CN114348137A - Bionic over-axis jumping mechanism and jumping method thereof - Google Patents
Bionic over-axis jumping mechanism and jumping method thereof Download PDFInfo
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- CN114348137A CN114348137A CN202210098323.3A CN202210098323A CN114348137A CN 114348137 A CN114348137 A CN 114348137A CN 202210098323 A CN202210098323 A CN 202210098323A CN 114348137 A CN114348137 A CN 114348137A
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- 230000009191 jumping Effects 0.000 title claims abstract description 48
- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000005381 potential energy Methods 0.000 claims description 20
- 238000005192 partition Methods 0.000 claims description 9
- 210000003205 muscle Anatomy 0.000 claims description 6
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 244000025254 Cannabis sativa Species 0.000 claims description 2
- 235000012766 Cannabis sativa ssp. sativa var. sativa Nutrition 0.000 claims description 2
- 235000012765 Cannabis sativa ssp. sativa var. spontanea Nutrition 0.000 claims description 2
- 235000009120 camo Nutrition 0.000 claims description 2
- 235000005607 chanvre indien Nutrition 0.000 claims description 2
- 239000011487 hemp Substances 0.000 claims description 2
- 230000003578 releasing effect Effects 0.000 claims description 2
- 210000004394 hip joint Anatomy 0.000 claims 3
- 238000000926 separation method Methods 0.000 claims 1
- 238000004146 energy storage Methods 0.000 abstract description 3
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression Methods 0.000 abstract description 2
- 241000238631 Hexapoda Species 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
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Abstract
A bionic over-axis jumping mechanism and a jumping method thereof comprise a power module and an execution module. The power module comprises a limiting cover plate, a transmission module and a shell. The invention can realize the integral high-speed take-off of the mechanism. The main elastic energy storage element of the invention is a compression spring, the action mode is simple, and the ineffective energy loss in the release process is less. The swing of the shank can effectively prolong the jumping time of the mechanism and strengthen the jumping capability. The invention can realize reciprocating jumping under the condition that the motor continuously operates, and realizes the swinging of the shank rod piece through the structure, compared with the structure for actively controlling jumping, the invention has the advantages of low cost and simple structure.
Description
Technical Field
The invention relates to the field of bionic jumping mechanisms, in particular to a bionic over-axis jumping mechanism and a jumping method thereof.
Background
Many insects in the biological world have excellent jumping ability, and the insects depend on the unique physiological structure of the insects to be matched with a special energy storage material, so that the moving speed and the moving range of jumping behaviors are greatly improved. Some of these organisms, for example: flea insects optimize their own jumping system by means of "over-the-axis" force application.
With the development of science and technology, the application field of robots is more and more extensive, people expect that the robots can complete operation in environments with complicated and variable working conditions, the robots are required to have good terrain adaptability and obstacle avoidance capability, the jumping behaviors can be a good solution for the robots, the jumping behaviors can realize that the robots can complete high-speed movement in a short time, the robots are more suitable for moving in complicated and unpredictable environments, the jumping mechanism is an important component of the jumping performance of the robots, and the performance directly influences the jumping capability of the whole robots, so that the overall moving capability and obstacle avoidance capability of the robots are influenced.
In the prior art, the jumping process is realized by a complex control system and the drive of a variable speed motor, but the quality of the jumping mechanism is improved due to the complexity of the control system, so that the jumping capability still needs to be improved, the jumping mechanism is improved, and the simplification of the control system is an effective solution for improving the working capability of the jumping mechanism.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a bionic over-axis jumping mechanism and a jumping method thereof.
A bionic over-axis jumping mechanism comprises a power module and an execution module; the power module comprises a limiting cover plate, a transmission module and a shell, wherein the limiting cover plate is arranged above the shell, a transmission module main body is arranged in the shell, the upper side of the transmission module penetrates through a square hole of the limiting cover plate, and the lower side of the transmission module penetrates through a square hole of the shell; the transmission module is composed of a first motor, a first incomplete gear, a first rack, a extensor rope, a second motor, a second incomplete gear, a second rack and a flexor rope. The first motor output shaft is matched with the first incomplete gear, the first incomplete gear is meshed with the first rack, the second motor output shaft is matched with the second incomplete gear, the second incomplete gear is meshed with the second rack, the side edge of the first rack is provided with a limiting hole, and the lower part of the first rack is provided with a mounting hole. The extensor rope is fixed with the first rack through the mounting hole. Spacing hole has been opened on the second rack side, the below is opened there is the mounting hole, it is fixed with the second rack that the flexor rope passes through the mounting hole, execution module is by first spring, the second spring, third spring and fourth spring, the division board, the thigh festival body, first shin festival pole and second shin festival pole are constituteed, first spring, the second spring, third spring and fourth spring symmetric evenly distributed are in the division board top, the division board is opened has two quad slit, make first rack, the extensor rope, the second rack can pass from the quad slit with the flexor rope, enter the internal portion of thigh festival. The lower part of the partition plate is provided with a thigh joint body. The front side and the rear side of the inner part of the femoral condyle body are respectively provided with an a column and a b column, the a column is matched with a first rack limiting hole, the b column is matched with a second rack limiting hole, the left side and the right side of the lower end of the femoral condyle body are respectively hinged with a first tibial knuckle rod and a second tibial knuckle rod, the hinge center is an A shaft, the two ends of the extensor rope are respectively fixed with the inner parts of the front sides of the first tibial knuckle rod and the second tibial knuckle rod, and the outer parts of the front sides of the first tibial knuckle rod and the second tibial knuckle rod at the two ends of the flexor rope are fixed.
A jumping method of a bionic over-axis jumping mechanism,
in the working process: after the first motor and the second motor are started: the first incomplete gear and the first rack and the second incomplete gear and the second rack are synchronously meshed, the first rack and the second rack move upwards, the stretching elastic potential energy of the extensor muscle rope is gradually increased under the drive of the first rack, and the flexor muscle rope is gradually changed from a relaxed state to a tightened state under the drive of the second rack;
after the flexor rope is converted into a tightening state, the first incomplete gear and the first rack and the second incomplete gear and the second rack are continuously meshed, the first rack and the second rack continuously move upwards, the stretching elastic potential energy of the flexor rope is continuously increased under the drive of the first rack, the flexor rope keeps the tightening state under the drive of the second rack, and the first tibioid rod and the second tibioid rod gradually rotate around the axis A to complete the crouching of the first tibioid rod and the second tibioid rod;
after the first tibioma rod and the second tibioma rod are curled, the acting force direction of the extensor rope on the first tibioma rod and the second tibioma rod is at the front side of the A axis, the lower ends of the first rack and the second rack limit hole are contacted with the a column and the b column of the femoral segment body, the first incomplete gear and the first rack and the second incomplete gear are continuously engaged, the first rack and the second rack continuously move upwards and are limited by the a column and the b column of the femoral segment body on the first rack and the second rack, the stretching elastic potential energy of the extensor rope is not continuously increased, the flexor rope keeps a tightening state, the extensor rope, the flexor rope, the partition plate, the femoral segment body, the first tibioma rod and the second tibioma rod move upwards relative to the shell, and the first spring, the second spring, the third spring and the fourth spring are gradually compressed to generate elastic potential energy;
after the first incomplete gear and the first rack and the second incomplete gear and the second rack are disengaged, elastic potential energy stored by the first spring, the second spring, the third spring and the fourth spring is gradually released, the mechanism starts to jump, meanwhile, under the action of the release of the stretching elastic potential energy of the extensor rope, the first rack moves downwards relative to the femoral joint body, the extensor rope gradually rotates in the direction of the tension force of the extensor rope on the first tibial joint rod and the second tibial joint rod, when the extensor rope rotates in the direction of the tension force of the extensor rope on the first tibial joint rod and the second tibial joint rod to the rear side of an axis A, the extensor rope pulls the first tibial joint rod and the second tibial joint rod to rotate to the rear side, and the first tibial joint rod and the second tibial joint rod start to swing to the rear side until the extensor rope stretches; and after the jumping is finished, waiting for the gear and the rack to be meshed again, and reentering the next jumping period.
The invention has the beneficial effects that:
1. the main elastic energy storage element of the invention is a compression spring, the action mode is simple, and the ineffective energy loss in the release process is less.
2. The swing of the shank of the invention can effectively prolong the jumping time of the mechanism and strengthen the jumping capability.
3. The invention can realize reciprocating jumping under the condition that the motor continuously operates, and realizes the swinging of the shank rod piece through the structure, compared with the structure for actively controlling jumping, the invention has the advantages of low cost and simple structure.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the power module;
FIG. 3 is an exploded view of the power module;
FIG. 4 is an exploded view of the transmission module;
FIG. 5 is a perspective view of an execution module;
FIG. 6 is an exploded view of an execution module;
FIG. 7 is a cross-sectional view of the invention in a tightened state;
fig. 8 is a cross-sectional view of the relaxed state of the present invention.
Detailed Description
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, a bionic over-axis jumping mechanism comprises a power module 1 and an execution module 2, wherein the power module 1 comprises a limiting cover plate 11, a transmission module 12 and a housing 13, two square holes are formed at the lower sides of the limiting cover plate 11 and the housing 13, the limiting cover plate 11 is installed above the housing 13, the main body of the transmission module 12 is installed inside the housing 13, the upper side of the transmission module 12 penetrates through the square hole of the limiting cover plate 11, and the lower side of the transmission module 12 penetrates through the square hole of the housing 13; the transmission module 12 is composed of a first motor 121, a first incomplete gear 122, a first rack 123, a extensor rope 124, a second motor 125, a second incomplete gear 126, a second rack 127 and a flexor rope 128, wherein the first incomplete gear 122 is installed on an output shaft of the first motor 121, the first incomplete gear 122 is in gear engagement with the first rack 123, the first rack 123 is positioned through a square hole at the lower side of the limiting cover plate 11 and the shell 13, a limiting hole is formed at the side edge of the first rack 123, an installation hole is formed at the lower side, the extensor rope 124 is fixed with the first rack 123 through the installation hole, the second incomplete gear 126 is installed on an output shaft of the second motor 125, the second incomplete gear 126 is in gear engagement with the second rack 127, the second rack 127 is positioned through the square hole at the lower side of the limiting cover plate 11 and the shell 13, a limiting hole is formed at the side edge of the second rack 127, an installation hole is formed at the lower side, the flexor rope 128 is fixed with the second rack 127 through the mounting hole, the execution module 2 is composed of a first spring 21, a second spring 22, a third spring 23, a fourth spring 24, a partition plate 25, a femoral condyle body 26, a first tibial knuckle rod 27 and a second tibial knuckle rod 28, the first spring 21, the second spring 22, the third spring 23 and the fourth spring 24 are symmetrically and uniformly distributed above the partition plate 25, the partition plate 25 is provided with two square holes, so that the first rack 123, the extensor rope 124, the second rack 127 and the flexor rope 128 can pass through the square holes and enter the femoral condyle body 26, and the femoral condyle body 26 is mounted below the partition plate 25. The front side and the rear side of the interior of the femoral joint body 26 are respectively provided with an a column and a b column, the a column is matched with a first rack 123 limiting hole, the b column is matched with a second rack 127 limiting hole, the left side and the right side of the lower end of the femoral joint body 26 are respectively hinged with a first tibiow joint rod 27 and a second tibiow joint rod 28, the hinging center is an A shaft, two ends of a extensor rope 124 are respectively fixed with the interior of the front sides of the first tibiow joint rod 27 and the second tibiow joint rod 28, and the first tibiow joint rod 27 and the exterior of the front side of the second tibiow joint rod 28 at two ends of the flexor rope 128 are fixed.
The extensor cord 124 is made of rubber and the flexor cord 128 is made of inelastic hemp. After the mechanism is installed, the extensor cords 124 have a certain tensile elastic potential energy during the relaxation phase, and the flexor cords 128 are in a relaxed state.
A jumping method of a bionic over-axis jumping mechanism,
in the working process: after the first motor 121 and the second motor 125 are started: the first incomplete gear 122 and the first rack 123 and the second incomplete gear 126 and the second rack 127 are synchronously engaged, the first rack 123 and the second rack 127 move upwards, the stretching elastic potential energy of the extensor muscle rope 124 is gradually increased under the driving of the first rack 123, and the flexor muscle rope 128 is gradually changed from a relaxed state to a tightened state under the driving of the second rack 127;
after the flexor rope 128 is in the tightened state, the first incomplete gear 122 and the first rack 123 are continuously engaged with each other, the second incomplete gear 126 and the second rack 127 are continuously engaged with each other, the first rack 123 and the second rack 127 continuously move upwards, the tension elastic potential energy of the extensor rope 124 is continuously increased under the driving of the first rack 123, the flexor rope 128 is kept in the tightened state under the driving of the second rack 127, and the first tibioid rod 27 and the second tibioid rod 28 gradually rotate around the axis a to complete the crouching of the first tibioid rod 27 and the second tibioid rod 28;
after the first tibioma rod 27 and the second tibioma rod 28 are completely coiled, the acting force direction of the extensor rope 124 on the first tibioma rod 27 and the second tibioma rod 28 is at the front side of the A axis, the lower ends of the limiting holes of the first rack 123 and the second rack 127 are contacted with the a pillar and the b pillar of the femoral segment 26, the first incomplete gear 122 and the first rack 123 and the second incomplete gear 126 and the second rack 127 are continuously engaged, the first rack 123 and the second rack 127 are continuously moved upwards and are limited by the a pillar and the b pillar of the femoral segment 26 on the first rack 123 and the second rack 127, the tension elastic potential energy of the extensor rope 124 is not continuously increased, the flexor rope 128 is kept in a state, the extensor rope 124, the flexor rope 128, the separating plate 25, the femoral segment 26, the first tibioma rod 27 and the second tibioma rod 28 move upwards relative to the shell 13, the first spring 21, the second spring 22, the third spring 23 and the fourth spring 24 are gradually compressed, generating elastic potential energy;
after the first incomplete gear 122 and the first rack 123 and the second incomplete gear 126 and the second rack 127 are disengaged, the elastic potential energy stored in the first spring 21, the second spring 22, the third spring 23 and the fourth spring 24 is gradually released, the mechanism starts to jump, meanwhile, under the releasing action of the tensile elastic potential energy of the extensor rope 124, the first rack 123 moves downwards relative to the femoral joint body 26, the extensor rope 124 gradually rotates the pulling force direction of the first tibial joint rod 27 and the second tibial joint rod 28, when the extensor rope 124 rotates the pulling force direction of the first tibial joint rod 27 and the second tibial joint rod 28 to the rear side of the axis a, the extensor rope 124 pulls the first tibial joint rod 27 and the second tibial joint rod 28 to rotate to the rear side, and the first tibial joint rod 27 and the second tibial joint rod 28 start to swing to the rear side until the extensor rope stretches; and after the jumping is finished, waiting for the gear and the rack to be meshed again, and reentering the next jumping period.
Claims (3)
1. A bionic over-axis jumping mechanism and method are characterized in that: comprises a power module (1) and an execution module (2);
the power module (1) comprises a limiting cover plate (11), a transmission module (12) and a shell (13), two square holes are formed in the lower sides of the limiting cover plate (11) and the shell (13), the limiting cover plate (11) is installed above the shell (13), the main body of the transmission module (12) is installed inside the shell (13), the upper side of the transmission module (12) penetrates through the square hole of the limiting cover plate (11), and the lower side of the transmission module (12) penetrates through the square hole of the shell (13); the transmission module (12) consists of a first motor (121), a first incomplete gear (122), a first rack (123), a extensor rope (124), a second motor (125), a second incomplete gear (126), a second rack (127) and a flexor rope (128), the first incomplete gear (122) is installed on an output shaft of the first motor (121), the first incomplete gear (122) is in gear engagement with the first rack (123), and the first rack (123) is positioned through a square hole in the lower side of the limiting cover plate (11) and the shell (13); a limiting hole is formed in the side edge of the first rack (123), and a mounting hole is formed below the first rack; the extensor cord (124) is fixed with the first rack (123) through the mounting hole; a second incomplete gear (126) is installed on an output shaft of the second motor (125), the second incomplete gear (126) is in gear engagement with a second rack (127), and the second rack (127) is positioned through a square hole in the lower side of the limiting cover plate (11) and the shell (13); the side edge of the second rack (127) is provided with a limiting hole, and the lower part of the second rack is provided with a mounting hole; the flexor rope (128) is fixed with the second rack (127) through the mounting hole; the execution module (2) consists of a first spring (21), a second spring (22), a third spring (23), a fourth spring (24), a separation plate (25), a femoral joint body (26), a first tibial joint rod (27) and a second tibial joint rod (28); the first spring (21), the second spring (22), the third spring (23) and the fourth spring (24) are symmetrically and uniformly distributed above the partition plate (25), and the partition plate (25) is provided with two square holes, so that the first rack (123), the extensor rope (124), the second rack (127) and the flexor rope (128) can pass through the square holes and enter the femoral head body (26); a hip joint body (26) is arranged below the partition plate (25); the front side and the rear side inside the hip joint body (26) are respectively provided with an a column and a b column; the column a is matched with a first rack (123) limiting hole, and the column b is matched with a second rack (127) limiting hole; the left side and the right side of the lower end of the thigh joint body (26) are respectively hinged with the first shin joint rod (27) and the second shin joint rod (28), the hinge center is an A axis, two ends of the extensor rope (124) are respectively fixed with the front inner parts of the first shin joint rod (27) and the second shin joint rod (28), and the front outer parts of the first shin joint rod (27) and the second shin joint rod (28) at two ends of the flexor rope (128) are fixed.
2. The bionic over-axis jumping mechanism of claim 1, wherein: the extensor cord (124) is made of rubber; the flexor rope (128) is made of inelastic hemp rope; after the mechanism is installed, the extensor rope (124) has certain tensile elastic potential energy in the relaxation stage, and the flexor rope (128) is in the relaxation state.
3. The jumping method of a bionic over-axis jumping mechanism of claim 1, wherein: in the working process: after the first motor (121) and the second motor (125) are started: the first incomplete gear (122) and the first rack (123) and the second incomplete gear (126) and the second rack (127) are synchronously meshed, the first rack (123) and the second rack (127) move upwards, the stretching elastic potential energy of the extensor muscle rope (124) is gradually increased under the drive of the first rack (123), and the flexor muscle rope (128) is gradually changed from a relaxed state to a tightened state under the drive of the second rack (127);
after the flexor rope (128) is in a tightening state, the first incomplete gear (122) and the first rack (123) and the second incomplete gear (126) and the second rack (127) are continuously meshed, the first rack (123) and the second rack (127) continuously move upwards, the stretching elastic potential energy of the extensor rope (124) is continuously increased under the drive of the first rack (123), the flexor rope (128) is kept in the tightening state under the drive of the second rack (127), and the first tibioid rod (27) and the second tibioid rod (28) gradually rotate around the axis A to finish the curling of the first tibioid rod (27) and the second tibioid rod (28);
after the first tibioma rod (27) and the second tibioma rod (28) are curled, the acting force direction of the extensor rope (124) to the first tibioma rod (27) and the second tibioma rod (28) is at the front side of the A axis, the lower end of the spacing hole of the first rack (123) and the second rack (127) is contacted with the a pillar and the b pillar of the femoral segment body (26), the first incomplete gear (122) and the first rack (123) and the second incomplete gear (126) and the second rack (127) are continuously engaged, the first rack (123) and the second rack (127) continuously move upwards and are limited by the a pillar and the b pillar of the femoral segment body (26) to the first rack (123) and the second rack (127), the extensor elastic potential energy of the extensor rope (124) is not continuously increased, the flexor rope (128) keeps a tightening state, the extensor rope (124), the flexor rope (128), the splitter plate (25), the femoral segment body (26), The first shin section rod (27) and the second shin section rod (28) move upwards relative to the shell (13), and the first spring (21), the second spring (22), the third spring (23) and the fourth spring (24) are gradually compressed to generate elastic potential energy;
after the first incomplete gear (122) is disengaged from the first rack (123) and the second incomplete gear (126) is disengaged from the second rack (127), the elastic potential energy stored in the first spring (21), the second spring (22), the third spring (23) and the fourth spring (24) is gradually released, the mechanism starts to jump, meanwhile, under the releasing action of the stretching elastic potential energy of the extensor rope (124), the first rack (123) moves downwards relative to the hip joint body (26), and the extensor rope (124) gradually rotates in the pulling direction of the first tibiode rod (27) and the second tibiode rod (28); when the extensor rope (124) rotates to the rear side of the A axis in the pulling force direction of the first tibiow rod (27) and the second tibiow rod (28), the extensor rope (124) pulls the first tibiow rod (27) and the second tibiow rod (28) to rotate to the rear side, and the first tibiow rod (27) and the second tibiow rod (28) start to swing to the rear side until extending; and after the jumping is finished, waiting for the gear and the rack to be meshed again, and reentering the next jumping period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210098323.3A CN114348137B (en) | 2022-01-27 | 2022-01-27 | Bionic over-axis jumping mechanism and jumping method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210098323.3A CN114348137B (en) | 2022-01-27 | 2022-01-27 | Bionic over-axis jumping mechanism and jumping method thereof |
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| CN114348137A true CN114348137A (en) | 2022-04-15 |
| CN114348137B CN114348137B (en) | 2024-03-19 |
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| RU97106U1 (en) * | 2010-04-05 | 2010-08-27 | Государственное образовательное учреждение высшего профессионального образования Курский государственный технический университет | Jumping Robot |
| CN102050164A (en) * | 2010-11-12 | 2011-05-11 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN102050156A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Bionic hopping robot with two degrees of freedom |
| CN206231477U (en) * | 2016-12-08 | 2017-06-09 | 湖北工业大学 | A kind of hopping robot |
| CN111319694A (en) * | 2020-04-20 | 2020-06-23 | 中国空间技术研究院 | Spherical robot of multi-mode motion |
| CN112960045A (en) * | 2021-03-10 | 2021-06-15 | 哈尔滨工业大学 | Frog-imitated amphibious robot and motion control method |
| CN113232735A (en) * | 2021-05-18 | 2021-08-10 | 中国科学技术大学 | Spherical robot |
-
2022
- 2022-01-27 CN CN202210098323.3A patent/CN114348137B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050156A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Bionic hopping robot with two degrees of freedom |
| RU97106U1 (en) * | 2010-04-05 | 2010-08-27 | Государственное образовательное учреждение высшего профессионального образования Курский государственный технический университет | Jumping Robot |
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| CN206231477U (en) * | 2016-12-08 | 2017-06-09 | 湖北工业大学 | A kind of hopping robot |
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| CN112960045A (en) * | 2021-03-10 | 2021-06-15 | 哈尔滨工业大学 | Frog-imitated amphibious robot and motion control method |
| CN113232735A (en) * | 2021-05-18 | 2021-08-10 | 中国科学技术大学 | Spherical robot |
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