CN114408043A - Bionic arc-shaped jumping device and jumping method thereof - Google Patents
Bionic arc-shaped jumping device and jumping method thereof Download PDFInfo
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- CN114408043A CN114408043A CN202210098324.8A CN202210098324A CN114408043A CN 114408043 A CN114408043 A CN 114408043A CN 202210098324 A CN202210098324 A CN 202210098324A CN 114408043 A CN114408043 A CN 114408043A
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- bevel gear
- supporting plate
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- driven bevel
- jumping
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 47
- 230000009191 jumping Effects 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 239000013013 elastic material Substances 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 241000931705 Cicada Species 0.000 abstract 1
- 210000000988 bone and bone Anatomy 0.000 abstract 1
- 238000004146 energy storage Methods 0.000 description 5
- 239000011232 storage material Substances 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241001414720 Cicadellidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
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Abstract
A bionic arc jumping device and a jumping method thereof comprise an outer body module and a transmission module. The outer body module comprises a lower supporting plate, a first bearing, a second bearing, a bionic arc-shaped elastic plate, an upper supporting plate and a motor, the motor is fixed in the middle of the lower supporting plate, the left side and the right side of the lower supporting plate are respectively installed with the first bearing and the second bearing, the rear side of the lower supporting plate is fixed with the lower side of the bionic arc-shaped elastic plate, and the upper supporting plate is fixed on the upper side of the bionic arc-shaped elastic plate; the transmission module comprises a driving bevel gear, a first driven bevel gear, a second driven bevel gear, a first incomplete gear, a second incomplete gear, a transmission shaft, a first rack and a second rack. The invention designs a bionic arc jumping device by taking the curve contour of the hind-chest bone of the cicada as a bionic prototype. Compared with other jumping devices, the jumping device has the advantages of simple structure, high space utilization rate, simple control and capability of realizing continuous jumping.
Description
Technical Field
The invention relates to the field of bionic jumping devices. In particular to a bionic arc jumping device and a jumping method thereof.
Background
With the development of science and technology, the application of robots is more extensive, many robots are required to work under complicated and changeable working condition environments, the robots are required to have certain emergency risk avoiding capability when working under uncertain environments, and the addition of jumping motion capability in the robots is an effective solution.
Many insects in the kingdom of life are good at jumping, for example: the flea-mole and leafhopper insects utilize muscles to slowly store energy into some material special areas of the body and quickly release the stored energy to realize jumping, so that a good biological template is provided for jumping behaviors of the robot, and people can make various jumping mechanisms by simulating the jumping behaviors of the insects; however, the existing bionic jumping device has the following problems: on one hand, many bionic jumping devices separate an energy generating device from an energy storage device, so that the space requirement is large, the structural arrangement is unreasonable, and the portability and the universality of the device are poor; on the other hand, many jumping mechanisms cannot complete continuous jumping, and a few jumping devices can complete continuous jumping through active control, so that the control is complex and the applicability is not high.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a bionic arc jumping device and a jumping method thereof.
A bionic arc jumping device comprises an outer body module and a transmission module; the outer body module comprises a lower supporting plate, a first bearing, a second bearing, a bionic arc-shaped elastic plate, an upper supporting plate and a motor, the motor is fixed in the middle of the lower supporting plate, the left side and the right side of the lower supporting plate are respectively installed with the first bearing and the second bearing, the rear side of the lower supporting plate is fixed with the lower side of the bionic arc-shaped elastic plate, and the upper supporting plate is fixed on the upper side of the bionic arc-shaped elastic plate;
the transmission module comprises a driving bevel gear, a first driven bevel gear, a second driven bevel gear and a first incomplete gear, the incomplete gear of second, the transmission shaft, first rack and second rack, drive bevel gear's mounting hole is fixed with the motor output shaft, first driven bevel gear and second driven bevel gear of drive bevel gear top symmetry installation, first driven bevel gear is fixed with the transmission shaft with second driven bevel gear's mounting hole, the transmission shaft is close to first driven bevel gear one side and installs first incomplete gear, first incomplete gear and first rack cooperation, the end that the transmission shaft is close to first driven bevel gear one side is fixed with first bearing, the transmission shaft is close to second driven bevel gear one side and installs the incomplete gear of second, the incomplete gear of second cooperates with the second rack, the end that the transmission shaft is close to second driven bevel gear one side is fixed with the second bearing.
The bionic arc-shaped elastic plate material is a carbon fiber reinforced resin matrix composite material, and the curve equation of the inner side contour of the bionic arc-shaped elastic plate is as follows:
a jumping method of a bionic arc-shaped jumping device comprises the following steps:
the structure of the elastic material for storing energy of the mechanism is a bionic arc elastic plate, an upper supporting plate and a lower supporting plate are respectively installed on two sides of the elastic material, a motor and a transmission module are installed between the upper supporting plate and the lower supporting plate, the transmission module is composed of a bevel gear set and an incomplete gear rack set, the motor rotates at the beginning, the incomplete gear is driven to rotate through the bevel gear set, when the incomplete gear is meshed with a rack, the bionic arc elastic plate stores energy, when the incomplete gear is separated from the rack, the bionic arc elastic plate releases energy, and when the incomplete gear is meshed with the rack again, the bionic arc elastic plate enters the next period, so that multiple jumping is realized.
The invention has the beneficial effects that:
1. the invention realizes that continuous jumping can be completed without active control.
2. The invention arranges the energy generating device and the transmission system at the inner side of the energy storage material, has simple structure, needs less space and has strong applicability.
3. The invention is suitable for designing the structure of the energy storage material by the bionic curve, improves the stress condition of the energy storage material and improves the energy storage capacity of the device.
Drawings
FIG. 1 is a perspective view of the present invention;
fig. 2 is a perspective view of the outer body module;
FIG. 3 is a perspective view of the transmission module;
fig. 4 is a main view of the present invention.
Detailed Description
As shown in fig. 1, 2, 3 and 4, a bionic arc jumping device comprises an outer body module 1 and a transmission module 2; the outer body module 1 comprises a lower supporting plate 11, a first bearing 12, a second bearing 13, a bionic arc-shaped elastic plate 14, an upper supporting plate 15 and a motor 16, the motor 16 is fixed in the middle of the lower supporting plate 11, the left side and the right side of the lower supporting plate 11 are respectively installed with the first bearing 12 and the second bearing 13, the rear side of the lower supporting plate 11 is fixed with the lower side of the bionic arc-shaped elastic plate 14, and the upper side of the bionic arc-shaped elastic plate 14 is fixed with the upper supporting plate 15;
the transmission module comprises a driving bevel gear 21, a first driven bevel gear 22, a second driven bevel gear 23, a first incomplete gear 24, a second incomplete gear 25, a transmission shaft 26, a first rack 27 and a second rack 28, wherein a mounting hole of the driving bevel gear 21 is fixed with an output shaft of the motor 16, the first driven bevel gear 22 and the second driven bevel gear 23 are symmetrically mounted above the driving bevel gear 21, mounting holes of the first driven bevel gear 22 and the second driven bevel gear 23 are fixed with the transmission shaft 26, the first incomplete gear 24 is mounted on one side of the transmission shaft 26 close to the first driven bevel gear 22, the first incomplete gear 24 is matched with the first rack 27, the tail end of the transmission shaft 26 close to one side of the first driven bevel gear 22 is fixed with the first bearing 12, the second incomplete gear 25 is mounted on one side of the transmission shaft 26 close to the second driven bevel gear 23, and the second incomplete gear 25 is matched with the second rack 28, the end of the transmission shaft 26 near the second driven bevel gear 22 is fixed to the second bearing 13.
The bionic arc-shaped elastic plate 14 is made of carbon fiber reinforced resin matrix composite, and the curve equation of the inner side contour of the bionic arc-shaped elastic plate 14 is as follows:
a jumping method of a bionic arc-shaped jumping device comprises the following steps:
the structure of the elastic material for storing the energy of the mechanism is a bionic arc-shaped elastic plate 14, an upper supporting plate 15 and a lower supporting plate 11 are respectively installed on two sides of the elastic material, a motor 16 and a transmission module 2 are installed between the upper supporting plate 15 and the lower supporting plate 11, the transmission module 2 is composed of a bevel gear set and an incomplete gear rack set, at the beginning, the motor 16 rotates, the incomplete gear is driven to rotate through the bevel gear set, when the incomplete gear is meshed with the gear rack, the bionic arc-shaped elastic plate 14 stores the energy, when the incomplete gear is separated from the gear rack, the bionic arc-shaped elastic plate 14 releases the energy, and when the incomplete gear is meshed with the gear rack again, the next cycle is started, so that multiple jumps are realized.
Claims (4)
1. A bionic arc jumping device is characterized in that: comprises an outer body module (1) and a transmission module (2); the outer body module (1) comprises a lower supporting plate (11), a first bearing (12), a second bearing (13), a bionic arc-shaped elastic plate (14), an upper supporting plate (15) and a motor (16), wherein the motor (16) is fixed in the middle of the lower supporting plate (11), the left side and the right side of the lower supporting plate (11) are respectively installed with the first bearing (12) and the second bearing (13), the rear side of the lower supporting plate (11) is fixed with the lower side of the bionic arc-shaped elastic plate (14), and the upper side of the bionic arc-shaped elastic plate (14) is fixed with the upper supporting plate (15);
the transmission module comprises a driving bevel gear (21), a first driven bevel gear (22), a second driven bevel gear (23), a first incomplete gear (24), a second incomplete gear (25), a transmission shaft (26), a first rack (27) and a second rack (28); the mounting hole of the driving bevel gear (21) is fixed with the output shaft of the motor (16); a first driven bevel gear (22) and a second driven bevel gear (23) are symmetrically arranged above the driving bevel gear (21); mounting holes of the first driven bevel gear (22) and the second driven bevel gear (23) are fixed with the transmission shaft (26); a first incomplete gear (24) is installed on one side, close to the first driven bevel gear (22), of the transmission shaft (26), the first incomplete gear (24) is matched with the first rack (27), and the tail end, close to one side of the first driven bevel gear (22), of the transmission shaft (26) is fixed with the first bearing (12); a second incomplete gear (25) is arranged on one side, close to the second driven bevel gear (23), of the transmission shaft (26), and the second incomplete gear (25) is matched with a second rack (28); the tail end of the transmission shaft (26) close to one side of the second driven bevel gear (22) is fixed with the second bearing (13).
2. The bionic arc jumping device and method according to claim 1, wherein: the bionic arc-shaped elastic plate (14) is made of carbon fiber reinforced resin matrix composite.
3. The bionic arc jumping device and method according to claim 1, wherein: the inner side profile curve equation of the bionic arc-shaped elastic plate (14) is as follows:
4. the jumping method of a biomimetic arcuate jumping device of claim 1, wherein: the structure of the elastic material for storing the energy of the mechanism is a bionic arc-shaped elastic plate (14), and an upper supporting plate (15) and a lower supporting plate (11) are respectively arranged on two sides of the elastic material; a motor (16) and a transmission module (2) are arranged between the upper supporting plate (15) and the lower supporting plate (11); the transmission module (2) consists of a bevel gear group and an incomplete gear rack group; when the bionic arc elastic plate is meshed with the rack, the bionic arc elastic plate (14) releases energy, and when the incomplete gear is meshed with the rack again, the bionic arc elastic plate enters the next period, so that multiple jumps are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210098324.8A CN114408043A (en) | 2022-01-27 | 2022-01-27 | Bionic arc-shaped jumping device and jumping method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210098324.8A CN114408043A (en) | 2022-01-27 | 2022-01-27 | Bionic arc-shaped jumping device and jumping method thereof |
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| Publication Number | Publication Date |
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| CN114408043A true CN114408043A (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210098324.8A Pending CN114408043A (en) | 2022-01-27 | 2022-01-27 | Bionic arc-shaped jumping device and jumping method thereof |
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| CN (1) | CN114408043A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941476A (en) * | 2009-07-10 | 2011-01-12 | 西北工业大学 | Asymmetrical gear six-rod bionic bouncing mechanism |
| CN102050164A (en) * | 2010-11-12 | 2011-05-11 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN203017679U (en) * | 2013-01-17 | 2013-06-26 | 谢伟民 | Arm-assisted kangaroo jumping simulator |
| CN108909863A (en) * | 2018-07-03 | 2018-11-30 | 浙江理工大学 | A kind of bouncer based on series connection flexible drive and variable mechanical gain |
| CN109292022A (en) * | 2018-11-07 | 2019-02-01 | 西北工业大学 | A kind of bio-mechanism of vertical jump in succession |
| US20190101106A1 (en) * | 2016-03-25 | 2019-04-04 | Seoul National University R&Db Foundation | Active clutch mechanism and hopping robot having same |
| CN110304166A (en) * | 2019-07-18 | 2019-10-08 | 南京工程学院 | A kind of hopping robot's bouncing mechanism based on energy engagement conversion |
| CN111846012A (en) * | 2020-08-28 | 2020-10-30 | 中国科学院合肥物质科学研究院 | Multi-motion-mode track-adjustable bionic bouncing robot |
| CN113104188A (en) * | 2021-03-15 | 2021-07-13 | 江苏科技大学 | Bionic fish propulsion device and control method thereof |
| CN215358525U (en) * | 2021-06-21 | 2021-12-31 | 淮南市宇先人工智能科技有限公司 | Supporting leg with bevel-tooth-shaped joints and robot using same |
-
2022
- 2022-01-27 CN CN202210098324.8A patent/CN114408043A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941476A (en) * | 2009-07-10 | 2011-01-12 | 西北工业大学 | Asymmetrical gear six-rod bionic bouncing mechanism |
| CN102050164A (en) * | 2010-11-12 | 2011-05-11 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN203017679U (en) * | 2013-01-17 | 2013-06-26 | 谢伟民 | Arm-assisted kangaroo jumping simulator |
| US20190101106A1 (en) * | 2016-03-25 | 2019-04-04 | Seoul National University R&Db Foundation | Active clutch mechanism and hopping robot having same |
| CN108909863A (en) * | 2018-07-03 | 2018-11-30 | 浙江理工大学 | A kind of bouncer based on series connection flexible drive and variable mechanical gain |
| CN109292022A (en) * | 2018-11-07 | 2019-02-01 | 西北工业大学 | A kind of bio-mechanism of vertical jump in succession |
| CN110304166A (en) * | 2019-07-18 | 2019-10-08 | 南京工程学院 | A kind of hopping robot's bouncing mechanism based on energy engagement conversion |
| CN111846012A (en) * | 2020-08-28 | 2020-10-30 | 中国科学院合肥物质科学研究院 | Multi-motion-mode track-adjustable bionic bouncing robot |
| CN113104188A (en) * | 2021-03-15 | 2021-07-13 | 江苏科技大学 | Bionic fish propulsion device and control method thereof |
| CN215358525U (en) * | 2021-06-21 | 2021-12-31 | 淮南市宇先人工智能科技有限公司 | Supporting leg with bevel-tooth-shaped joints and robot using same |
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Application publication date: 20220429 |