CN111591369A - Jumping robot with controllable energy storage size and controllable jumping-off angle - Google Patents
Jumping robot with controllable energy storage size and controllable jumping-off angle Download PDFInfo
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- CN111591369A CN111591369A CN202010455041.5A CN202010455041A CN111591369A CN 111591369 A CN111591369 A CN 111591369A CN 202010455041 A CN202010455041 A CN 202010455041A CN 111591369 A CN111591369 A CN 111591369A
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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
The invention discloses a jumping robot with controllable energy storage size and jumping angle, which comprises a rack, a controllable winding/releasing unit, a jumping leg unit and a posture adjusting leg unit. The controllable winding/unwinding unit can respectively use the rotation of the main driver along two directions for winding and unwinding the pulling wire by the pulling wire wheel. The jumping leg unit is positioned at the rear part of the rack and comprises two branches with the same structure, each branch consists of a connecting plate, a supporting rod, a foot rod, a shank rod, a thigh rod and an energy storage spring, wherein the supporting rod, the foot rod, the shank rod and the thigh rod jointly form a plane four-bar mechanism, two ends of the energy storage spring are respectively connected with the supporting rod and the shank rod, and the energy storage spring can be stretched through a pull wire to realize energy storage. The posture adjusting leg unit is arranged at the front end of the rack, and the swing of the forelimb rod relative to the rack can be realized under the drive of the steering engine, so that the takeoff angle is changed. The invention has adjustable energy storage size and take-off angle, bionic bouncing force, compact structure, simple control and light weight.
Description
Technical Field
The invention relates to a jumping robot, in particular to a light and small bionic jumping robot with controllable energy storage size and jumping-off angle.
Background
The jumping robot can be divided into a non-bionic jumping robot and a bionic jumping robot, wherein the non-bionic jumping robot can realize jumping motion mainly by utilizing mechanical elastic energy, chemical release energy and field force; the bionic jumping robot achieves the purpose of jumping by simulating the jumping mechanism of vertebrates (such as kangaroos, nocturnal monkeys, frogs and the like) and invertebrates (such as locusts, cicadas, fleas, click beetles and the like). With the continuous and deep research, high degree of bionic technology will be the future development trend of the jumping robot.
The Kanai Meilong university RAIBERT and the like develop a single-foot, double-foot and four-foot jumping robot on the basis of a spring inverted pendulum model, and thus, a research introduction of the jumping robot is opened. Plane bow-shaped robots and three-dimensional bow-shaped robots proposed by BROWN and the like utilize rope mechanisms to realize bow-shaped leg energy storage in an emptying stage and can realize balance of a machine body through a tail to finish continuous jumping. A7 g locust-simulated jumping robot proposed by the Federal institute of technology, Rosesland, Switzerland utilizes a microminiature motor and a reduction box to drive a centrifugal cam to rotate, and slowly loads and quickly releases a torsion spring at a hip joint to complete a jumping process. The Israel university of Telavav simulates the action of a meniscus of a desert locust in jumping, and designs a microminiature jumping robot which utilizes a torsion spring to store energy at joints. The university of Korea Jian designs the locust-simulated jumping robot by simulating the cooperation of extensor muscles and flexor muscles in the femoral segment in the locust jumping process, simulating the extensor muscles by using an extension spring, simulating the flexor muscles by using a steel wire rope and combining a microminiature motor, a reduction gear box and a centrifugal cam.
The existing jumping robot has few researches on jumping controllability, including the adjustment of jumping speed, jumping angle and jumping direction, which greatly limits the motion flexibility and activity space diversity of the jumping robot and seriously hinders the practical application thereof. At present, no bionic jumping robot capable of realizing the automatic adjustment of the jumping-off speed and the jumping-off angle is available.
Disclosure of Invention
In order to solve the problems, the invention provides a hopping robot with controllable energy storage size and controllable take-off angle, which is controlled by referring to the physiological structure of a quadruped hopping organism.
The jumping robot comprises a rack, and a controllable winding/unwinding unit, a jumping leg unit and a posture adjusting leg unit which are arranged on the rack.
The controllable winding/releasing unit comprises a main driver, a pinion, a duplicate gear, a gear shaft, a bull gear, a pin, a transmission shaft, a cylindrical cam, a trigger pin reset spring, a ratchet wheel, a one-way bearing, a pawl, a wire pulling wheel, a limiting spring and a wire pulling.
Wherein, a pinion is coaxially and fixedly arranged on an output shaft of the main driver; the transmission shaft is coaxially fixed with an output shaft of the main driver, and the input end of the transmission shaft is fixed with a large gear; the output end is fixed with a cylindrical cam. The large-diameter gear and the small-diameter gear in the duplicate gear are respectively meshed with the small gear and the large gear. The ratchet wheel is positioned between the large gear and the cylindrical cam and is coaxially arranged on the transmission shaft through a one-way bearing; the pawl is engaged with the outer teeth of the ratchet wheel. When the main driver rotates forwards, the ratchet wheel rotates forwards under the driving of the one-way bearing, and the pawl can slide on the outer tooth back of the ratchet wheel; when the main driver stops rotating, the pawl is inserted into the external tooth socket of the ratchet wheel to prevent the ratchet wheel from reversing due to the pulling force of the pull wire.
The trigger end of the trigger pin is contacted with the end face of the cylindrical cam with the curve profile, and the insertion end is inserted into the through hole on the end face of the ratchet wheel. The reset spring of the trigger pin is sleeved on the trigger pin. The wire pulling wheel is sleeved on the transmission shaft and is positioned between the ratchet wheel and the large gear; the limiting spring is sleeved on the transmission shaft, and two ends of the limiting spring are respectively connected with the large gear and the wire pulling wheel. Two pull wires are wound on the pull wire wheel; the fixed ends of the two stay wires are respectively fixed on the stay wire wheels, and the other ends of the two stay wires are respectively connected with the two jumping leg units. The wire pulling wheel is also provided with a through hole for transmitting the trigger pin.
The two jumping leg units are arranged in a bilateral symmetry mode and comprise connecting plates, supporting rods, foot rods, lower leg rods, upper leg rods and energy storage springs.
Wherein, the A end of the support rod is upwards designed with a connector for fixedly connecting with the connecting plate; the B end of the support rod is bent downwards. The connecting plate is fixed on the bottom surface of the rack, so that the jumping leg unit and the rack are fixed; the A end of the thigh rod is hinged with the supporting rod to form a revolute pair, and the hinged position is close to the connector. The foot rod is divided into a front section, a middle section and a rear section; wherein the end part of the rear section is hinged with the end B of the supporting rod to form a revolute pair; the middle end of the foot rod bends downwards, the front section bends upwards, the end A of the lower leg rod bends upwards, and the end part is hinged with the end B of the upper leg rod to form a revolute pair. The B end of the shank rod is hinged with the foot rod to form a revolute pair. One end of the energy storage spring is fixed with the support rod, and the fixed position is close to the B end of the support rod; the other end of the energy storage spring is fixed with the shank rod, and the fixed position is close to the A end of the shank rod.
The posture adjusting leg unit is arranged on the front part of the rack and comprises a steering engine, a left front limb rod, a right front limb rod, a front limb connecting rod and a front limb support. Wherein the left front limb rod and the right front limb rod are arranged in bilateral symmetry, and the bottom ends are fixed by a front limb connecting rod; the top end of the left forelimb rod is fixed on an output shaft of the steering engine, and the top end of the right forelimb rod is rotatably connected with a forelimb support arranged on the bottom surface of the rack through a rotating shaft.
Before the jumping robot jumps, the cylindrical cam is in a critical state of crossing a far-stop section, and the insertion end of the trigger pin extends into the through hole on the wire pulling wheel, so that the rotation of the wire pulling wheel is limited; at the moment, the pull wire applies pulling force to the foot rods, the distance between the support rod and the shank rod is lengthened, the energy storage spring is compressed and deformed to store energy, and the magnitude of the stored energy can be adjusted by the pressure applied to the foot rods by the pull wire.
When jumping, the main driver drives the cylindrical cam to rotate reversely through the gear train and the transmission shaft and cross the far rest section of the cylindrical cam; at the moment, the trigger pin rebounds under the action of the trigger pin reset spring and leaves the through hole in the side face of the stay wire wheel, the stay wire wheel rotates in an unconstrained mode, the stay wire is released, the energy storage spring releases energy instantly, the front section of the foot rod quickly pedals the ground backwards and downwards, and the robot jumps.
When the jumping robot lands on the ground, the left front limb rod and the right front limb rod can play a certain role in buffering; at the moment, the main driver continuously rotates reversely until the trigger pin is pushed into the through hole on the side surface of the stay wheel by the cylindrical cam; then the main driver rotates forwards, the ratchet wheel rotates synchronously and in the same direction with the cylindrical cam under the action of the one-way bearing, the trigger pin drives the wire pulling wheel to wind the wire pulling, and the energy storage spring is stretched to the required length. And finally, the front limb rod is driven by the steering engine to control the left front limb rod and the right front limb rod to synchronously swing back and forth, and the take-off posture is adjusted to a required angle to prepare for take-off again.
The invention has the advantages that:
1. the jumping robot with controllable energy storage size and jumping-off angle of the invention realizes the controllability of the energy storage size and jumping-off angle while satisfying the bionic property of the jumping force, and improves the adaptability of the microminiature jumping robot to the complex terrain.
2. The jumping robot with the controllable energy storage size and the controllable take-off angle has the advantages that the energy storage size and the take-off angle can be adjusted, the jumping force has the bionic characteristic, the structure is compact, the control is simple, and the quality is light.
Drawings
Fig. 1 is a schematic view of the overall structure of the hopping robot of the present invention.
Fig. 2 is a schematic structural diagram of a controllable winding/unwinding unit of the hopping robot.
Fig. 3 is a schematic layout of a controllable winding/unwinding unit of the hopping robot of the present invention.
Fig. 4 is a schematic view of the assembly of the controllable winding/unwinding unit of the hopping robot of the present invention.
Fig. 5 is a schematic diagram of a left rear jumping leg branch structure in the jumping leg unit of the jumping robot of the present invention.
Fig. 6 is a schematic structural diagram of a posture adjusting leg unit of the hopping robot.
In the figure:
1-frame 2-controllable winding/unwinding unit 3-jumping leg unit
4-posture adjusting leg unit 5-battery 6-controller
201-main drive 202-main drive carrier 203-pinion
204-duplicate gear 205-gear shaft 206-duplicate gear support
207-big gear 208-pin 209-drive shaft
210-drive shaft support 211-cylindrical cam 212-trigger pin
213-trigger pin return spring 214-ratchet wheel 215-one-way bearing
216-pawl 217-pawl support 218-wire pulling wheel
219-spacing spring 220-stay wire 301-connecting plate
302-support bar 303-foot bar 304-shank bar
305-thigh rod 306-energy storage spring 401-steering engine
402-steering engine support 403-left front limb rod 404-right front limb rod
405-forelimb link 406-forelimb support
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a hopping robot with controllable energy storage size and controllable take-off angle, which comprises a rack 1, a controllable winding/releasing unit 2, a hopping leg unit 3, a posture adjusting leg unit 4, a battery 5 and a controller 6, as shown in figure 1.
The frame 1 is a rectangular thin plate made of carbon fiber, and is provided with mounting holes for fixing the controllable rolling/releasing unit 2, the jumping leg unit 3, the posture adjusting leg unit 4, the forelimb support 406, the battery 5 and the controller 6.
The controllable winding/unwinding unit 2 comprises a main driver 201, a main driver support 202, a pinion 203, a duplicate gear 204, a gear shaft 205, a duplicate gear support 206, a gearwheel 207, a pin 208, a transmission shaft 209, a transmission shaft support 210, a cylindrical cam 211, a trigger pin 212, a trigger pin return spring 213, a ratchet wheel 214, a one-way bearing 215, a pawl 216, a pawl support 217, a wire drawing wheel 218, a limit spring 219 and a wire drawing 220, and is shown in fig. 2 to 4.
The main driver support 202, the dual gear support 206, the transmission shaft support 210 and the pawl support 217 are all fixed on the upper surface of the frame 1. The main driver 201 is fixed on the main driver support 202; the output shaft of the main drive 201 is parallel to the frame 1, and a pinion 203 is coaxially and fixedly mounted on the output shaft. The transmission shaft is coaxially arranged with the output shaft of the main driver 201, and the input end and the output end of the transmission shaft are respectively arranged on the transmission shaft support 210; and the bull gear is coaxially fixed at the input end by pins 208. The output end is fixed to a cylindrical cam 211 by a pin 208.
The duplicate gear 204 is coaxially and fixedly arranged on a gear shaft 205, and two ends of the gear shaft 205 are respectively connected with two sides of the duplicate gear support 206; and a large diameter gear and a small diameter gear in the duplicate gear 204 are engaged with the small gear 203 and the large gear 207, respectively.
The ratchet wheel 214 is positioned between the large gear 207 and the cylindrical cam 211 and is coaxially arranged on the transmission shaft 209 through a one-way bearing 215; the ratchet wheel 214 is fixedly connected with the outer ring of the one-way bearing 215, and the inner ring of the one-way bearing 215 is fixedly connected with the transmission shaft 209.
The pawl 216 is fixedly mounted on a pawl shaft, which is arranged parallel to the drive shaft 209 and is rotatably connected to both sides of the pawl support 217. The pawl 216 is engaged with the outer teeth of the ratchet wheel 214, when the main driver 201 rotates forward, the ratchet wheel 214 rotates forward under the driving of the one-way bearing 215, and the pawl 216 can slide on the back of the outer teeth of the ratchet wheel 214; when the main driver 201 stops rotating, the pawl 216 is inserted into the external splines of the ratchet wheel 214, preventing the ratchet wheel 214 from reversing direction due to the pulling force of the pull wire.
Two trigger pins 212 are positioned between the cylindrical cam 211 and the ratchet wheel 214; the two trigger pins 212 are symmetrically distributed on two sides of the axis of the ratchet wheel, the trigger ends are contacted with the end face of the cylindrical cam 211 with a curved profile, and the plug-in ends are inserted into the through holes on the end face of the ratchet wheel 214. The trigger pin return spring 213 is sleeved on the trigger pin 212, one end of the trigger pin return spring is in contact positioning with the annular shoulder at the middle circumference of the trigger pin 212, and the other end of the trigger pin return spring is in contact positioning with the annular shoulder in the through hole at the end surface of the ratchet 214.
The wire pulling wheel 218 is coaxially sleeved on the transmission shaft 209 and is positioned between the ratchet wheel 214 and the large gear 204. The limiting spring 219 is sleeved on the transmission shaft 209, one end of the limiting spring is in contact with the large gear 204 for limiting, and the other end of the limiting spring is in contact with the wire pulling wheel 218 for limiting. Two pull wires 220 are wound around the pull wire reel 218. The fixed ends of the two pull wires are respectively fixed at opposite positions on the circumferential side walls of the pull wire wheel 218 and wound in the same direction, and the other ends of the two pull wires respectively penetrate through holes on the left side and the right side of the frame 1 and are used for connecting the jumping leg unit 3. Through holes are formed on the peripheries of the two side surfaces of the stay wire wheel 218 at equal angular intervals and used for the trigger pin 212 to penetrate.
The jumping leg unit 3 comprises a left rear jumping leg branch and a right rear jumping leg branch, which are respectively symmetrically installed at the left and right sides of the rear part of the bottom surface of the frame 1 and located below the cylindrical cam 211. The left rear jumping leg branch and the right rear jumping leg branch are identical in structure and comprise a connecting plate 301, a supporting rod 302, a foot rod 303, a shank rod 304, a thigh rod 305 and an energy storage spring 306, and are shown in fig. 5.
Wherein, the end A of the support rod 302 is provided with a connector upwards for fixedly connecting with the connecting plate 301; the B end of the support rod is bent downwards; the connecting plate is fixed on the bottom surface of the frame 1, so that the jumping leg unit and the frame are fixed. The A end of the thigh bar 305 is hinged with the supporting bar 302 to form a revolute pair, and the hinged position is close to the connecting head, and here, the hinged position is the position a. The foot rod 303 is divided into a front section, a middle section and a rear section; wherein the rear end part is hinged with the B end of the support rod 302 to form a revolute pair, and the hinged position is a position B; the middle end of the leg 303 is bent downward to form an included angle of 160 degrees with the rear section, and the front section is bent upward to form an included angle of 120 degrees with the rear section. The A end of the shank rod 304 is bent upwards, and the end part is hinged with the B end of the shank rod 305 to form a revolute pair, wherein the hinged position is a position d; the end B of the shank 304 is hinged to the foot 303 to form a revolute pair, and the hinged position is located at the joint of the rear section and the middle section of the foot 303, where the hinged position is the position c. Then the parallel four-bar structure is formed among the sections ab, bc, cd and da through the structure. One end of the energy storage spring 306 is fixed with the support rod 302, and the fixed position is close to the end B of the support rod 201; the other end of the stored energy spring 306 is secured to the calf rod 304 at a fixed location near the calf rod A end. The two sets of left and right rear jumping leg branches of the above structure are connected to two wires wound around the wire pulling wheel 218, respectively.
The posture adjusting leg unit 4 is mounted at the front part of the frame 1, and comprises a steering engine 401, a steering engine support 402, a left forelimb rod 403, a right forelimb rod 404, a forelimb connecting rod 405 and a forelimb support 406, as shown in fig. 6.
Wherein, steering wheel support 402 is fixed with frame 1 bottom surface, and steering wheel 401 is fixed on steering wheel support 402, and its output shaft is on a parallel with frame 1, sets up along left and right directions. The left front limb rod 403 and the right front limb rod 404 are arranged in bilateral symmetry and are arc rods with lower parts bent forwards. The bottom ends of the left front limb rod 403 and the right front limb rod 403 are fixed through a front limb connecting rod 405. The top end of the left forelimb rod is fixed on the output shaft of the steering engine 401, and the top end of the right forelimb rod 404 is rotatably connected with a forelimb support 406 arranged on the bottom surface of the machine frame 1 through a rotating shaft. The rotating shaft is coaxial with the axis of the output shaft of the steering engine 401.
Before the jumping robot with the structure jumps, the cylindrical cam 211 is in a critical state that the cylindrical cam 211 is about to cross a far-stop section, namely, the trigger pin 212 is pushed out to the farthest position by the cylindrical cam 211 at the moment, and the insertion end of the trigger pin 212 extends into the through hole on the stay wheel 218, so that the rotation of the stay wheel 218 is limited; at this time, the pulling wire 220 applies pulling force to the foot rod 303, so as to elongate the distance between the support rod 302 and the lower leg rod 304, so that the energy storage spring 306 is compressed and deformed to store energy, and the magnitude of the stored energy can be adjusted by the pressure applied by the foot rod 303 by the pulling wire 220.
When the jumping robot jumps, the main driver 201 drives the cylindrical cam 211 to rotate reversely through the gear train and the transmission shaft 209, and the cylindrical cam 211 is crossed by the main driver to move away from a rest section; at the moment, the trigger pin 212 rebounds under the action of the trigger pin return spring 213 and leaves the through hole on the side surface of the stay wire wheel 128, at the moment, the stay wire wheel rotates without restraint, the stay wire is released, the energy storage spring 306 releases energy instantly, the front section of the foot rod 303 quickly pedals backwards and downwards, and the robot jumps.
When the jumping robot lands on the ground, the left front limb rod 403 and the right front limb rod 404 can play a certain buffering role; at this point, the main drive 201 continues to reverse until the trigger pin 212 is pushed into the through hole in the side of the capstan 218 by the cylindrical cam 211. Then the main driver 201 rotates forward, the ratchet wheel 214 rotates synchronously and in the same direction with the cylindrical cam 211 under the action of the one-way bearing 215, so that the trigger pin 212 drives the wire pulling wheel 218 to wind the wire pulling 220, and the energy storage spring 306 stretches to the required length. Finally, the forelimb rod is driven by the steering engine 401 to control the left forelimb rod 403 and the right forelimb rod 404 to synchronously swing back and forth, adjust the take-off posture to a required angle, and prepare for take-off again.
The battery 5 is used for providing voltage for the controller 6; the controller 6 is used for controlling the rotation of the main driver 201 and the steering engine 401 respectively.
Claims (3)
1. The utility model provides a controllable jump robot of energy storage size and take-off angle which characterized in that: comprises a frame, a controllable winding/unwinding unit, a jumping leg unit and a posture adjusting leg unit, wherein the controllable winding/unwinding unit, the jumping leg unit and the posture adjusting leg unit are arranged on the frame;
the controllable winding/releasing unit comprises a main driver, a pinion, a duplicate gear, a gear shaft, a bull gear, a pin, a transmission shaft, a cylindrical cam, a trigger pin reset spring, a ratchet wheel, a one-way bearing, a pawl, a wire pulling wheel, a limiting spring and a wire pulling;
wherein, a pinion is coaxially and fixedly arranged on an output shaft of the main driver; the transmission shaft is coaxially fixed with an output shaft of the main driver, and the input end of the transmission shaft is fixed with a large gear; the output end is fixed with a cylindrical cam; a large-diameter gear and a small-diameter gear in the duplicate gear are respectively meshed with the small gear and the large gear; the ratchet wheel is positioned between the large gear and the cylindrical cam and is coaxially arranged on the transmission shaft through a one-way bearing; the pawl is meshed with the outer teeth of the ratchet wheel, when the main driver rotates forwards, the ratchet wheel rotates forwards under the driving of the one-way bearing, and the pawl can slide on the outer tooth back of the ratchet wheel; when the main driver stops rotating, the pawl is inserted into an external tooth socket of the ratchet wheel to prevent the ratchet wheel from reversing due to the pulling force of the pull wire;
the trigger end of the trigger pin is contacted with the end face of the cylindrical cam with a curve profile, and the insertion end is inserted into the through hole on the end face of the ratchet wheel; the reset spring of the trigger pin is sleeved on the trigger pin; the wire pulling wheel is sleeved on the transmission shaft and is positioned between the ratchet wheel and the large gear; the limiting spring is sleeved on the transmission shaft, and two ends of the limiting spring are respectively connected with the large gear and the wire pulling wheel; two pull wires are wound on the pull wire wheel; the fixed ends of the two stay wires are respectively fixed on the stay wire wheels, and the other ends of the two stay wires are respectively connected with the two jumping leg units. The wire pulling wheel is also provided with a through hole for transmitting the trigger pin;
the two jumping leg units are arranged in bilateral symmetry and comprise connecting plates, supporting rods, foot rods, lower leg rods, upper leg rods and energy storage springs;
wherein, the A end of the support rod is upwards designed with a connector for fixedly connecting with the connecting plate; the B end of the support rod is bent downwards; the connecting plate is fixed on the bottom surface of the rack, so that the jumping leg unit and the rack are fixed; the A end of the thigh rod is hinged with the supporting rod to form a revolute pair, and the hinged position is close to the connector; the foot rod is divided into a front section, a middle section and a rear section; wherein the end part of the rear section is hinged with the end B of the supporting rod to form a revolute pair; the middle end of the leg rod is bent downwards, the front section of the leg rod is bent upwards, the end A of the lower leg rod is bent upwards, and the end part of the lower leg rod is hinged with the end B of the upper leg rod to form a revolute pair; the B end of the shank rod is hinged with the foot rod to form a revolute pair; one end of the energy storage spring is fixed with the support rod, and the fixed position is close to the B end of the support rod; the other end of the energy storage spring is fixed with the shank rod, and the fixed position is close to the end A of the shank rod;
the posture adjusting leg unit is arranged at the front part of the rack and comprises a steering engine, a left front limb rod, a right front limb rod, a front limb connecting rod and a front limb support;
wherein the left front limb rod and the right front limb rod are arranged in bilateral symmetry, and the bottom ends are fixed by a front limb connecting rod; the top end of the left forelimb rod is fixed on an output shaft of the steering engine, and the top end of the right forelimb rod is rotatably connected with a forelimb support arranged on the bottom surface of the rack through a rotating shaft.
2. A hopping robot with controllable energy storage size and takeoff angle as claimed in claim 1, wherein: before jumping, the cylindrical cam is in a critical state of crossing a far-stop section, and the insertion end of the trigger pin extends into the through hole on the wire pulling wheel, so that the rotation of the wire pulling wheel is limited; at the moment, the pull wire applies pulling force to the foot rods, the distance between the support rods and the shank rods is lengthened, the energy storage springs are compressed, deformed and stored with energy, and the magnitude of the stored energy can be adjusted by the pressure applied to the foot rods by the pull wire;
when jumping, the main driver drives the cylindrical cam to rotate reversely through the gear train and the transmission shaft and cross the far rest section of the cylindrical cam; at the moment, the trigger pin rebounds under the action of the trigger pin reset spring and leaves the through hole on the side face of the stay wire wheel, the stay wire wheel rotates without restraint at the moment, the stay wire is released, the energy storage spring releases energy instantly, the front section of the foot rod quickly pedals backwards and downwards, and the robot jumps;
when the jumping robot lands on the ground, the left front limb rod and the right front limb rod can play a certain role in buffering; at the moment, the main driver continuously rotates reversely until the trigger pin is pushed into the through hole on the side surface of the stay wheel by the cylindrical cam; then the main driver rotates forwards, the ratchet wheel synchronously rotates in the same direction with the cylindrical cam under the action of the one-way bearing, the trigger pin drives the wire pulling wheel to wind the wire pulling, and the energy storage spring is stretched to the required length; and finally, the front limb rod is driven by the steering engine to control the left front limb rod and the right front limb rod to synchronously swing back and forth, and the take-off posture is adjusted to a required angle to prepare for take-off again.
3. A hopping robot with controllable energy storage size and takeoff angle as claimed in claim 1, wherein: the middle end of the foot rod forms an included angle of 160 degrees with the rear section, and the front section forms an included angle of 120 degrees with the rear section.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010455041.5A CN111591369B (en) | 2020-05-26 | 2020-05-26 | Jumping robot with controllable energy storage size and controllable jumping-off angle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010455041.5A CN111591369B (en) | 2020-05-26 | 2020-05-26 | Jumping robot with controllable energy storage size and controllable jumping-off angle |
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| CN111591369A true CN111591369A (en) | 2020-08-28 |
| CN111591369B CN111591369B (en) | 2021-04-06 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940223A (en) * | 2022-05-31 | 2022-08-26 | 安徽工业大学 | Bionic frog machine |
| CN116176721A (en) * | 2023-04-25 | 2023-05-30 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
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| CN114940223B (en) * | 2022-05-31 | 2023-08-01 | 安徽工业大学 | Bionic frog machine |
| CN116176721A (en) * | 2023-04-25 | 2023-05-30 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
| CN116176721B (en) * | 2023-04-25 | 2023-07-18 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
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