CN112172958A - Soft bounce robot capable of quickly releasing and recovering energy and method thereof - Google Patents
Soft bounce robot capable of quickly releasing and recovering energy and method thereof Download PDFInfo
- Publication number
- CN112172958A CN112172958A CN202010923060.6A CN202010923060A CN112172958A CN 112172958 A CN112172958 A CN 112172958A CN 202010923060 A CN202010923060 A CN 202010923060A CN 112172958 A CN112172958 A CN 112172958A
- Authority
- CN
- China
- Prior art keywords
- energy
- main body
- soft
- robot
- energy storage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a soft bounce robot capable of quickly releasing and recovering energy and a method thereof.A main body is arranged in a shell, one end of the main body is provided with an energy storage part, the energy storage part is used for converting input mechanical energy into elastic energy to be stored so as to realize the bounce of the bounce robot, the other end of the energy storage part is provided with a foot part, the other end of the main body is provided with a control gravity center part, the gravity center of the control gravity center part is superposed with the gravity center of the energy storage part in the vertical direction and is used for controlling the bounce robot to incline to a fixed direction to generate a fixed bounce angle; the energy collecting part and the energy releasing part are arranged outside the energy storing part, and the energy collecting part is used for controlling the opposite movement between the main body and the foot; the energy release part is used for releasing the constraint between the main body and the foot part and releasing the elastic energy stored in the energy storage part. The invention has compact structure, simple control, stability and reliability.
Description
Technical Field
The invention belongs to the technical field of hopping robots, and particularly relates to a soft hopping robot capable of quickly releasing and recovering energy and a method thereof.
Background
The technology of the traditional hard robot is gradually mature after long-term development, and the existing ground mobile robot mainly comprises a wheel-track type robot, a walking type robot and a crawling type robot. For most conventional robots, the limited freedom makes it difficult to achieve three-dimensional motion in a small space, and the conventional robots are usually too heavy and energy inefficient, requiring complex control systems. In addition, for the three ground mobile robots, the obstacle crossing capability is always limited, and when the three ground mobile robots work in a complex environment, obstacles larger than the size of the ground mobile robots cannot be crossed, so that the application value is limited.
Inspiring from the bio-soft architecture and its efficient motion patterns, soft robots, as a complement to traditional robots, have many advantages that traditional hard robots cannot achieve, especially in application scenarios where there is human-computer interaction. The existing soft robots are mainly made of soft elastic materials capable of generating large deformation, such as silicone rubber and PDMS, wherein a part of the soft robots comprise a rigid core and a control system due to the limitation of the prior art, and most of the soft robots are completely driven and controlled by a soft driver. The existing research mainly aims at simulating the movement modes of insects and animals, and utilizes the characteristics of small volume, soft surface, large degree of freedom and the like of a soft robot to realize specific tasks which cannot be finished by the traditional robot.
In the development process of soft robots, an important part is the development of soft drives, and the shape, performance and application scenario of a soft robot are largely determined by the soft drives. The drive mode of the mature soft robot in the prior art mainly comprises: chemical reaction actuation, electromagnetic actuation, Shape Memory Alloy (SMA) actuation, pneumatic actuation under a gas cell structure, and the like. The robot actuated by chemical reaction has high energy density, but because of the existence of facilities such as air cylinders and the like, the robot is generally heavy and difficult to realize stable control, and cannot realize high-performance and continuous jumping; the other actuation modes can make the soft robot realize the jumping, but any problem exists, and the soft robot cannot realize the jumping with high performance. Firstly, the energy density is low, the rapid release of energy cannot be realized, and the utilization efficiency of the energy for realizing the bounce in the process of jumping is too low, so that the soft robot cannot jump relative to the size of the soft robot; secondly, these soft driving methods have no energy capture device, cannot store energy, and cannot realize continuous jumping, and the energy consumption is large during exercise, limiting the jumping performance. However, the soft driver has the characteristics of softness, insusceptibility to breakage, stable performance, and compatibility with a soft robot, and has become a research focus of researchers in recent years, and has a great development space.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a soft bounce robot and method thereof capable of rapidly releasing and recovering energy, which can rapidly release stored energy to realize a bounce height several times larger than the size of the robot; continuous jumping can be realized, the gravitational potential energy is repeatedly utilized, the energy utilization rate is high, and the stability of the device is kept; further, the advancing speed thereof may be dynamically controlled during the continuous movement.
The invention adopts the following technical scheme:
a soft bounce robot with energy released and recovered quickly comprises a shell, wherein a main body is arranged in the shell, one end of the main body is provided with an energy storage part, the energy storage part is used for converting input mechanical energy into elastic energy to be stored so as to realize the bounce of the bounce robot, the other end of the energy storage part is provided with a foot part, the other end of the main body is provided with a control gravity center part, and the gravity center of the control gravity center part is vertically overlapped with the gravity center of the energy storage part and is used for controlling the bounce robot to incline towards a fixed direction to generate a fixed bounce angle; the energy collecting part and the energy releasing part are arranged outside the energy storing part, and the energy collecting part is used for controlling the opposite movement between the main body and the foot; the energy release part is used for releasing the constraint between the main body and the foot part and releasing the elastic energy stored in the energy storage part.
Specifically, the energy storage part comprises a loading soft driver and an energy storage element, the loading soft driver is arranged on the downward extending section of the main body, an upward extending tubular structure is arranged on the foot corresponding to the downward extending section of the main body, the lower end of the downward extending section of the main body is arranged in the tubular structure of the foot, and the energy storage element is sleeved on the downward extending section of the main body and the tubular structure.
Furthermore, the energy collecting part comprises an inner rack and an outer rack, the inner rack is arranged in the energy storage element, is positioned at the joint of the downward extending section of the main body and the foot tubular structure, and is matched and connected with an inner hook tooth arranged at the lower end of the loading soft driver; the outer side cover of energy storage element is equipped with outer rack in the main part, and the tooth is colluded outward to the corresponding being provided with on the outer rack, colludes outward the tooth and is connected with the foot through the rebound spare.
Furthermore, the energy release part comprises a trigger tooth, one end of the trigger tooth is connected with the control gravity center part, the other end of the trigger tooth is suspended and located above the outer hook tooth, and dampers are arranged on two sides of the outer hook tooth respectively.
Furthermore, the dampers comprise sleeves and pistons which are connected with each other, and the sleeves and the pistons of the two sets of dampers are connected through outer hooked teeth.
Further, a portion of the sleeve not overlapping the piston is provided with a hole for air circulation.
Furthermore, a lower guide groove and an upper guide groove are arranged in the tubular structure of the foot corresponding to the inner rack in a staggered mode, the inner hook teeth can rotate around the central axis of the loading soft driver, and the inner hook teeth are separated from the inner rack through inclined planes arranged on the lower guide groove and the upper guide groove.
Specifically, control focus portion sets up in the main part, including control focus floppy drive ware, and the fixed block is connected to the one end of control focus floppy drive ware, and the balancing weight is connected to the other end.
Specifically, the shell is of a hemispherical structure and made of soft materials, and the axis of the main body is overlapped with the axis of the shell.
The invention also provides a working method of the soft bouncing robot for quickly releasing and recovering energy, the soft bouncing robot for quickly releasing and recovering energy comprises a shell, a main body is arranged in the shell, one end of the main body is connected with a foot part through an energy storage part, the other end of the main body is provided with a control gravity center part, the gravity center of the control gravity center part is vertically overlapped with the gravity center of the energy storage part, and the control gravity center part is used for controlling the bouncing robot to incline to a fixed direction to generate a fixed bouncing angle;
the control gravity center part comprises a control gravity center soft driver, one end of the control gravity center soft driver is connected with the fixed block, and the other end of the control gravity center soft driver is connected with the balancing weight;
the energy storage part comprises a loading soft driver and an energy storage element, the loading soft driver is arranged on the downward extending section of the main body, an upward extending tubular structure is arranged on the foot corresponding to the downward extending section of the main body, the lower end of the downward extending section of the main body is arranged in the tubular structure of the foot, and the energy storage element is sleeved on the downward extending section of the main body and the tubular structure;
an energy collecting part and an energy releasing part are arranged outside the energy storage part; the energy collecting part comprises an inner rack and an outer rack, the inner rack is arranged in the energy storage element, is positioned at the joint of the downward extending section of the main body and the foot tubular structure, and is matched and connected with an inner hook tooth arranged at the lower end of the loading soft driver; an outer rack is sleeved on the outer side of the energy storage element on the main body, outer hook teeth are correspondingly arranged on the outer rack, and the outer hook teeth are connected with the feet through a rebound piece;
the energy release part comprises a trigger tooth, one end of the trigger tooth is connected with the control gravity center part, the other end of the trigger tooth is suspended and is positioned above the outer hook tooth, two sides of the outer hook tooth are respectively provided with a damper, and the damper comprises a sleeve and a piston which are connected with each other;
each working cycle of the soft bounce robot with the energy quick release and recovery comprises loading, triggering bounce and reloading;
in the loading stage, a continuous voltage signal with the value of zero volt and the value of working voltage volt are alternately added to one end of the loading soft driver, and the other end of the loading soft driver repeatedly vibrates along with the voltage signal in the vertical direction; driving the inner hook teeth to move up and down repeatedly; when the applied voltage is changed from zero volt to working voltage, the inner hook tooth moves downwards for a working stroke; when the applied voltage is changed from the working voltage to zero volt, the inner hook tooth moves upwards for a working stroke; the loading soft driver drives the next stage of the inner rack in the inner hook in the extension process; when the loading soft driver retracts, the whole foot is driven to move towards the main body, the energy storage element is compressed, and the outer hook tooth hooks the middle next stage to complete the first-stage loading; then repeating the steps until the loading of each stage is finished; after loading is finished, the inner hook teeth are automatically separated, and the energy release part enables the outer hook teeth to be separated from the outer rack to release elastic energy stored in the energy storage element;
in the triggering and bouncing stage, the triggering tooth moves downwards along with the main body, and under the condition that the inner hook tooth is separated, the outer hook tooth is pushed away and separated from the outer rack, so that the constraint between the main body and the foot is released, and the elastic energy stored in the energy storage element is released; after the outer hook tooth is jacked open, the elastic force of the rebound piece drives the outer hook tooth to restore to the initial position; in the rebound process of the outer hook teeth, the sleeve and the piston are driven to move relatively; the soft bounce robot with the energy released and recovered quickly carries out next loading after bounce and finishes loading before the next landing so as to realize continuous jumping;
in the continuous jumping process, working voltage is applied to the soft driver for controlling the gravity center, the integral gravity center of the jumping robot is changed, forward jumping is achieved, and the gravity center is adjusted instantly before the jumping robot falls to the ground.
Compared with the prior art, the invention has at least the following beneficial effects:
the soft bounce robot capable of quickly releasing and recovering energy introduces a plurality of passively triggered controls, so that the control cost is reduced to a great extent, and the bounce robot is easier to realize. Moreover, the bounce robot can control the bounce height and the advancing speed of the bounce robot in continuous jumping by actively controlling the bounce angle, and the problems of insufficient energy density and incapability of directly driving high-performance bouncing in soft driving are solved by introducing the hard frame and the energy storage element; through the control of the energy input and output speed, the robot realizes the bouncing movement which reaches the bouncing height which is several times higher than the self size.
Further, the energy storage part is arranged to store enough energy in the robot system for bouncing. Meanwhile, the energy storage part can store mechanical energy of the robot in the movement process to the maximum extent, recover the energy and release the energy again, and the system can well utilize gravitational potential energy and greatly improve the utilization rate of the energy; for example, when the robot is impacted by a landing, the energy storage part can replace the shell to store most energy, the mechanical energy borne by the robot during the impact of the landing is converted into elastic energy, and the elastic energy is released again and converted into mechanical energy for the robot to bounce when the robot jumps next time.
Further, the energy collection portion is arranged to enable the floppy drive to gradually input energy into the system and temporarily store the energy in the energy storage portion. Due to the technical limitation at the present stage, the stroke and the driving force of the soft driver cannot reach higher levels at the same time, so that the input energy density is lower; in order to be better applied to a robot system, the energy collecting part is added, so that the energy collecting part can input energy for multiple times, the problem of energy density of a soft driver is avoided, and meanwhile, the bouncing performance of the robot is improved.
Furthermore, the energy release part is independently arranged, the bounce is triggered by the landing impact, and the landing moment is the moment when the robot takes off and releases energy, so that the maximum utilization of the energy can be ensured without considering the control of the energy release moment, the problem that the energy is released in the air by the robot due to control errors is solved, and the elastic energy stored in the energy storage element is completely converted into mechanical energy for the bounce of the robot.
Furthermore, the part of the sleeve, which is not overlapped with the piston, is drilled with small holes for air circulation, the damper slows down the rebounding speed of the outer hook teeth during large-amplitude displacement by limiting the air flow entering and exiting speed, and the energy storage element can be smoothly released.
Furthermore, the upper guide groove and the lower guide groove are arranged to realize automatic separation of the inner hook teeth after loading is completed and automatic reset during reloading, extra control is not needed to be added in the design, the robot realizes continuous loading cycle every time, and the purpose of continuous motion is achieved.
Furthermore, the control gravity center part can adjust the posture of the robot in the moving process of the robot to enable the robot to achieve the purpose of jumping forwards, and meanwhile, the dynamic adjustment controls the state of the gravity center driver, namely, the moving state of the robot can be dynamically adjusted in the moving process of the robot to enable the robot to achieve more complex movement.
Furthermore, the shell is made of soft materials, internal components can be effectively protected, the reliability is achieved, application scenes are wider, and compared with a driver made of the soft materials, the performance of the driver is more stable and is not easy to damage due to the fact that the driver is driven by a traditional motor or air pressure.
A working method of a soft bouncing robot with energy released and recovered quickly has the capability of continuous jumping, and can repeatedly utilize gravitational potential energy in the jumping process, so that the movement capability of the bouncing robot is greatly improved, the robot can automatically recover to a stable state before falling to the ground, and uninterrupted continuous jumping is realized.
In summary, the invention designs a bouncing soft robot which has compact structure, simple control, stability and reliability, does not transmit bouncing performance to the traditional hard robot by utilizing the structure capable of realizing rapid energy release and recovery and combining a soft driver and soft materials, can realize high-performance continuous jumping and further realize more complex motion, is not easy to damage under the protection of the soft materials, has stable and reliable performance, and is an ideal detection robot.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic sectional front view of the present invention;
fig. 4 is a partial perspective view of the center of the present invention.
Wherein: 1. a fixed block; 2. a balancing weight; 3. controlling a center of gravity soft drive; 4. a housing; 5. a main body; 6. an outer hook tooth; 7. a trigger tooth; 8. an inner rack; 9. an outer rack; 10. a foot section; 11. loading the soft drive; 12. inner hook teeth; 13. a sleeve; 14. a piston; 15. a resilient member; 16. an energy storage element; 17. a lower guide groove; 18. and an upper guide groove.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
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.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
Referring to fig. 1 and 2, the soft bounce robot for rapidly releasing and recovering energy of the present invention includes a housing 4, a main body 5, a foot 10, an energy storage portion, a control gravity center portion, an energy collection portion, and an energy release portion, wherein the energy storage portion, the control gravity center portion, the energy collection portion, and the energy release portion are all disposed in the housing 4.
The main body 5 is fixed inside the shell 4, the main body 5 and the foot 10 are respectively fixed at two ends of an energy storage part, and the energy storage part is used for converting input mechanical energy into elastic energy for storage and realizing jumping of the bouncing robot through quick release; the gravity center of the control gravity center part is overlapped with the gravity center of the energy storage part in the vertical direction, and the control gravity center part is used for controlling the hopping robot to incline to a fixed direction to generate a fixed take-off angle, so that a more complex motion mode is realized; the energy collecting part is used for controlling the opposite movement between the main body 5 and the foot 10; the energy releasing portion releases the constraint between the main body 5 and the foot portion 10, and releases the elastic energy stored in the energy storing portion.
Referring to fig. 1, the housing 4 is made of silicone rubber material and has a hemispherical structure to protect the internal structure from impact from falling, the inner surface has an extension portion for fixing the main body 5, and the housing 4 is made of soft material to absorb most of energy when falling to the ground through deformation; meanwhile, the radius of the shell is larger than the gravity center height of the whole bouncing robot, so that the gravity center of the whole bouncing robot is lower than the centroid, and the robot can automatically recover to a stable position without other auxiliary mechanisms after falling to the ground by utilizing the principle similar to a tumbler, so that continuous forward jumping is realized.
Referring to fig. 2 and 3, the energy storage portion includes a main body 5, a foot 10, a loading soft driver 11 and an energy storage element 16.
The main body 5 is fixed inside the shell 4, and the axis of the main body coincides with the axis of the hemispherical shell 4; the loading soft driver 11 is fixed at the center below the main body 4 to generate sufficient output force, the main body 4 and the foot 10 are respectively fixed at two ends of the energy storage element 16, the loading soft driver 11 enables the main body 5 and the foot 10 to generate relative motion, meanwhile, the energy storage element 16 is compressed, mechanical energy input by the loading soft driver 11 is converted into elastic energy to be stored, and jumping of the bouncing robot is realized through quick release.
The loading floppy drive 11 employs a stacked DEA (dielectric elastomer drive), which is advantageous in that its output force is proportional to the number of layers of the stacked dielectric elastomers, a sufficient driving force can be generated, and the whole floppy drive is flexible and is not easily broken when the robot is impacted.
The energy storage element 16 is a spiral pressure spring, so that the stability is good and more elastic energy can be stored.
Referring to fig. 1, the gravity center control unit includes a fixed block 1, a weight block 2, and a gravity center control soft driver 3.
The gravity center of the gravity center part and the gravity center of the energy storage part are controlled to be superposed in the vertical direction, and the balancing weight 2 is used for balancing the weight of the fixing block 1;
when the control gravity center soft driver 3 is not triggered, the energy storage element 16 is in a vertical state, and the hopping robot takes off the jump to the right upper side; when the gravity center soft driver 3 is controlled to load, the counterweight block 2 is pushed to move towards a specific direction, and the gravity center of the gravity center control mechanism shifts, so that the gravity center of the whole bouncing robot shifts, inclines towards a fixed direction, and generates a fixed bouncing angle, thereby enabling the bouncing robot to bounce forwards. Meanwhile, the loading state of the gravity soft driver 3 is controlled, so that the take-off angle of the hopping robot is dynamically controlled, and a more complex motion mode is realized.
The roll-type DEA (dielectric elastomer driver) is used as the center-of-gravity controlling soft drive 3, which is advantageous in that a large stroke can be generated and the performance is stable.
Referring to fig. 2, the energy collecting portion includes an inner rack 12, an inner rack 8, an outer rack 6, an outer rack 9, a resilient member 15, a lower guide groove 17, and an upper guide groove 18.
The inner hook tooth 12 is fixed under the loading soft driver 11 and moves along with the loading soft driver 11, and the inner hook tooth 12 has certain elasticity; the inner racks 8 are fixed on the cylindrical thin wall extending upwards from the foot 10, and in order to ensure the stable structure, the two inner racks 8 are arranged symmetrically, are positioned at two sides of the inner hook tooth 12 and are always contacted with the inner hook tooth 12 in the loading process; the outer hook teeth 6 are fixed on the resilient members 15, the outer hook teeth 6 are symmetrically arranged in two parts to ensure stable structure, and the elasticity of the resilient members 15 enables the outer hook teeth 6 to be always meshed with the outer tooth bars 9; the other end of the resilient member 15 is fixed to the foot 10;
the outer rack 9 directly extends out of the main body 5 and is always contacted with the outer hook teeth 6 in the loading process.
Due to the existence of the inner rack 8, the outer rack 9, the hook teeth and the like, the control body 5 and the foot 10 can only move towards each other during the loading process.
The loading floppy drive 11 has two actions in common: extend and retract, and can cause the inner hook tooth 12 to vibrate spongedly in the loading direction; the loading soft driver 11 drives the inner hook teeth 12 to hook the next stage of the inner rack 8 in the process of extension, and relative movement between the main body 5 and the foot 10 cannot be caused due to the existence of the outer rack 9 and the outer hook teeth 6; finally, the loading soft driver 11 retracts to drive the foot 10 to move integrally to the main body 5, and meanwhile, the energy storage element 16 is compressed, and the outer hook tooth 6 hooks the next middle stage to finish one period of loading; after the loading is finished, the inner hook tooth 12 is automatically separated, and the energy release part can release the elastic energy stored in the energy storage element 16 only by separating the outer hook tooth 6.
Referring to fig. 4, the lower guide groove 17 and the upper guide groove 18 are fixed on the cylindrical thin wall extending upward from the foot 10 and are installed at a fixed angle with respect to the internal rack 8.
The inner hook teeth 12 are separated from the inner rack 8 through the lower guide groove 17 and the upper guide groove 18; the main principle is as follows:
the inner hook tooth 12 can rotate around the central axis of the loading soft driver 11, and the lower guide groove 17 and the upper guide groove 18 are provided with an inclined surface, so that the inner hook tooth 12 rotates for an angle while moving in the vertical direction to avoid the inner rack 8;
when the inner hook tooth 12 is loaded to the last stage of the inner rack 8, the inner hook tooth 12 moves downwards once again, and the inner hook tooth 12 rotates along with the lower guide groove 17 to avoid the inner rack 8; after the bouncing robot is triggered, the inner hook teeth 12 move upwards along with the main body 5, approach the first-stage teeth, rotate along with the upper guide groove 18 and then rotate back to clamp the first-stage teeth.
The resilient member 15 is made of an elastic steel sheet, and has a large rigidity, and is capable of generating a sufficient resilient force and easily adjusting the rigidity by changing the thickness thereof.
The energy release part comprises a trigger tooth 7 and a damper, and the trigger tooth 7 extends out from the fixed block 1 downwards and is fixed on the main body 5 together with the fixed block 1. The other end of the trigger tooth 7 is suspended and is positioned above the outer hook tooth.
The working mechanism of the triggering bouncing robot is as follows:
when the bouncing robot is impacted by falling to the ground, the trigger tooth 7 moves downwards along with the main body 5, and the outer hook tooth 6 is pushed open under the condition that the inner hook tooth 12 is separated, so that the restraint between the main body 5 and the foot 10 is released, and the elastic energy stored in the energy storage element 16 is released. This is a passive starting mode, and can greatly reduce the control cost.
In order to prevent the trigger tooth 7 from rebounding too fast after ejecting the outer hook tooth 6, the elastic energy release of the energy storage unit 16 is limited too early, and therefore two dampers are fixedly connected to two sides of the outer hook tooth 6.
Referring to fig. 3, the damper includes a sleeve 13 and a piston 14, the sleeve 13 and the piston 14 symmetrically extend from the same outer hook 6, and form two sets of dampers together with the sleeve 13 and the piston 14 extending from the other outer hook 6, a small hole is drilled in a portion of the sleeve 13 not overlapping the piston 14 for air circulation, and the damper slows down the rebound speed of the outer hook 6 during large displacement by limiting the speed of air flow entering and exiting, thereby ensuring that the energy storage element can be released smoothly.
The soft bouncing robot capable of realizing the rapid release and recovery of energy provided by the invention can install a control component and a power supply required by the independent operation of the robot in the bouncing robot, so that the bouncing robot has all the characteristics of the robot and realizes the independent operation; the robot may perform certain tasks, such as reconnaissance, detection, etc., by wireless control.
The control component and the power supply can be arranged on a plane above the main body 5 in the bouncing robot, and an additional balancing weight is added to ensure that the center of gravity of the whole robot is always positioned at the projection of the axes of the main body 5 and the foot 10 on the horizontal plane.
The whole robot is made of materials with lower density, and is lighter compared with a traditional robot using a motor and a mechanical structure; and the structure is not required to be complicated, the whole structure is more compact, the size is smaller, the device can work in a more complicated working environment, and the device is easy to carry.
The hard material parts designed by the invention can be mostly made by 3d printing, and the materials can be ABS resin or photosensitive resin with the density of only one sixth of that of the traditional iron material; the shell 4 is made of soft silica gel or PDMS material, the density of the shell is similar to that of resin material, and the shell can protect the internal material from falling to the ground and being damaged by impact. The overall mass of the robot is in the range of dozens of grams, and the lighter mass can also enable the robot to have higher bouncing performance.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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.
The soft bounce robot capable of realizing quick release and recovery of energy provided by the invention can not only start to work by taking off from the ground, but also start to work by free fall after being released from a certain height. In the process of continuous jumping, the hopping robot starts from rest or from the last hop to the highest point and ends from the next hop to the highest point, and the working period of the hopping robot is recorded; in each working cycle, the hopping robot needs to go through the stages of loading, triggering hopping, reloading and the like.
In the loading stage, a continuous voltage signal with the value of zero volt and the value of working voltage volt which are alternated is added to the loading soft driver 11 positioned at the central position of the bouncing robot, and because one end of the loading soft driver 11 is fixed on the main body 5 of the bouncing robot, the other end of the loading soft driver can repeatedly vibrate in the vertical direction along with the voltage signal; the inner hook tooth 12 is fixed at the other end of the loading soft driver 11, and after the driver starts to work, the inner hook tooth 12 starts to move up and down repeatedly. The loading floppy drive 11 has two actions in common: extending and retracting; when the applied voltage is changed from zero volt to working voltage, the inner hook tooth 12 moves downwards for a working stroke; when the applied voltage changes from the working voltage to zero volts, the inner hook tooth 12 moves upward by one working stroke.
The loading process of the hopping robot is roughly as follows: the loading soft driver 11 drives the inner hook teeth 12 to hook the next stage of the inner rack 8 in the process of extension, and relative movement between the main body 5 and the foot 10 cannot be caused due to the existence of the outer rack 9 and the outer hook teeth 6; when the loading soft driver 11 retracts, the foot 10 is driven to integrally move towards the main body 5, the energy storage element 16 is compressed, and the outer hook tooth 6 hooks the middle next stage to complete the first-stage loading; then repeating the process until each level of loading is completed; after the loading is finished, the inner hook teeth 12 are automatically separated, and the elastic energy stored in the energy storage element 16 can be released only by separating the outer hook teeth 6 from the outer rack 9 by the energy release part.
In the stage of triggering and bouncing, because the bouncing robot provided by the invention adopts a passive triggering mode, the moment of triggering and bouncing is also the moment of landing and bouncing of the bouncing robot. The starting and bouncing process of the bouncing robot is approximately as follows: when the bouncing robot is impacted by falling to the ground, the trigger tooth 7 moves downwards along with the main body 5, and under the condition that the inner hook tooth 12 is separated, the outer hook tooth 6 is pushed open to be separated from the outer rack 9, so that the constraint between the main body 5 and the foot 10 is released, and the elastic energy stored in the energy storage element 16 is released; after the outer hooking tooth 6 is pushed open, the elastic force of the resilient member drives the outer hooking tooth 6 to return to its original position because it is fixed to one end of the resilient member 15. In the process of rebounding of the outer hook tooth 6, the sleeve 13 and the piston 14 are driven to move relatively, and the speed of the sleeve and the piston in relative movement is limited due to the small air hole; when the outer hook tooth 6 rebounds too fast, or the acceleration of the relative movement of the sleeve 13 and the piston 14 is too high, the sleeve 13 and the piston 14 do not approach each other at a high speed, so that the damping effect is achieved, and the rebounding process of the outer hook tooth 6 is slowed down; the sleeve 13 and the piston 14 together form a simple damper, and the problem that the outer hook teeth 6 are re-meshed with the outer rack 9 when the energy storage element 16 is not completely released due to too fast rebound of the outer hook teeth 6 is solved.
The hopping robot can be loaded next time after the bounce of the take-off, and can realize continuous hopping as long as the loading is finished before the next landing.
In the process of the hopping robot or the hopping robot continuously jumps, the control gravity center soft driver 3 positioned above the main body 5 is processed with voltage, so that the gravity center of the hopping robot can be changed integrally, and the hopping robot can jump forwards. Meanwhile, the gravity center is adjusted only in the moment before the hopping robot falls to the ground, so that unnecessary angular velocity cannot be generated when the hopping robot moves in the air. Because the bouncing robot does bouncing movement, the contact time of the bouncing robot and the ground is extremely short, so that too much energy cannot be dissipated by friction, and the forward speed of the bouncing robot is very slow when the bouncing robot moves forward; the hopping robot controls the advancing speed of the hopping robot by adjusting the center of gravity and changing the hopping angle, continuous control is not needed in the whole motion process of the hopping robot, and only voltage is needed to be processed for controlling the center of gravity soft drive 3 when the hopping robot needs to change the speed of the hopping robot.
Compared with the traditional robot which uses more wheel-track type motion and gait motion, the bouncing robot has other advantages while being used as a high-efficiency and quick motion mode.
First, the bouncing movement can cross obstacles several times larger than its own size. And for the traditional wheeled moving robot, the Mars vehicle with the best obstacle-crossing capability cannot cross the obstacle which is more than 1.5 times of the diameter of the wheel.
Second, the bouncing movement has the highest exercise efficiency and energy efficiency compared to the wheel type movement and the gait movement.
Thirdly, if the robot carries the sensor, the sensor can be carried to a higher height by bouncing movement, and the wireless transmission efficiency of the sensor can be greatly improved; if the height of the sensor is more than 1m, the transmission capacity is 6 times of the ground.
In conclusion, the soft bounce robot capable of quickly releasing and recovering energy has high bounce performance, soft texture, is not easily damaged by landing impact, has wide application value, and is an ideal and reliable detection robot.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. A soft bounce robot with energy released and recovered quickly is characterized by comprising a shell (4), wherein a main body (5) is arranged in the shell (4), an energy storage part is arranged at one end of the main body (5) and used for converting input mechanical energy into elastic energy to be stored so as to realize the bounce of the bounce robot, a foot part (10) is arranged at the other end of the energy storage part, a control gravity center part is arranged at the other end of the main body (5), and the gravity center of the control gravity center part is vertically overlapped with the gravity center of the energy storage part and used for controlling the bounce robot to incline to a fixed direction to generate a fixed bounce angle; the energy storage part is externally provided with an energy collecting part and an energy releasing part, and the energy collecting part is used for controlling the main body (5) and the foot (10) to move oppositely; the energy release part is used for releasing the constraint between the main body (5) and the foot part (10) and releasing the elastic energy stored in the energy storage part.
2. The soft bounce robot with the function of fast energy release and recovery according to claim 1, characterized in that the energy storage part comprises a loading soft driver (11) and an energy storage element (16), the loading soft driver (11) is arranged on the downward extension section of the main body (5), an upward extending tubular structure is arranged on the foot (10) corresponding to the downward extension section of the main body (5), the lower end of the downward extension section of the main body (5) is arranged in the tubular structure of the foot (10), and the energy storage element (16) is sleeved on the downward extension section of the main body (5) and the tubular structure.
3. The soft bounce robot with the function of quickly releasing and recovering energy of claim 2, wherein the energy collecting part comprises an inner rack (8) and an outer rack (9), the inner rack (8) is arranged in the energy storage element (16) and is positioned at the connection part of the downward extension section of the main body (5) and the tubular structure of the foot part (10) and is matched and connected with an inner hooked tooth (12) arranged at the lower end of the loading soft driver (11); the outer side of the energy storage element (16) on the main body (5) is sleeved with an outer rack (9), an outer hook tooth (6) is correspondingly arranged on the outer rack (9), and the outer hook tooth (6) is connected with the foot (10) through a rebound piece (15).
4. The soft bounce robot capable of rapidly releasing and recovering energy of claim 3, wherein the energy releasing part comprises a triggering tooth (7), one end of the triggering tooth (7) is connected with the control center of gravity part, the other end of the triggering tooth is suspended and is positioned above the outer hook tooth (6), and dampers are respectively arranged at two sides of the outer hook tooth (6).
5. The soft hopping robot for the rapid release and recovery of energy as claimed in claim 4, wherein the dampers comprise a sleeve (13) and a piston (14) which are connected with each other, and the sleeve (13) and the piston (14) of the two sets of dampers are connected through an external hooking tooth (6).
6. Soft bouncing robot with rapid energy release and recovery according to claim 5, characterized by the fact that the sleeve (13) is provided with holes for the air circulation in the part that does not overlap the piston (14).
7. The soft bouncing robot with the rapid energy release and recovery function as claimed in claim 3, wherein the tubular structure of the foot (10) is provided with a lower guide groove (17) and an upper guide groove (18) in a staggered manner corresponding to the inner rack (8), and the inner hook teeth (12) can rotate around the central axis of the loading soft driver (11) and are separated from the inner rack (8) by the inclined surfaces arranged on the lower guide groove (17) and the upper guide groove (18).
8. The soft bounce robot with quick energy release and recovery according to claim 1, characterized in that the control gravity center part is arranged on the main body (5) and comprises a control gravity center soft driver (3), one end of the control gravity center soft driver (3) is connected with the fixed block (1), and the other end is connected with the counterweight (2).
9. The soft hopping robot for rapid energy release and recovery as claimed in claim 1, wherein the housing (4) is a hemispherical structure made of soft material, and the axis of the main body (5) is coincident with the axis of the housing (4).
10. The working method of the soft bounce robot capable of quickly releasing and recovering the energy is characterized in that the soft bounce robot capable of quickly releasing and recovering the energy comprises a shell (4), a main body (5) is arranged in the shell (4), one end of the main body (5) is connected with a foot (10) through an energy storage part, the other end of the main body is provided with a control gravity center part, and the gravity center of the control gravity center part is vertically overlapped with the gravity center of the energy storage part and used for controlling the bounce robot to incline towards a fixed direction to generate a fixed bounce angle;
the gravity center control part comprises a gravity center control soft driver (3), one end of the gravity center control soft driver (3) is connected with the fixed block (1), and the other end of the gravity center control soft driver is connected with the balancing weight (2);
the energy storage part comprises a loading soft driver (11) and an energy storage element (16), the loading soft driver (11) is arranged on the downward extending section of the main body (5), the foot (10) is provided with an upward extending tubular structure corresponding to the downward extending section of the main body (5), the lower end of the downward extending section of the main body (5) is arranged in the tubular structure of the foot (10), and the energy storage element (16) is sleeved on the downward extending section of the main body (5) and the tubular structure;
an energy collecting part and an energy releasing part are arranged outside the energy storage part; the energy collecting part comprises an inner rack (8) and an outer rack (9), the inner rack (8) is arranged in the energy storage element (16), is positioned at the joint of the downward extending section of the main body (5) and the tubular structure of the foot part (10), and is matched and connected with an inner hook tooth (12) arranged at the lower end of the loading soft driver (11); an outer rack (9) is sleeved on the outer side of an energy storage element (16) on the main body (5), an outer hook tooth (6) is correspondingly arranged on the outer rack (9), and the outer hook tooth (6) is connected with the foot (10) through a rebound piece (15);
the energy release part comprises a trigger tooth (7), one end of the trigger tooth (7) is connected with the control gravity center part, the other end of the trigger tooth is suspended and is positioned above the outer hook tooth (6), two sides of the outer hook tooth (6) are respectively provided with a damper, and the damper comprises a sleeve (13) and a piston (14) which are connected with each other;
each working cycle of the soft bounce robot with the energy quick release and recovery comprises loading, triggering bounce and reloading;
in the loading stage, a continuous voltage signal with the value of zero volt and the working voltage volt alternating is added to one end of the loading soft driver (11), and the other end of the loading soft driver (11) repeatedly vibrates along with the voltage signal in the vertical direction; the inner hook tooth (12) is driven to move up and down repeatedly; when the applied voltage is changed from zero volt to working voltage, the inner hook tooth (12) moves downwards for a working stroke; when the applied voltage is changed from the working voltage to zero volt, the inner hook tooth (12) moves upwards for a working stroke; the loading soft driver (11) drives the inner hook teeth (12) to hook the next stage of the inner rack (8) in the elongation process; when the loading soft driver (11) retracts, the foot (10) is driven to integrally move towards the main body (5), the energy storage element (16) is compressed, and the outer hook tooth (6) hooks the next middle stage to complete the first-stage loading; then repeating the steps until the loading of each stage is finished; after loading is finished, the inner hook teeth (12) are automatically separated, and the energy release part enables the outer hook teeth (6) to be separated from the outer rack (9) to release elastic energy stored in the energy storage element (16);
in the triggering and bouncing stage, the triggering tooth (7) moves downwards along with the main body (5), under the condition that the inner hook tooth (12) is disengaged, the outer hook tooth (6) is pushed away and disengaged from the outer rack (9), the constraint between the main body (5) and the foot (10) is released, and the elastic energy stored in the energy storage element (16) is released; after the outer hook tooth (6) is pushed open, the elastic force of the rebound piece (15) drives the outer hook tooth (6) to recover to the initial position; in the rebound process of the outer hook tooth (6), the sleeve (13) and the piston (14) are driven to move relatively; the soft bounce robot with the energy released and recovered quickly carries out next loading after bounce and finishes loading before the next landing so as to realize continuous jumping;
in the continuous jumping process, voltage is processed for the soft driver (3) for controlling the gravity center, the integral gravity center of the jumping robot is changed, the forward jumping is realized, and the gravity center is adjusted at the moment before the jumping robot falls to the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010923060.6A CN112172958B (en) | 2020-09-04 | 2020-09-04 | Soft bounce robot capable of quickly releasing and recovering energy and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010923060.6A CN112172958B (en) | 2020-09-04 | 2020-09-04 | Soft bounce robot capable of quickly releasing and recovering energy and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112172958A true CN112172958A (en) | 2021-01-05 |
| CN112172958B CN112172958B (en) | 2021-08-13 |
Family
ID=73924139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010923060.6A Active CN112172958B (en) | 2020-09-04 | 2020-09-04 | Soft bounce robot capable of quickly releasing and recovering energy and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112172958B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319888A (en) * | 2021-06-08 | 2021-08-31 | 清华大学 | Pneumatic soft robot capable of bouncing directionally |
| CN114290347A (en) * | 2022-01-10 | 2022-04-08 | 国网河南省电力公司电力科学研究院 | Bounce device and double-hemisphere soft bounce driver |
| CN116691867A (en) * | 2023-08-08 | 2023-09-05 | 北京科技大学 | Constraint-variable magnetic driving robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130011310A (en) * | 2011-07-21 | 2013-01-30 | 건국대학교 산학협력단 | A jumping robot using shape memory alloy |
| CN103895727A (en) * | 2014-04-16 | 2014-07-02 | 北京理工大学 | Piston driving type jumping robot |
| CN106965867A (en) * | 2017-05-02 | 2017-07-21 | 南开大学 | It is a kind of to lead the driver that passive accumulation of energy is combined |
| CN110143246A (en) * | 2019-05-29 | 2019-08-20 | 北京理工大学 | A kind of leg biped robot foot end design with buffering and boost function |
| CN110816890A (en) * | 2019-10-25 | 2020-02-21 | 北京空间机电研究所 | Tumbler type jumping detection robot |
-
2020
- 2020-09-04 CN CN202010923060.6A patent/CN112172958B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130011310A (en) * | 2011-07-21 | 2013-01-30 | 건국대학교 산학협력단 | A jumping robot using shape memory alloy |
| CN103895727A (en) * | 2014-04-16 | 2014-07-02 | 北京理工大学 | Piston driving type jumping robot |
| CN106965867A (en) * | 2017-05-02 | 2017-07-21 | 南开大学 | It is a kind of to lead the driver that passive accumulation of energy is combined |
| CN110143246A (en) * | 2019-05-29 | 2019-08-20 | 北京理工大学 | A kind of leg biped robot foot end design with buffering and boost function |
| CN110816890A (en) * | 2019-10-25 | 2020-02-21 | 北京空间机电研究所 | Tumbler type jumping detection robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319888A (en) * | 2021-06-08 | 2021-08-31 | 清华大学 | Pneumatic soft robot capable of bouncing directionally |
| CN114290347A (en) * | 2022-01-10 | 2022-04-08 | 国网河南省电力公司电力科学研究院 | Bounce device and double-hemisphere soft bounce driver |
| CN116691867A (en) * | 2023-08-08 | 2023-09-05 | 北京科技大学 | Constraint-variable magnetic driving robot |
| CN116691867B (en) * | 2023-08-08 | 2023-10-13 | 北京科技大学 | Constraint-variable magnetic driving robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112172958B (en) | 2021-08-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112172958B (en) | Soft bounce robot capable of quickly releasing and recovering energy and method thereof | |
| JP3672867B2 (en) | Landing shock absorber for legged mobile robot | |
| Kovač et al. | A miniature jumping robot with self-recovery capabilities | |
| JP3652643B2 (en) | Landing shock absorber for legged mobile robot | |
| CN102009705B (en) | Self-reset wheel-leg jumping composite mobile robot | |
| US7503410B2 (en) | Dynamic legged robot | |
| JP3691434B2 (en) | Landing shock absorber for legged mobile robot | |
| Zhang et al. | A bio-inspired jumping robot: Modeling, simulation, design, and experimental results | |
| JP5221648B2 (en) | Energy efficient robot system | |
| US10092850B1 (en) | Robotic bouncing ball | |
| CN208881964U (en) | Robot chassis and robot | |
| CN102390450B (en) | Double-air-chamber bouncing mechanism of spherical robot | |
| JP2020157437A (en) | Driving tool | |
| CN202295050U (en) | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce | |
| CN102092431A (en) | Jumping robot imitating ejection mechanism of locust | |
| CN102343951B (en) | Multi-locomotion state mechanism for realizing continuous hopping of spherical robot | |
| CN212401413U (en) | Multi-motion-mode track-adjustable bionic bouncing robot | |
| CN201940043U (en) | Jumping robot simulating ejection mechanism of locusts | |
| CN102358362B (en) | Hopping robot based on rotating plate/cylindrical pin driving mechanism | |
| CN220263126U (en) | Landing gear for unmanned aerial vehicle | |
| CN216186018U (en) | Unmanned aerial vehicle damping device | |
| JP6754855B2 (en) | Suspension device | |
| CN106402238A (en) | Logistics transportation machine vibration reducing device for low-altitude operation | |
| CN117353512A (en) | Spring and motor double-power linear single-rod bouncing device | |
| Burns et al. | Design and Control of an Energy Accumulative Hopping Robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |