CN112109818B - Insect bounce simulation robot based on approximate linear mechanism - Google Patents
Insect bounce simulation robot based on approximate linear mechanism Download PDFInfo
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- CN112109818B CN112109818B CN202010958678.6A CN202010958678A CN112109818B CN 112109818 B CN112109818 B CN 112109818B CN 202010958678 A CN202010958678 A CN 202010958678A CN 112109818 B CN112109818 B CN 112109818B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—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
Abstract
The invention discloses an insect bounce-imitating robot based on an approximate straight line mechanism, relating to the field of robots; the multifunctional jumping device comprises a main frame, the bottom of the two sides of the main frame is connected with supporting legs symmetrically arranged, the front end of the main frame is movably connected with a buffering device, the rear end of the main frame is movably connected with bionic jumping legs symmetrically arranged, the bionic jumping legs are connected with a driving device through springs, and the driving device is arranged in the main frame. The insect bounce-imitating robot based on the approximate straight line mechanism has a linear take-off track and is high in controllability.
Description
Technical Field
The invention relates to the field of robots, in particular to an insect bounce simulation robot based on an approximate straight line mechanism.
Background
The hopping robot can span obstacles with the size 2-3 times larger than that of the hopping robot, and has wide application prospect in military reconnaissance, emergency rescue and disaster relief, especially in the aspect of foreign exploration. However, the insect-simulated bouncing robot in the current stage does not have good track planning performance, so that the insect-simulated bouncing robot has certain difficulty in control, and the main reason is that the bouncing mechanism of the insect-simulated bouncing robot is lack of a linear bouncing track.
Disclosure of Invention
The invention aims to provide an insect bounce-imitating robot based on an approximately straight line mechanism, which solves the problems in the prior art and has a linear takeoff track and strong controllability.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an insect-imitating bouncing robot based on an approximately linear mechanism, which comprises a main frame, wherein the bottoms of the two sides of the main frame are connected with symmetrically arranged supporting legs, the front end of the main frame is movably connected with a buffering device, the rear end of the main frame is movably connected with two symmetrically arranged bionic bouncing legs, the bionic bouncing legs are connected with a driving device through springs, and the driving device is arranged in the main frame.
Optionally, the main frame comprises a bottom plate, two side plates are symmetrically arranged on two sides of the bottom plate, a front revolute pair is fixedly connected to the front end of the bottom plate, the front revolute pair comprises two symmetrical connecting plates, and circular through holes are formed in the connecting plates; the upper part between the two connecting plates is connected with a first spring connecting column; a vertical plate is arranged between the two side plates, one end of the vertical plate is provided with a groove, the other end of the vertical plate is provided with an arc bulge, and the arc bulge is provided with a mounting through hole; the supporting legs are arranged on two sides of the bottom plate.
Optionally, the buffer device includes a sleeve, two symmetrical triangular plates are arranged at the front end of the sleeve, a second spring connecting column which is horizontally arranged is connected to the top of each triangular plate, the first spring connecting column and the second spring connecting column are connected through a buffer spring, the sleeve is located between the two connecting plates, a rotating shaft penetrates through the sleeve, and two ends of the rotating shaft are connected with the circular through holes of the connecting plates; the triangular plate is characterized in that a flange is arranged below the triangular plate, the front end of the flange is hinged with a passive spring leg, and the rear end of the flange is connected with the bottom plate through a buffer spring.
Optionally, the bionic bouncing leg comprises a first short connecting rod, a first long connecting rod and a second long connecting rod are respectively and movably connected to the same side of two ends of the first short connecting rod, a third long connecting rod is movably connected to the other side of the middle of the first short connecting rod, the other end of the first long connecting rod is connected with the middle of a first V-shaped connecting rod, the other end of the second long connecting rod is connected with one end of the first V-shaped connecting rod, the other end of the third long connecting rod is connected with one end of a second V-shaped connecting rod, and the middle of the first V-shaped connecting rod is movably connected with the middle of the second V-shaped connecting rod; the middle part of the second V-shaped connecting rod is connected with a fourth long connecting rod, the other end of the first V-shaped connecting rod is connected with a fifth long connecting rod, the other end of the second V-shaped connecting rod is connected with a sixth long connecting rod, the tail ends of the fourth long connecting rod, the fifth long connecting rod and the sixth long connecting rod are respectively connected with a second short connecting rod, and the second short connecting rod is fixedly arranged on the side plate; the sixth long connecting rod is of a plate-shaped structure, and a sliding groove is formed in the sixth long connecting rod.
Optionally, the driving device includes a motor fixedly disposed in the mounting through hole, a rotating shaft of the motor is connected with an incomplete gear, the incomplete gear is engaged with a complete gear, a circular roller is fixedly connected to a circle center of the complete gear, and the circular roller is located in the groove; the end of the horizontal rod structure is movably arranged in a chute on the same side of the horizontal rod structure, the tail end of the horizontal rod structure is connected with a spring, and the tail end of the spring is connected with the connecting end of the second V-shaped connecting rod and the connecting end of the sixth long connecting rod.
Optionally, a horizontal claw is fixedly connected to the first short connecting rod, the horizontal claw is located at a connecting end of the first short connecting rod and the second long connecting rod, and an included angle between the horizontal claw and the first short connecting rod is greater than 90 degrees.
Optionally, the bottom of the passive spring leg is fixedly connected with a support claw.
Compared with the prior art, the invention has the following technical effects:
the invention has simple control and high transmission efficiency, the bionic bouncing leg ensures that the robot jumping track is approximately a straight line, and meanwhile, the mechanism has larger ground stroke, so that the robot can act with the ground for a longer time, thereby accumulating more energy and having strong controllability; the buffer device is provided with two-stage buffering, and the buffering effect is good.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of the overall structure of an insect bounce simulating robot in a power storage state;
FIG. 2 is a schematic view of the overall structure of the insect bounce simulating robot in an unloaded state;
FIG. 3 is a schematic of a mainframe configuration;
FIG. 4 is a schematic view of the driving device;
FIG. 5 is a schematic diagram of a ten-link bionic bouncing leg structure based on an approximate straight-line track;
FIG. 6 is a schematic view of a buffer structure;
FIG. 7 is a schematic view of a spring structure;
description of reference numerals: 1. the bionic bouncing leg comprises a main frame, 2, a driving device, 3, a bionic bouncing leg, 4, a buffering device, 5, a spring, 101, a groove, 102, a front revolute pair, 103, a first spring connecting column, 104, a supporting leg, 201, a motor, 202, an incomplete gear, 203, a rocker, 301, a long connecting rod, 3011, a first long connecting rod, 3012, a second long connecting rod, 3013, a third long connecting rod, 3014, a fourth long connecting rod, 3015, a fifth long connecting rod, 3016, a sixth long connecting rod, 302, a short connecting rod, 3021, a first short connecting rod, 3022, a second short connecting rod, 303, a V-shaped connecting rod, 3031, a first V-shaped connecting rod, 3032, a second V-shaped connecting rod, 304, a sliding chute, 305, a horizontal claw, 401, a second spring connecting column, 402, a passive spring leg, a buffering spring, and 404, a supporting claw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention aims to provide an insect bounce-imitating robot based on an approximately straight line mechanism, which solves the problems in the prior art and has a linear takeoff track and strong controllability.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides an insect-imitating bouncing robot based on an approximate straight line mechanism, which comprises a main frame 1, a driving device 2, a bionic bouncing leg 3 of a ten-link structure based on an approximate straight line track, a buffer device 4 and a spring 5, as shown in figures 1-7. The main frame 1 is of an integrated structure, the bottoms of the two sides of the main frame are connected with symmetrically arranged supporting legs 104, furthermore, the middle of the main frame 1 of the integrated structure is provided with a groove 101 for installing the driving device 2, and a side plate of the frame is provided with a round hole for connecting with the bionic bouncing leg 3; the main frame 1 is provided with a front revolute pair 102, a first spring connection column 103 for connection with the damping device 4.
The driving device 2 is composed of a motor 201, an incomplete gear 202 and a rocker 203, the incomplete gear 202 is in interference fit with an output shaft of the motor 201, one end of the rocker 203 is fixedly connected with the complete gear and is meshed with the incomplete gear 202 through the complete gear, the other end of the rocker is a sliding pair arranged on a sliding groove 304 in a penetrating mode, a protruding structure is arranged on the sliding pair and used for installing a spring 5, and the sliding pair is matched with the sliding groove 302 arranged on the bionic bouncing leg 3.
Preferably, the incomplete gear 202 can rotate by a certain angle to realize the power accumulation of the insect bounce-imitating robot, and when the incomplete gear 202 continues to rotate until the complete gear fixedly connected with the rocker 203 is disengaged, the power accumulation spring is released instantly, and the robot finishes the bounce action.
Preferably, the rocker 203 will swing to the farthest stroke after each bounce action under the action of the spring 5, so that the incomplete gear 202 only needs to rotate in one direction to complete the next power accumulation of the insect bounce imitating robot. The transmission system formed by the incomplete gear 202 and the rocker 203 has the advantages of simple control and high transmission efficiency.
The bionic bouncing leg 3 comprises a long connecting rod 301, a short connecting rod 302, a V-shaped connecting rod 303 and a sliding chute 304, the connecting rods are connected through a revolute pair, and the degree of freedom is 1. And 1 of the short connecting rods 302 is fixedly connected with the main frame 1, and 1 of the long connecting rods 301 is provided with a sliding groove 304 for connecting a rocker 203 of a driving device. Specifically, the bionic bouncing leg comprises a first short connecting rod 3021, the same side of the two ends of the first short connecting rod 3021 is movably connected with a first long connecting rod 3011 and a second long connecting rod 3012 respectively, the other side of the middle of the first short connecting rod 3021 is movably connected with a third long connecting rod 3013, the other end of the first long connecting rod 3011 is connected with the middle of the first V-shaped connecting rod 3031, the other end of the second long connecting rod 3012 is connected with one end of the first V-shaped connecting rod 3031, the other end of the third long connecting rod 3013 is connected with one end of the second V-shaped connecting rod 3032, and the middle of the first V-shaped connecting rod 3031 is movably connected with the middle of the second V-shaped connecting rod 3032; a fourth long connecting rod 3014 is connected to the middle of the second V-shaped connecting rod 3032, a fifth long connecting rod 3015 is connected to the other end of the first V-shaped connecting rod 3031, a sixth long connecting rod 3016 is connected to the other end of the second V-shaped connecting rod 3032, the tail ends of the fourth long connecting rod 3014, the fifth long connecting rod 3015 and the sixth long connecting rod 3016 are respectively connected to the second short connecting rod 3022, and the second short connecting rod 3022 is fixedly arranged on the side plate; the sixth long link 3016 is a plate-shaped structure, and the sixth long link 3016 is provided with a sliding slot 304. The first short link 3021 is fixedly connected with a horizontal claw 305, the horizontal claw 305 is located at the connecting end of the first short link 3021 and the second long link 3012, and the included angle between the horizontal claw 305 and the first short link 3021 is greater than 90 degrees. A support jaw 404 is fixedly connected to the bottom of the passive spring leg 402.
Preferably, the bionic bouncing leg 3 ensures that the robot takes off a bouncing track approximately in a straight line, and meanwhile, the mechanism has a larger ground stroke, so that the robot can act on the ground for a longer time, and more energy is accumulated. The bionic bouncing leg 3 has the freedom degree of 1, so that the bouncing triggering mode is simple, and when the sliding pair at one end of the rocker 203 does reciprocating motion in the sliding groove 304, the power accumulation and release of the insect-imitating bouncing robot can be realized.
The buffer device 4 is connected with the front revolute pair 102 of the main frame through a revolute pair, the buffer device is provided with a second spring connecting column 401 which is connected with a spring connecting column 103 on the main frame through an upper row of springs and a lower row of springs to play a role of landing and buffering, and the front side of the buffer device is fixedly connected with a passive spring leg 402. The buffer device 4 is provided with two-stage buffering, the first stage is the buffering effect when the front side passive spring leg 402 is in contact with the ground, the second stage is the buffering effect when the buffer device 4 rotates relative to the main frame 1, and the buffer spring 403 connecting the buffer device 4 and the main frame 1 is stretched to realize the second stage buffering, so that the stable landing of the insect bounce simulating robot is ensured.
The jumping motion mechanism of the invention comprises the following steps:
step 1: the initial position of the insect bounce simulating robot is shown in fig. 2, at this time, the spring 5 connected with the tail end of the rocker 203 is in a pre-tightening state, the sliding pair at the tail end of the rocker 203 is at the farthest stroke of the sliding groove 304, and the bionic bounce leg is in an extending state.
Step 2: the motor 201 drives the incomplete gear 202 to rotate, the incomplete gear 202 is meshed with a complete gear fixedly connected with the rocker 203, at the moment, a sliding pair at the tail end of the rocker 203 slides to the near stroke end of the sliding groove 304, and the bionic bouncing leg retracts until reaching the position shown in fig. 1.
And step 3: the motor 201 continues to rotate according to the original direction, the incomplete gear 202 is disengaged from the complete gear fixedly connected with the rocker 203, at the moment, under the action of the restoring force of the spring 5, the sliding pair at the tail end of the rocker 202 can rapidly slide to the farthest stroke of the sliding chute 304, and the bionic bouncing leg is driven to rapidly extend, so that the bouncing action is realized.
And 4, step 4: in the landing stage of the insect bounce-simulating robot, firstly, the passive spring leg 402 positioned on the front side of the buffer device lands to realize first-stage buffering, secondly, the buffer device 4 rotates relative to the main frame 1 after the whole robot lands, the buffer spring 403 connecting the buffer device 4 and the main frame 1 stretches to realize second-stage buffering, and the insect bounce-simulating robot lands stably.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. The utility model provides an imitative insect bounce robot based on approximate straight line mechanism which characterized in that: the bionic bouncing leg device comprises a main frame, wherein the bottoms of the two sides of the main frame are connected with symmetrically arranged supporting legs, the front end of the main frame is movably connected with a buffer device, the rear end of the main frame is movably connected with two symmetrically arranged bionic bouncing legs, the bionic bouncing legs are connected with a driving device through springs, and the driving device is arranged in the main frame; the main frame comprises a bottom plate, two side plates are symmetrically arranged on two sides of the bottom plate, a front rotating pair is fixedly connected to the front end of the bottom plate and comprises two symmetrical connecting plates, and circular through holes are formed in the connecting plates; the upper part between the two connecting plates is connected with a first spring connecting column; a vertical plate is arranged between the two side plates, one end of the vertical plate is provided with a groove, the other end of the vertical plate is provided with an arc bulge, and the arc bulge is provided with a mounting through hole; the supporting legs are arranged on two sides of the bottom plate; the bionic bouncing leg comprises a first short connecting rod, a first long connecting rod and a second long connecting rod are respectively and movably connected to the same side of the two ends of the first short connecting rod, a third long connecting rod is movably connected to the other side of the middle of the first short connecting rod, the other end of the first long connecting rod is connected with the middle of a first V-shaped connecting rod, the other end of the second long connecting rod is connected with one end of the first V-shaped connecting rod, the other end of the third long connecting rod is connected with one end of a second V-shaped connecting rod, and the middle parts of the first V-shaped connecting rod and the second V-shaped connecting rod are movably connected; the middle part of the second V-shaped connecting rod is connected with a fourth long connecting rod, the other end of the first V-shaped connecting rod is connected with a fifth long connecting rod, the other end of the second V-shaped connecting rod is connected with a sixth long connecting rod, the tail ends of the fourth long connecting rod, the fifth long connecting rod and the sixth long connecting rod are respectively connected with a second short connecting rod, and the second short connecting rod is fixedly arranged on the side plate; the sixth long connecting rod is of a plate-shaped structure, and a sliding groove is formed in the sixth long connecting rod.
2. The insect bounce robot based on the approximate straight line mechanism of claim 1, wherein: the buffer device comprises a sleeve, two symmetrical triangular plates are arranged at the front end of the sleeve, a second spring connecting column which is horizontally arranged is connected to the top of each triangular plate, the first spring connecting column and the second spring connecting column are connected through a buffer spring, the sleeve is located between the two connecting plates, a rotating shaft penetrates through the sleeve, and two ends of the rotating shaft are connected with circular through holes of the connecting plates; the triangular plate is characterized in that a flange is arranged below the triangular plate, the front end of the flange is hinged with a passive spring leg, and the rear end of the flange is connected with the bottom plate through a buffer spring.
3. The insect bounce robot based on the approximate straight line mechanism of claim 1, wherein: the driving device comprises a motor fixedly arranged in the mounting through hole, a rotating shaft of the motor is connected with an incomplete gear, the incomplete gear is meshed with a complete gear, a circular roller is fixedly connected to the circle center of the complete gear, and the circular roller is positioned in the groove; the end of the horizontal rod structure is movably arranged in a chute on the same side of the horizontal rod structure, the tail end of the horizontal rod structure is connected with a spring, and the tail end of the spring is connected with the connecting end of the second V-shaped connecting rod and the connecting end of the sixth long connecting rod.
4. The insect bounce robot based on the approximate straight line mechanism of claim 1, wherein: the first short connecting rod is fixedly connected with a horizontal claw, the horizontal claw is positioned at the connecting end of the first short connecting rod and the second long connecting rod, and the included angle between the horizontal claw and the first short connecting rod is larger than 90 degrees.
5. The insect bounce robot based on the approximate straight line mechanism of claim 2, wherein: the bottom of the passive spring leg is fixedly connected with a supporting claw.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010958678.6A CN112109818B (en) | 2020-09-14 | 2020-09-14 | Insect bounce simulation robot based on approximate linear mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010958678.6A CN112109818B (en) | 2020-09-14 | 2020-09-14 | Insect bounce simulation robot based on approximate linear mechanism |
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| CN112109818A CN112109818A (en) | 2020-12-22 |
| CN112109818B true CN112109818B (en) | 2021-07-16 |
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| CN202010958678.6A Active CN112109818B (en) | 2020-09-14 | 2020-09-14 | Insect bounce simulation robot based on approximate linear mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113386963B (en) * | 2021-07-19 | 2022-05-13 | 北京理工大学 | Insect-imitating flying robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103569235A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Five-joint robot imitating frog to jump |
| CN109292023A (en) * | 2018-11-08 | 2019-02-01 | 西北工业大学 | A kind of bio-robot of repeatable spring |
| CN210364124U (en) * | 2019-06-26 | 2020-04-21 | 西南科技大学 | Parallel type four-foot robot leg structure |
| CN210911922U (en) * | 2019-11-19 | 2020-07-03 | 百奥创新(天津)科技有限公司 | Fly frog bionic robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113727767B (en) * | 2018-10-17 | 2023-05-23 | 派拓艺(深圳)科技有限责任公司 | Machine animal splicing model |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103569235A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Five-joint robot imitating frog to jump |
| CN109292023A (en) * | 2018-11-08 | 2019-02-01 | 西北工业大学 | A kind of bio-robot of repeatable spring |
| CN210364124U (en) * | 2019-06-26 | 2020-04-21 | 西南科技大学 | Parallel type four-foot robot leg structure |
| CN210911922U (en) * | 2019-11-19 | 2020-07-03 | 百奥创新(天津)科技有限公司 | Fly frog bionic robot |
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