CN112943881A - Elastic energy storage release mechanism and control method - Google Patents
Elastic energy storage release mechanism and control method Download PDFInfo
- Publication number
- CN112943881A CN112943881A CN202110261076.XA CN202110261076A CN112943881A CN 112943881 A CN112943881 A CN 112943881A CN 202110261076 A CN202110261076 A CN 202110261076A CN 112943881 A CN112943881 A CN 112943881A
- Authority
- CN
- China
- Prior art keywords
- gear
- incomplete gear
- incomplete
- torsion spring
- output shaft
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H33/00—Gearings based on repeated accumulation and delivery of energy
- F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels
- F16H33/04—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought
- F16H33/06—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on spring action
-
- 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
An elastic energy storage release mechanism and a control method thereof comprise a power source, a transmission assembly, a middle shaft, a first ratchet pawl, a second ratchet pawl, a first incomplete gear, a second incomplete gear, a first gear, a second gear, a torsion spring, an output shaft, a front body plate and a rear body plate; the first ratchet wheel is fixedly connected with the first incomplete gear, the second incomplete gear is fixedly connected with the second ratchet wheel, the first gear is fixedly arranged on the output shaft, the torsion spring and the second gear are sleeved on the output shaft, a torsion arm of the torsion spring is positioned on the first gear and the second gear, power of the transmission assembly and the intermediate shaft is provided by a power source arranged on the rear body plate, and when the second incomplete gear and the second gear act, elastic potential energy is stored and released. Has the advantages of compact structure, reasonable layout, repeated use and the like, can be used for manufacturing the imitated frog limbs and realizes jumping and swimming in water.
Description
Technical Field
The invention relates to an actuating mechanism and a control method, in particular to an elastic energy storage release mechanism and a control method.
Background
The mobile robot as an intelligent system with mobility and capable of completing a predetermined task has started to play more and more important roles in the fields of exploration and reconnaissance, rescue and relief, interplanetary exploration, blasting and the like, and the frogs integrate excellent land jumping capability and flexible underwater swimming capability.
At present, the bionic amphibious robot is not applied to practical application. The main reasons are that most of amphibious robots have low speed, efficiency and passing performance of propulsion mechanisms, have large difference from practical use, and have few researches on the performance of the robot in amphibious media, such as sand or slurry, and function conversion in an amphibious environment, and cannot support the practicability of the amphibious robot.
Many hopping robots use soft silicone elastomers based on pneumatic actuators to achieve robot hopping, chemical fuels that rapidly release large amounts of gas by burning and explosion are used as actuators for the hopping robots, but strong nonlinearity of modeling and analysis is difficult, precise control is difficult, and continuous supply of fuel is not convenient for motors, and furthermore, characteristics of easy leakage, flammability and explosiveness may pose a certain risk in robot experiments.
Disclosure of Invention
The invention provides an elastic energy storage and release mechanism which is compact in structure, reasonable in layout and reusable in order to overcome the prior art.
An elastic energy storage release mechanism comprises a power source, a transmission assembly, an intermediate shaft, a first ratchet pawl, a second ratchet pawl, a first incomplete gear, a second incomplete gear, a first gear, a second gear, a torsion spring, an output shaft, a front body plate and a rear body plate; the first ratchet pawl comprises a first ratchet and a first pawl, and the second ratchet pawl comprises a second ratchet and a second pawl; the intermediate shaft and the output shaft are respectively and rotatably arranged on the front body plate and the rear body plate, the first ratchet wheel is fixedly connected with the first incomplete gear, and is mounted on the intermediate shaft by a one-way bearing, the first ratchet wheel is in one-way transmission constrained by a first pawl arranged on the front body plate, the second incomplete gear is fixedly connected with the second ratchet wheel, the first incomplete gear interacts with the first gear to realize positive and negative rotation of the output shaft, and the second incomplete gear interacts with the second gear to realize storage and release of elastic potential energy.
A method of controlling a resilient stored energy release mechanism, the method comprising the steps of: the power source provides power, the power is transmitted to the intermediate shaft through the transmission assembly, the first incomplete gear rotates to control the second incomplete gear not to rotate, the first incomplete gear is meshed with the first gear, the positions of the first two teeth of the gear rotating to a toothless area are taken as zero positions, when the first incomplete gear reaches the zero position from the meshing, the first gear is ensured to drive the output shaft to rotate, the limb legs connected with the output shaft are contracted, then the power source drives the second incomplete gear to rotate reversely, the second incomplete gear is meshed with the second gear, the first incomplete gear is controlled not to rotate, and when the second incomplete gear reaches the zero position from the meshing, the torsion spring is compressed to store elastic potential energy; then, the power source drives the first incomplete gear to rotate, so that the toothless part of the first incomplete gear acts, at the moment, the first gear is not restrained by the meshing force, the limbs and legs extend rapidly under the action of elastic potential energy stored by the torsion spring to realize land jumping, or the limbs and the legs are pedaled and moved backwards under water, then the power source continues to drive the second incomplete gear to rotate reversely, so that the toothless part of the second gear acts, the second gear does not compress the torsion spring any more, so that the torsion spring finishes restraining, when the power source drives the first incomplete gear to rotate, the first incomplete gear is meshed with the first gear, so that the limbs and the legs are rapidly recovered under the action of no spring force, at the moment, a leg retracting and extending period is completed, so that continuous jumping or moving is realized, and the processes are repeated.
Compared with the prior art, the invention has the beneficial effects that:
the invention applies the elastic energy storage principle of the spring, realizes energy storage and release by the matching of the torsion spring and the incomplete gear, stores the driving energy of the power source, releases the driving energy when needed, drives the output shaft to rotate quickly, can be applied to the limbs of bionic animals such as frogs and the like, enables the hind limbs of the frog-imitating robot to extend and contract, can realize linear motion with approximate large stroke ratio, and realizes the completion of land jumping and water swimming of the bionic robot.
The invention also adopts two-stage gear transmission, realizes one-way transmission by utilizing the ratchet wheel and the pawl, and solves the problems of complex mechanism, difficult modeling, low control precision and the like of the common driving device. Has the advantages of compact structure, reasonable layout, repeated use and the like.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a schematic view of the structure with the front and rear body panels removed;
FIG. 3 is a schematic illustration of a partial explosion of the present invention;
FIG. 4 is a schematic diagram of the jumping of the hind limb of a simulated frog according to the present invention.
Detailed Description
Referring to fig. 1 to 3, an elastic energy storage and release mechanism of the present embodiment includes a power source 4, a transmission assembly 3, an intermediate shaft 1, a first ratchet pawl, a second ratchet pawl, a first incomplete gear 7, a second incomplete gear 8, a first gear 14, a second gear 13, a torsion spring 12, an output shaft 16, a front body panel 20, and a rear body panel 21;
the first ratchet pawl comprises a first ratchet 6 and a first pawl 5, and the second ratchet pawl comprises a second ratchet 9 and a second pawl 10; the intermediate shaft 1 and the output shaft 16 are respectively and rotatably arranged on a front body plate 20 and a rear body plate 21, a first ratchet wheel 6 is fixedly connected with a first incomplete gear 7 and is arranged on the intermediate shaft 1 through a one-way bearing, the first ratchet wheel 6 is in constrained one-way transmission by a first pawl 5 arranged on the front body plate 20, a second incomplete gear 8 is fixedly connected with a second ratchet wheel 9 and is arranged on the intermediate shaft 1 through a one-way bearing, the second ratchet wheel 9 is in constrained one-way transmission by a second pawl 10 arranged on the rear body plate 21, a first gear 14 is fixedly arranged on the output shaft 16, a torsion spring 12 and a second gear 13 are sleeved on the output shaft 16, a torsion arm of the torsion spring 12 is positioned on the first gear 14 and the second gear 13, the power of the transmission component 3 and the intermediate shaft 1 is provided by a power source 4 arranged on the rear body plate 21, the first incomplete gear 7 interacts with the first gear 14, the positive and negative rotation of the output shaft 16 is realized, and the second incomplete gear 8 and the second gear 13 interact to realize the storage and release of elastic potential energy.
Usually, the transmission assembly 3 is a gear pair, usually a spur gear pair, and includes a first gear and a second gear, the first gear is driven by the power source 4, the second gear is mounted on the intermediate shaft 1, and the first gear is engaged with the second gear to transmit power to the intermediate shaft 1.
Alternatively, the power source 4 employs a planetary reducer. Since the incomplete gear and the ratchet pawls are provided, the first pawls 5 and the second pawls 10 are rotatably provided on the auxiliary shaft fixed between the back body panel 21 and the front body panel 20.
As shown in fig. 3, to avoid the uncontrollable movement caused by the excessive torque of the torsion spring 12. The torsion cover 11 is fixedly arranged on an output shaft 16, the torsion cover 11 and a first gear 14 act synchronously, a second gear 13 is arranged between the torsion cover 11 and the first gear 14, and a torsion spring 12 is restrained by the torsion cover 11.
Alternatively, as shown in fig. 3, for convenience of assembly, disassembly and use, the torsion spring 12 employs two single torsion springs, two torsion arms of one torsion spring 12 are respectively positioned on the first gear 14 and the second gear 13, and two torsion arms of the other torsion spring 12 are respectively positioned on the second gear 13 and the torsion spring end cover 11.
When the first incomplete gear 7 is engaged with the first gear 14, a force is transmitted to the output shaft 16 to realize a unidirectional rotational motion. When the second incomplete gear 8 is meshed with the second gear 13, the second gear 13 twists the torsion spring 12, so that elastic potential energy is stored and released. When the toothless part of the first incomplete gear 7 acts, the first gear 14 is not restrained by the meshing force, and the output shaft 16 realizes the reverse fast rotation. When the toothless part of the second incomplete gear 8 acts, the second gear 13 has no meshing force and the torsion spring 12 has no torsion spring restraint.
Taking the stretching and jumping of the back limb driven by a simulated frog as an example, the leg 15 is mounted at the end of the output shaft 16, and the control method of the elastic energy storage release mechanism for one period of the contraction and expansion of the back limb is described with reference to fig. 2-4: comprises the following steps: the power source 4 adopts a planetary reducer, and the transmission component 3 adopts a gear pair for transmission.
The planetary reducer 4 rotates forwards, the first incomplete gear 7 rotates in the direction of a solid arrow, the first incomplete gear 7 is meshed with the first gear 14, the positions of two teeth before the gear rotates to a toothless area are taken as zero positions, when the first incomplete gear 7 reaches the zero position from the meshing, the first gear 14 drives the output shaft 16 to rotate, the hip joint moves, the limb legs 15 contract, the second incomplete gear 8 does not rotate under the action of a one-way bearing and the second ratchet 9 under the action of the second pawl 10 in the rotation process of the output shaft 16, the output shaft 16 rotates relative to the second incomplete gear 8 and the second gear 13, then the planetary reducer 4 rotates backwards, the second incomplete gear 8 rotates in the direction of a hollow arrow, the second incomplete gear 8 is meshed with the second gear 13, and when the second incomplete gear 8 reaches the zero position from the meshing, the torsion spring 12 compresses and stores elastic potential energy, similarly, in the rotation process of the output shaft 16, the first incomplete gear 7 does not rotate under the action of the one-way bearing and the first ratchet 6 under the action of the first pawl 5, and the output shaft 16 rotates relative to the first incomplete gear 7 and the first gear 14;
then, the planetary reducer 4 rotates forward, the first incomplete gear 7 rotates in the direction of the solid arrow, the toothless part of the first incomplete gear 7 acts, at this time, the first gear 14 has no constraint of meshing force, under the action of the elastic potential energy stored in the torsion spring 12, the limb 15 extends out rapidly, so as to realize jumping action on land, or under water, the limb is kicked back rapidly, so as to realize swimming in water, then, the planetary reducer 4 rotates backward, the second incomplete gear 8 rotates in the direction of the solid arrow, the toothless part of the second gear 13 acts, the second gear 13 no longer compresses the torsion spring 12, so that the torsion spring 12 finishes constraint, when the planetary reducer 4 rotates forward again, and the first incomplete gear 7 rotates in the direction of the solid arrow, the first incomplete gear 7 meshes with the first gear 14, so that the limb 15 is recovered rapidly without the action of the spring force, at the moment, a leg-retracting and leg-extending period is completed, continuous jumping or swimming is realized, and the processes are repeated.
Under the drive of the planetary reducer 4, the limbs and legs 15 are contracted and extended by the compression and extension of the torsion spring 12 through the transmission of the secondary gear, so that the robot is used for manufacturing a frog-imitating amphibious robot, and the jumping on land and the swimming in water are realized.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (11)
1. An elastic energy storage and release mechanism, comprising: the gear transmission mechanism comprises a power source (4), a transmission component (3), an intermediate shaft (1), a first ratchet pawl, a second ratchet pawl, a first incomplete gear (7), a second incomplete gear (8), a first gear (14), a second gear (13), a torsion spring (12), an output shaft (16), a front body plate (20) and a rear body plate (21);
the first ratchet pawl comprises a first ratchet wheel (6) and a first pawl (5), and the second ratchet pawl comprises a second ratchet wheel (9) and a second pawl (10); an intermediate shaft (1) and an output shaft (16) are respectively and rotatably arranged on a front body plate (20) and a rear body plate (21), a first ratchet wheel (6) is fixedly connected with a first incomplete gear (7) and is arranged on the intermediate shaft (1) through a one-way bearing, the first ratchet wheel (6) is in constrained one-way transmission by a first pawl (5) arranged on the front body plate (20), a second incomplete gear (8) is fixedly connected with a second ratchet wheel (9) and is arranged on the intermediate shaft (1) through a one-way bearing, the second ratchet wheel (9) is in constrained one-way transmission by a second pawl (10) arranged on the rear body plate (21), a first gear (14) is fixedly arranged on the output shaft (16), a torsion spring (12) and a second gear (13) are sleeved on the output shaft (16), a torsion arm of the torsion spring (12) is positioned on the first gear (14) and the second gear (13), and the power of a transmission assembly (3) and the intermediate shaft (1) is driven by a power source arranged on the rear body plate (21) 4) The first incomplete gear (7) interacts with the first gear (14) to realize forward and reverse rotation of the output shaft (16), and the second incomplete gear (8) interacts with the second gear (13) to realize storage and release of elastic potential energy.
2. The elastic stored energy release mechanism of claim 1, wherein: the transmission component (3) is a gear pair.
3. The elastic stored energy release mechanism of claim 2, wherein: the driving source (4) is a planetary reducer.
4. The elastic stored energy release mechanism of claim 3, wherein: when the first incomplete gear (7) is meshed with the first gear (14), force is transmitted to the output shaft (16) to realize unidirectional rotation movement.
5. The elastic stored energy release mechanism of claim 3, wherein: when the second incomplete gear (8) is meshed with the second gear (13), the second gear (13) enables the torsion spring (12) to twist, and elastic potential energy is stored and released.
6. The elastic stored energy release mechanism of claim 3, wherein: when the toothless part of the first incomplete gear (7) acts, the first gear (14) is not restrained by meshing force, and the output shaft (16) realizes rapid rotation.
7. The elastic stored energy release mechanism of claim 3, wherein: when the toothless part of the second incomplete gear (8) acts, the second gear (13) has no meshing force, and the torsion spring (12) is not restrained.
8. The elastic stored energy release mechanism of claim 6, wherein: the torsion spring is characterized by further comprising a torsion cover (11), the torsion cover (11) is fixedly arranged on the output shaft (16), the torsion cover (11) and the first gear (14) act synchronously, the second gear (13) is arranged between the torsion cover (11) and the first gear (14), and the torsion spring (12) is restrained by the torsion cover (11).
9. The elastic stored energy release mechanism of claim 6, wherein: the torsion springs (12) are two single torsion springs, two torsion arms of one torsion spring are respectively positioned on the first gear (14) and the second gear (13), and two torsion arms of the other torsion spring are respectively positioned on the second gear (13) and the torsion cover (11).
10. A control method of an elastic energy storage release mechanism is characterized in that: the method comprises the following steps: the power source (4) provides power, the power is transmitted to the intermediate shaft (1) through the transmission component (3), the first incomplete gear (7) rotates, the second incomplete gear (8) is controlled not to rotate, the first incomplete gear (7) is meshed with the first gear (14), the positions of the first two teeth of the gear in the toothless area are used as zero positions, when the first incomplete gear (7) reaches a zero position from meshing, ensuring that the first gear (14) drives the output shaft (16) to rotate to realize the contraction of the limb (15) connected with the output shaft (16), the power source (4) drives the second incomplete gear (8) to rotate reversely, so that the second incomplete gear (8) is meshed with the second gear (13) to control the first incomplete gear (7) not to rotate, when the second incomplete gear (8) reaches a zero position from meshing, the torsion spring (12) is compressed to store elastic potential energy; then, the power source (4) drives the first incomplete gear (7) to rotate, so that the toothless part of the first incomplete gear (7) acts, at the moment, the first gear (14) has no constraint of meshing force, the limb and leg (15) rapidly extends out under the action of elastic potential energy stored in the torsion spring (12) to realize land jumping or pedaling and swimming under water, then the power source (4) continuously drives the second incomplete gear (8) to reversely rotate, so that the toothless part of the second gear (13) acts, the second gear (13) no longer compresses the torsion spring (12), so that the torsion spring (12) finishes constraint, when the power source (4) drives the first incomplete gear (7) to rotate, the first incomplete gear (7) is meshed with the first gear (14), so that the limb and leg are rapidly recovered under the action of no spring force, at the moment, a leg recovery and leg extension cycle is completed, such as to achieve a continuous jump or swim, and repeat the above process.
11. The method of claim 10, wherein: in the rotation process of the first incomplete gear (7), the second incomplete gear (8) does not rotate under the action of a one-way bearing and the action of a second ratchet wheel (9) on a second pawl (10), and the output shaft (16) rotates relative to the second incomplete gear (8) and the second gear (13); in the rotation process of the second incomplete gear (8), the first incomplete gear (7) does not rotate under the action of a one-way bearing and the first ratchet wheel (6) under the action of the first pawl (5), and the output shaft (16) rotates relative to the first incomplete gear (7) and the first gear (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261076.XA CN112943881B (en) | 2021-03-10 | 2021-03-10 | Elastic energy storage release mechanism and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261076.XA CN112943881B (en) | 2021-03-10 | 2021-03-10 | Elastic energy storage release mechanism and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112943881A true CN112943881A (en) | 2021-06-11 |
| CN112943881B CN112943881B (en) | 2022-03-01 |
Family
ID=76228632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110261076.XA Active CN112943881B (en) | 2021-03-10 | 2021-03-10 | Elastic energy storage release mechanism and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112943881B (en) |
Cited By (1)
| 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 |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201423166Y (en) * | 2008-12-09 | 2010-03-17 | 东莞龙昌数码科技有限公司 | Mechanical frog toy |
| CN202703737U (en) * | 2012-08-07 | 2013-01-30 | 北方工业大学 | Robot capable of imitating jump of frog |
| CN106184447A (en) * | 2016-09-29 | 2016-12-07 | 浙江工业职业技术学院 | A kind of mechanism that leaps on one leg driven based on oval non-circular gear |
| US20170067549A1 (en) * | 2015-09-08 | 2017-03-09 | Riekor Corporation | Apparatus utilizing planetary gearset coupled to a constant torsion spring |
| CN206823180U (en) * | 2017-04-25 | 2018-01-02 | 吴映榕 | A kind of Double-directional back power device |
| CN109229223A (en) * | 2018-08-01 | 2019-01-18 | 浙江理工大学 | A kind of hopping leg based on partial gear group |
| CN109292023A (en) * | 2018-11-08 | 2019-02-01 | 西北工业大学 | A kind of bio-robot of repeatable spring |
| CN110242721A (en) * | 2019-04-23 | 2019-09-17 | 青岛科技大学 | A kind of swing mechanism energy stores release device |
| CN210284429U (en) * | 2019-07-15 | 2020-04-10 | 三明学院 | Frog type jumping device |
-
2021
- 2021-03-10 CN CN202110261076.XA patent/CN112943881B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201423166Y (en) * | 2008-12-09 | 2010-03-17 | 东莞龙昌数码科技有限公司 | Mechanical frog toy |
| CN202703737U (en) * | 2012-08-07 | 2013-01-30 | 北方工业大学 | Robot capable of imitating jump of frog |
| US20170067549A1 (en) * | 2015-09-08 | 2017-03-09 | Riekor Corporation | Apparatus utilizing planetary gearset coupled to a constant torsion spring |
| CN106184447A (en) * | 2016-09-29 | 2016-12-07 | 浙江工业职业技术学院 | A kind of mechanism that leaps on one leg driven based on oval non-circular gear |
| CN206823180U (en) * | 2017-04-25 | 2018-01-02 | 吴映榕 | A kind of Double-directional back power device |
| CN109229223A (en) * | 2018-08-01 | 2019-01-18 | 浙江理工大学 | A kind of hopping leg based on partial gear group |
| CN109292023A (en) * | 2018-11-08 | 2019-02-01 | 西北工业大学 | A kind of bio-robot of repeatable spring |
| CN110242721A (en) * | 2019-04-23 | 2019-09-17 | 青岛科技大学 | A kind of swing mechanism energy stores release device |
| CN210284429U (en) * | 2019-07-15 | 2020-04-10 | 三明学院 | Frog type jumping device |
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 |
| CN114940223B (en) * | 2022-05-31 | 2023-08-01 | 安徽工业大学 | Bionic frog machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112943881B (en) | 2022-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112960045B (en) | Frog-imitated amphibious robot and motion control method | |
| CN104942790B (en) | A kind of miniature software module reconstruction robot unit module | |
| Trimmer | Soft robots | |
| CN103879470B (en) | A kind of single robot leg hopping mechanism of link transmission | |
| CN112943881B (en) | Elastic energy storage release mechanism and control method | |
| CN108820065B (en) | The locust-simulated bouncing robot that can be walked | |
| CN202703737U (en) | Robot capable of imitating jump of frog | |
| CN105966482A (en) | Multi-connection-rod jumping mechanism | |
| CN105291132A (en) | Humanoid robot knee joint capable of realizing active and semi-passive driving | |
| Wang et al. | Analysis of the kinematics of module climbing caterpillar robots | |
| Bhovad et al. | Using multi-stable origami mechanism for peristaltic gait generation: A case study | |
| CN110304166B (en) | Hopping robot bouncing mechanism based on energy meshing conversion | |
| Shin et al. | Elastic-actuation mechanism for repetitive hopping based on power modulation and cyclic trajectory generation | |
| CN109094762B (en) | Frog-imitating swimming leg adopting under-actuated series soft pneumatic bending module | |
| CN109367643A (en) | A kind of Four-feet creeping bio-robot based on link mechanism | |
| CN110202610B (en) | Bionic cam type active elastic vertebra joint and working method thereof | |
| CN112072950A (en) | Jumping type robot and control method thereof | |
| CN107021143B (en) | Locust-simulated jumping robot | |
| CN209793784U (en) | Modular robot joint and snake-shaped robot adopting same | |
| CN104787146A (en) | Impact-resistant bionic series elastic joint of humanoid robot | |
| Jeong et al. | Dual-mode twisting actuation mechanism with an active clutch for active mode-change and simple relaxation process | |
| CN209755263U (en) | Ratchet type snake-shaped robot joint | |
| CN107161236B (en) | Sector gear type hopping robot | |
| JP2021084224A (en) | Composite motion robot based on springtail motion mechanism | |
| CN220865525U (en) | Bionic frog jumping 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 |