convexly provided with an open-loop convex block along the outer circumference.
Furthermore, the moving part comprises a moving block fixedly connected with the support rod and a moving rod, one end of the moving rod is fixed on the moving block, and the other end of the moving rod abuts against the lug.
Further, the number of the cams and the moving bar is two.
Further, the support includes relative first branch and the second branch that sets up and fixed connection first branch with the third branch of second branch, the support periphery is equipped with the safety cover.
The invention has the beneficial effects that: the bouncing device provided by the invention uses the inertia stick-slip type motion component and the cam as the bouncing driving mechanism, so that the bouncing device can bounce continuously, and the elastic component realizes the landing self-resetting.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of a bouncing device according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a portion of the bouncing apparatus shown in FIG. 1;
FIG. 3 is a schematic view of a portion of the bouncing apparatus shown in FIG. 1 illustrating a structure in another direction;
FIG. 4 is a schematic view of the cam of FIG. 1;
FIG. 5 is a schematic diagram of the principle of inertial stick-slip driving under a driving voltage signal.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the mechanism or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 and 2, the bouncing device according to an embodiment of the present invention includes a support 1, a protection cover 8 disposed on a periphery of the support 1, a bouncing mechanism disposed on the support 1, and a bouncing driving mechanism. The support 1 is similar to an H-shaped structure and comprises a first support rod 11 and a second support rod 12 which are oppositely arranged and a third support rod 13 fixedly connected with the first support rod 11 and the second support rod 12, in addition, the support 1 further comprises a rotating shaft 14, the rotating shaft 14 is of a long cylindrical structure, the rotating shaft 14 is located above the third support rod 13, and two ends of the rotating shaft 14 are fixedly connected with the first support rod 11 and the second support rod 12 respectively. The bounce driving mechanism comprises an inertia stick-slip type movement component 2 arranged on the support 1, a cam 3 arranged on one side of the inertia stick-slip type movement component 2 and a moving piece 4 arranged on one side of the cam 3 and abutted against the inner side of the cam 3, the inertia stick-slip type movement component 2 comprises a friction part 24, the friction part 24 is a long rod 24 arranged in parallel with the rotating shaft 14, the cam 3 is sleeved on the rotating shaft 14, the long rod 24 is abutted against the side wall of the cam 3 and drives the cam 3 to rotate around the rotating shaft 14, and then the moving piece 4 is driven to move along the radial direction relative to the cam 3. The bouncing mechanism comprises a base 5, a supporting rod 6 and an elastic part 7, wherein one end of the supporting rod is arranged on the base 5, the other end of the supporting rod penetrates through the support 1 and is fixedly connected with the moving part 4, and the elastic part is clamped between the support 1 and the base 5 and is sleeved on the supporting rod 6.
Referring to fig. 3, the inertia stick-slip type motion assembly 2 includes a piezoelectric ceramic (not shown), a motion transmission member 22, and an inertia assembly, the inertia assembly includes an inertia transmission member 23, the inertia transmission member 23 is connected to a friction member 24, the piezoelectric ceramic has a first end and a second end opposite to each other, the first end is in contact with the motion transmission member 22, the second end is in contact with the inertia transmission member 23, the motion transmission member 22 and the inertia transmission member 23 are connected by an elastic deformation assembly 25, and the motion transmission member 22 is fixed to the first support rod 11. Inertia drive component 23 includes inertia piece 231 and the connecting piece 232 of being connected with inertia piece 231, and connecting piece 232 is for being located the T shape portion 232 of elastic deformation subassembly 25 frame, and piezoceramics's second end contacts with T shape portion 232 to carry out spacingly to piezoceramics, make inertia drive component 23 atress even. The inertia block 231 is a rectangular parallelepiped structure, and one end of the friction member 24 is fixed on the inertia block 231, and the other end abuts against the side wall of the cam 3. The elastic deformation component 25 is of a frame structure, and the piezoelectric ceramics are arranged in the frame of the elastic deformation component 25, so that the structure of the inertia stick-slip type motion component 2 is simpler. The inertia transmission part 23, the motion transmission part 22 and the elastic deformation component 25 are of an integrated structure, and it should be noted that the inertia transmission part 23, the motion transmission part 22 and the elastic deformation component 25 can be assembled after being processed and produced respectively.
Referring to fig. 4, a side wall of the cam 3 protrudes along an outer circumference to form an open-loop protrusion 31, the protrusion 31 has a first opening 32 farthest from the center of the cam 3 and a second opening 33 closest to the center of the cam 3, and the protrusion 31 gradually shortens a distance from the center of the cam 3 from the first opening 32 to the second opening 33 along the outer circumference direction from the first opening 32 to the second opening 33. The number of the cams 3 is two, and the two cams 3 are close to and fixedly connected with each other at the other side surface of the protruding annular convex block 31, and the rotation of the cam 3 supported by the friction part 24 drives the other cam 3 to synchronously rotate.
The moving member 4 includes a moving block 41 fixedly connected to one end of the support rod 6 away from the base 5, and a moving rod 42 having one end fixed to the moving block 41 and the other end abutting against the bump 31. The moving rods 42 are hook-like, the number of the moving rods 42 is two, each moving rod 42 is abutted against the corresponding lug 31 of one cam 3, and the two moving rods 42 are relatively fixed at two ends of the moving block 41 and play a role of balancing and bouncing devices.
The base 5 is a rectangular structure, one end of the supporting rod 6 is fixedly connected with the base 5, the other end of the supporting rod 6 is fixedly connected with the moving block 41 of the moving member 4, a through hole is arranged at the center of the third supporting rod 13, the supporting rod 6 penetrates through the through hole, and the supporting rod 6 can move up and down in the through hole relative to the third supporting rod 13, in this embodiment, the elastic member 7 is a spring 7.
The inertia stick-slip type motion assembly 2 can realize millimeter-scale motion based on inertia stick-slip driving, please refer to fig. 5, where the left side is a driving voltage signal, and the right side is a motion condition of the corresponding inertia stick-slip type motion assembly 2 under the driving signal. The driving signal applied to the inertia stick-slip type moving component 2 is a periodic signal, at the initial stage of the movement, the driving voltage is rapidly increased, the piezoelectric ceramic is rapidly extended to drive the inertia component to rapidly move towards the direction far away from the moving transmission part 22, because the moving transmission part 22 is fixed on the first support rod 11, the moving transmission part 22 is always kept at the initial position, when the voltage reaches a certain value, the voltage is slowly reduced, the piezoelectric ceramic is gradually shortened to drive the inertia component to slowly move towards the direction close to the moving transmission part 22, and a driving period is completed. The continuous application of the voltage driving signal to the piezoelectric ceramic can realize the movement of the inertia stick-slip type movement component 2, which is the inertia stick-slip driving principle. Because the expansion amount of the piezoelectric ceramics is small, the inertia stick-slip type motion assembly 2 can obtain a step length of a few microns at minimum, and the step length is continuously adjustable along with the driving voltage.
The principle of the bouncing device is as follows: when a rapidly rising voltage is applied to the piezoelectric ceramic, the piezoelectric ceramic rapidly expands to drive the inertial component to rapidly move away from the motion transmission component 22And deforms the elastically deformable member 25. Wherein, the friction part 24 drives the cam 3 to rotate towards the direction far away from the motion transmission part 22, and due to the rapid motion of the friction part 24, a dynamic friction force is generated between the friction part 24 and the side wall of the cam 3, so that the cam 3 rotates towards the direction far away from the motion transmission part 22 by an angle X1When the voltage reaches a certain value, the driving voltage slowly decreases, the piezoelectric ceramic slowly returns to the original shape, and under the action of the elastic deformation component 25 recovering the deformation, the inertia component is driven to slowly move towards the direction close to the movement transmission part 22, wherein the friction part 24 in the inertia component and the side wall of the abutted cam 3 generate static friction force, so that the cam 3 is driven to rotate by an angle X towards the direction close to the movement transmission part 222And X2Greater than X1When the voltage has decreased to a minimum, a cycle of movement is completed, and the cam 3 is rotated by X toward the movement transmission member 222-X1And (4) an angle. Since the moving rod 42 abuts against the bump 31, the position of the cam 3 is changed and the moving rod 42 moves upward relative to the rotating shaft 14 due to the rotation of the cam 3, and since the moving rod 42, the moving block 41, the supporting rod 6 and the base 5 are relatively fixed and the base 5 contacts the ground, at this time, the distance between the third supporting rod 13 and the base 5 is relatively reduced and the spring 7 is compressed. Repeating the above movement, the cam 3 can rotate continuously, the spring 7 compresses continuously, when the moving rod 42 moves to the second opening 33, and after the cam 3 rotates again, the moving rod 42 falls to the first opening 32 from the second opening 33, the moving rod 42 moves downward relative to the rotating shaft 14, the distance between the third supporting rod 13 and the base 5 increases, the compressed spring 7 recovers to the original state and generates elastic force to the base 5, and because the supporting rod 6 is fixed with the base 5, the ground generates an opposite acting force to the base 5, the spring 7 drives the base 5 to bounce from the ground, so that the whole bouncing device bounces from the ground. The bouncing device can bounce continuously by continuously applying periodic voltage signals to the piezoelectric ceramics.
In summary, the bouncing device provided by the invention takes the inertia stick-slip type motion component and the cam as the bouncing driving mechanism, so that the bouncing device can bounce continuously, and the elastic component realizes the landing self-resetting.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The bouncing device is characterized by comprising a support, a bouncing mechanism and a bouncing driving mechanism, wherein the bouncing mechanism and the bouncing driving mechanism are arranged on the support, the support comprises a rotating shaft, the bouncing driving mechanism comprises an inertia stick-slip type motion component arranged on the support, a cam positioned on one side of the inertia stick-slip type motion component and a moving member positioned on one side of the cam and abutted against the inner side of the cam, the inertia stick-slip type motion component comprises a friction part, the friction part is a long rod arranged in parallel with the rotating shaft, the cam is sleeved on the rotating shaft, the long rod is abutted against the side wall of the cam and drives the cam to rotate around the rotating shaft so as to drive the moving member to move relative to the cam along the radial direction, the bouncing mechanism comprises a base, a supporting rod, one end of which is arranged on the base and the other end of which penetrates through the support and is fixedly connected with the moving member, and a supporting, And the elastic part is clamped between the bracket and the base and sleeved on the supporting rod.
2. The apparatus as claimed in claim 1 wherein said inertial stick-slip motion assembly comprises a piezoelectric ceramic, a motion transmission member and an inertial assembly, said inertial assembly comprising an inertial transmission member, said inertial transmission member being coupled to said friction member, said piezoelectric ceramic having a first end and a second end disposed opposite each other, said first end contacting said motion transmission member and said second end contacting said inertial transmission member, said motion transmission member and said inertial transmission member being coupled by an elastically deformable assembly, said motion transmission member being secured to said frame.
3. The bouncing apparatus of claim 2 wherein said inertia drive member includes an inertia mass and a linkage coupled to said inertia mass, said friction member having one end fixed to said inertia mass and another end abutting against said cam side wall.
4. The apparatus as claimed in claim 3 wherein said connecting member is a T-shaped portion disposed within said elastically deformable component frame, said second end of said piezoelectric ceramic being in contact with said T-shaped portion.
5. The bouncing apparatus of claim 2 wherein the elastically deformable element is a frame structure and the piezoelectric ceramic is disposed within the frame of the elastically deformable element.
6. The apparatus as claimed in claim 2 wherein the inertia drive member, the motion drive member and the elastically deformable component are of unitary construction.
7. The bouncing apparatus of claim 1 wherein the cam sidewall is formed with an open annular projection projecting circumferentially therefrom.
8. The bouncing apparatus as claimed in claim 7, wherein the moving member comprises a moving block fixedly connected to the support bar, and a moving bar having one end fixed to the moving block and the other end abutting against the projection.
9. The bouncing apparatus of claim 8 wherein said cam and said travel bar are disposed in a number of two.
10. The bouncing apparatus of claim 1 wherein the support includes first and second opposing struts and a third strut fixedly connecting the first and second struts, the support being peripherally provided with a protective covering.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010092106.4A CN111284580B (en) | 2020-02-14 | 2020-02-14 | Bouncing device |
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| CN202010092106.4A CN111284580B (en) | 2020-02-14 | 2020-02-14 | Bouncing device |
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| CN111284580A CN111284580A (en) | 2020-06-16 |
| CN111284580B true CN111284580B (en) | 2021-06-29 |
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| CN113511279B (en) * | 2021-06-04 | 2022-06-03 | 南京工程学院 | Bouncing mechanism of single-leg continuous bouncing gyro robot |
Citations (6)
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|---|---|---|---|---|
| WO2013088500A1 (en) * | 2011-12-12 | 2013-06-20 | 株式会社日立製作所 | Mobile body |
| CN103661663A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Novel ground condition adaptation type bouncing power leg of hopping robot |
| CN207029351U (en) * | 2017-06-13 | 2018-02-23 | 东莞市奇趣机器人科技有限公司 | A kind of automatic imitative Kangaroo robot for recovering to stand |
| WO2018068006A1 (en) * | 2016-10-07 | 2018-04-12 | The Regents Of The University Of California | Series elastic power modulation for robotic locomotion |
| CN109995266A (en) * | 2019-04-23 | 2019-07-09 | 苏州大学 | A kind of across the scale precision movement platform of combined type inertia stick-slip driving |
| CN111656881A (en) * | 2017-11-27 | 2020-09-11 | 川崎重工业株式会社 | Gripping device and attachment device |
-
2020
- 2020-02-14 CN CN202010092106.4A patent/CN111284580B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013088500A1 (en) * | 2011-12-12 | 2013-06-20 | 株式会社日立製作所 | Mobile body |
| CN103661663A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Novel ground condition adaptation type bouncing power leg of hopping robot |
| WO2018068006A1 (en) * | 2016-10-07 | 2018-04-12 | The Regents Of The University Of California | Series elastic power modulation for robotic locomotion |
| CN207029351U (en) * | 2017-06-13 | 2018-02-23 | 东莞市奇趣机器人科技有限公司 | A kind of automatic imitative Kangaroo robot for recovering to stand |
| CN111656881A (en) * | 2017-11-27 | 2020-09-11 | 川崎重工业株式会社 | Gripping device and attachment device |
| CN109995266A (en) * | 2019-04-23 | 2019-07-09 | 苏州大学 | A kind of across the scale precision movement platform of combined type inertia stick-slip driving |
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