CN115195898B - Jumping mechanism of jumping robot - Google Patents
Jumping mechanism of jumping robot Download PDFInfo
- Publication number
- CN115195898B CN115195898B CN202211029202.XA CN202211029202A CN115195898B CN 115195898 B CN115195898 B CN 115195898B CN 202211029202 A CN202211029202 A CN 202211029202A CN 115195898 B CN115195898 B CN 115195898B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- transmission shaft
- bearing
- plate
- frame
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 92
- 230000009191 jumping Effects 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 86
- 230000006835 compression Effects 0.000 claims description 22
- 238000007906 compression Methods 0.000 claims description 22
- 230000000149 penetrating effect Effects 0.000 claims description 13
- 206010044048 Tooth missing Diseases 0.000 claims description 10
- 244000309464 bull Species 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a jumping robot bouncing mechanism, which comprises a frame, a four-bar mechanism, a release mechanism and a jumping direction adjusting mechanism, wherein the four-bar mechanism is arranged on the frame; the machine frame comprises a front machine frame, a middle machine frame and a rear machine frame which are sequentially and fixedly connected; the four-bar mechanism is symmetrically arranged at the outer sides of two sides of the middle frame and is used for increasing the energy required by bouncing; the release mechanisms are symmetrically arranged on the inner sides of the two sides of the middle frame; the lifting direction adjusting mechanism is arranged between the front frame and the middle frame.
Description
Technical Field
The invention relates to the field of robots, in particular to a jumping mechanism of a jumping robot.
Background
Compared with the wheel type, walking, crawler type and other moving modes, the jumping robot has the advantages of being better suitable for unstructured terrains, stronger obstacle surmounting, rapid danger avoidance and the like, and therefore the jumping robot has wide application prospects in future archaeological detection, anti-terrorism operation, interstellar detection and battlefield reconnaissance. The energy forms of the jumping robot can be classified into mechanical elastic energy, chemical release energy and field force action energy according to different driving energy. At present, research on jump robots driven by mechanical elastic energy mainly focuses on improvement of jump mechanisms and jump performances, but relatively few research on jump direction control, air posture adjustment, landing buffering and the like are performed. Accordingly, the present invention provides a jumping robot bouncing mechanism to cope with the above-mentioned problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a jumping mechanism of a jumping robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a jumping mechanism of a jumping robot comprises a frame, a four-bar mechanism, a release mechanism and a jumping direction adjusting mechanism;
the machine frame comprises a front machine frame, a middle machine frame and a rear machine frame which are sequentially and fixedly connected;
the four-bar mechanism is symmetrically arranged at the outer sides of two sides of the middle frame and is used for increasing the energy required by bouncing;
the release mechanisms are symmetrically arranged on the inner sides of the two sides of the middle frame;
The lifting direction adjusting mechanism is arranged between the front frame and the middle frame.
In order to optimize the technical scheme, the specific measures adopted further comprise:
Further, the front frame comprises a front frame parallel plate and a front frame slideway plate with slideways, wherein the front frame slideway plate is vertically fixed on two sides of the front frame parallel plate; the rear frame comprises a rear frame parallel plate and a rear frame slideway plate which is vertically fixed on two sides of the rear frame parallel plate and provided with a slideway, and the rear frame also comprises two rear frame strip-shaped plates which are arranged in parallel and are fixed on the rear frame parallel plate and positioned on the same side with the rear frame slideway plate; the middle frame is H-shaped and comprises a middle frame parallel plate and middle frame strip plates vertically fixed on two sides of the middle frame parallel plate; one end of the middle rack strip plate is fixedly connected with the front rack parallel plate, the other end of the middle rack strip plate is fixedly connected with the rear rack parallel plate, the rear rack strip plate is positioned between the two middle rack strip plates, and the slideway plates on the front rack and the rear rack are used for limiting the movement stroke of the four-bar mechanism.
Further, the four-bar mechanism is composed of a driving mechanism and a driven mechanism;
The driving mechanism comprises a pinion connecting rod device, a first connecting rod, a second connecting rod, a first bouncing leg connecting rod and a first cylindrical compression spring, wherein the pinion connecting rod device consists of a pinion and a pinion connecting rod which is parallel to the end face of the pinion and one end of which is fixed at the axle center of the pinion connecting rod; the other end of the pinion connecting rod is provided with a first transmission shaft which is arranged normally, and the pinion connecting rod is rotationally connected with one end of the first connecting rod through the first transmission shaft; the other end of the first connecting rod is provided with a second transmission shaft which is arranged normally, and the second transmission shaft is connected with one end of the second connecting rod in a rotating way after passing through a slideway on a slideway plate of the rear frame; the other end of the second connecting rod is provided with a third transmission shaft which is arranged normally, and the second connecting rod is rotationally connected with the first bouncing leg connecting rod through the third transmission shaft; one end of the first bouncing leg connecting rod is connected with a bearing at the axle center of the outer end face of the pinion; two ends of the first cylindrical compression spring are respectively fixed on the first transmission shaft and the third transmission shaft;
the middle rack strip plate is penetrated and provided with a first bearing, the axle center at the inner side of the pinion is provided with a fourth transmission shaft which is arranged normally, and the fourth transmission shaft penetrates through the first bearing and is rotationally connected with the middle rack strip plate;
The driven mechanism comprises a large gear connecting rod device, a third connecting rod, a fourth connecting rod, a second bouncing leg connecting rod and a second cylindrical compression spring, wherein the large gear connecting rod device consists of a large gear and a large gear connecting rod which is parallel to the end face of the large gear connecting rod and one end of which is fixed at the axle center of the large gear connecting rod; the other end of the large gear connecting rod is provided with a fifth transmission shaft which is arranged normally, and the large gear connecting rod is rotationally connected with one end of the third connecting rod through the fifth transmission shaft; the other end of the third connecting rod is provided with a sixth transmission shaft which is arranged normally, and the sixth transmission shaft penetrates through a slideway on the slideway plate of the front frame and is rotationally connected with one end of the fourth connecting rod; the other end of the fourth connecting rod is provided with a seventh transmission shaft which is arranged normally, and the fourth connecting rod is rotationally connected with the second bouncing leg connecting rod through the seventh transmission shaft; one end of the second bouncing leg connecting rod is connected with a bearing at the axle center of the outer end face of the large gear; two ends of the second cylindrical compression spring are respectively fixed on the fifth transmission shaft and the seventh transmission shaft;
The middle rack strip plate is provided with a second bearing, the second bearing is positioned between the front rack parallel plate and the first bearing, the axle center at the inner side of the large gear is provided with an eighth transmission shaft which is arranged normally, and the eighth transmission shaft is rotationally connected with the middle rack strip plate through the second bearing;
The pinion actively rotates and is meshed with the large gear, and the design of different sizes of the gears enables the compression degree of the first cylindrical compression spring to be larger than that of the second cylindrical compression spring, so that the gesture characteristics of organisms in the take-off stage are more met.
Further, one end of the first bouncing leg connecting rod far away from the pinion and one end of the second bouncing leg connecting rod far away from the bull gear are respectively connected with supporting feet in a rotating way.
Further, the supporting legs are round table type supporting legs, so that the four-bar mechanism is more stable in the stage of taking off and landing, two symmetrical fixing plates are fixed on the top ends of the supporting legs, rotating grooves are formed in the fixing plates, rotating shafts are respectively arranged at the bottom ends of the first bouncing leg connecting rod and the second bouncing leg connecting rod, and the rotating shafts are placed in the rotating grooves to enable the supporting legs to be connected with the bouncing leg connecting rods in a rotating mode.
Further, washers are arranged on the first transmission shaft, the third transmission shaft, the fifth transmission shaft and the seventh transmission shaft, so that the stability of the cylindrical compression spring during energy storage is improved.
Further, the release mechanism comprises a gear with missing teeth, a complete gear and a first motor; the tooth-missing gear and the complete gear are positioned between the middle rack strip-shaped plate and the rear rack strip-shaped plate, and the first motor is positioned at the inner side of the rear rack strip-shaped plate; the inner side of the middle frame strip plate is provided with a third bearing, and the rear frame strip plate is correspondingly provided with a fourth bearing penetrating through the rear frame strip plate; the axle center of the tooth-missing gear is provided with a first rotating shaft which penetrates through the axle center, one end of the first rotating shaft is arranged in the third bearing and is rotationally connected with the middle rack strip plate through the third bearing, and the other end of the first rotating shaft penetrates through the fourth bearing and is rotationally connected with the rear rack strip plate and simultaneously rotationally connected with the first motor; the rear frame strip plate is also provided with a fifth bearing, one end of the fourth transmission shaft penetrates through the first bearing and then is placed into the fifth bearing and is rotationally connected with the rear frame strip plate through the fifth bearing, and the complete gear is arranged on the fourth transmission shaft and is meshed with the tooth-missing gear.
Further, the take-off direction adjusting mechanism comprises a disc mechanism, a second motor, a support connecting rod and a support rod, wherein the disc mechanism comprises a disc and a second rotating shaft which is normally arranged at the axis of the disc; the disc mechanism, the supporting connecting rod and the supporting rod are positioned between the front frame parallel plate and the middle frame parallel plate, and the second motor is positioned between the middle frame parallel plate and the rear frame parallel plate; a second rotating shaft penetrates through the sixth bearing, is rotationally connected with the parallel plates of the middle frame through the sixth bearing and is rotationally connected with a second motor; the support connecting rod is radially arranged on the surface of the disc, one end of the support connecting rod is fixedly connected with one end of the surface of the disc, and the other end of the support connecting rod is rotatably connected with one end of the support rod; the other end of the supporting rod is provided with a foot support.
Further, the heel brace is a semicircular heel brace, and is used for increasing the grounding force in the angle adjustment process.
The beneficial effects of the invention are as follows:
(1) The frame designed by the invention is fixedly connected by the front frame, the middle frame and the rear frame through the supporting studs and the screws, has simple structure and convenient splicing, and the front frame and the rear frame are respectively fixed with the slideway flat plate with the slideway, so that the bouncing stroke of the jumping robot can be limited;
(2) The four-bar mechanism designed by the invention is composed of the driving mechanism and the driven mechanism, and the pinion in the driving mechanism is meshed with the bull gear in the driven mechanism, so that the jumping robot combines the biological characteristics that the rear leg is slightly lower than the jumping gesture of the front leg, and simultaneously, the stored energy of the jumping mechanism is increased, and the jumping action is relaxed; the supporting legs rotatably connected with the bottom ends of the bouncing leg connecting rods are round tables, so that the jumping robot is more stable in the jumping and landing stages;
(3) According to the jump direction adjusting mechanism, the direction and the number of turns of the second motor in the jump direction adjusting mechanism are changed, the second motor acts on the disc mechanism and the supporting rod, so that the offset angle of the jump robot is controlled, and the jump direction adjusting mechanism enables the jump direction adjusting mode of the jump robot to be stable and convenient; the bottom end of the supporting rod is a semicircular foot support, so that the grounding force in the angle adjustment process can be increased.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic view of the structure of the front frame;
FIG. 4 is a schematic diagram of a four bar linkage;
FIG. 5 is a schematic view of the structure of a large gear link and a small gear link;
FIG. 6 is a schematic diagram of the first, second, third, and fourth links;
FIG. 7 is a schematic view of a support foot;
FIG. 8 is a schematic view of the structure of the first and second bouncing leg links;
FIG. 9 is a schematic view of a first and second cylindrical compression spring securement washer;
FIG. 10 is a schematic view of a release mechanism;
FIG. 11 is a schematic diagram of the structure of the motor;
FIG. 12 is a schematic view of the rear housing structure;
FIG. 13 is a schematic diagram of an intermediate housing structure;
FIG. 14 is a schematic view of a take-off direction adjustment mechanism;
FIG. 15 is a schematic structural view of a disc mechanism;
FIG. 16 is a schematic view of the structure of the foot support;
1 is a frame, 101 is a front frame, 1011 is a front frame parallel plate, 1012 is a front frame slide plate, 102 is a middle frame, 1021 is a middle frame parallel plate, 1022 is a middle frame strip plate, 103 is a rear frame, 1031 is a rear frame parallel plate, 1032 is a rear frame slide plate, 1033 is a rear frame strip plate;
2 is a four-bar mechanism, 201 is a pinion link device, 2011 is a pinion, 2012 is a pinion link, 202 is a first link, 203 is a second link, 204 is a first bouncing leg link, 205 is a first cylindrical compression spring, 206 is a first transmission shaft, 207 is a second transmission shaft, 208 is a third transmission shaft, 209 is a fourth transmission shaft, 210 is a large gear link device, 2101 is a large gear, 2102 is a large gear link, 211 is a third link, 212 is a fourth link, 213 is a second bouncing leg link, 214 is a second cylindrical compression spring, 215 is a fifth transmission shaft, 216 is a sixth transmission shaft, 217 is a seventh transmission shaft, 218 is an eighth transmission shaft, 219 is a supporting leg, 220 is a fixed plate, 221 is a rotating groove, 222 is a rotating shaft;
3 is a release mechanism, 301 is a tooth-missing gear, 302 is a complete gear, 303 is a first motor, 304 is a first rotating shaft;
4 is a lifting direction adjusting mechanism, 401 is a disc mechanism, 4011 is a disc, 4012 is a second rotating shaft, 402 is a second motor, 403 is a supporting connecting rod, 404 is a supporting rod, and 4041 is a foot support.
Detailed Description
As shown in fig. 1, a jumping robot bouncing mechanism comprises a frame 1, a four-bar mechanism 2, a release mechanism 3 and a jumping direction adjusting mechanism 4;
As shown in fig. 2, the frame 1 includes a front frame 101, a middle frame 102, and a rear frame 103 that are sequentially and fixedly connected; as shown in fig. 3, the front frame 101 includes a front frame parallel plate 1011 and front frame slide plates 1012 with slides vertically fixed on both sides thereof; as shown in fig. 12, the rear frame 103 includes a rear frame parallel plate 1031 and a rear frame slide plate 1032 with slides vertically fixed on both sides thereof, and the rear frame 103 further includes two rear frame strip plates 1033 arranged in parallel and fixed on the rear frame parallel plate 1031 and located on the same side as the rear frame slide plate 1032; the intermediate frame 102 is shown in fig. 13 as an "H" and includes an intermediate frame parallel plate 1021 and intermediate frame strip 1022 vertically secured to both sides thereof; one end of the middle frame strip 1022 is fixedly connected to the front frame parallel plate 1011, the other end is fixedly connected to the rear frame parallel plate 1031, and the rear frame strip 1033 is located between the two middle frame strips 1022.
The four-bar mechanism 2 is symmetrically arranged on the outer sides of the two sides of the middle frame 102; as shown in fig. 4-5, the four-bar mechanism 2 is composed of a driving mechanism and a driven mechanism; the driving mechanism comprises a pinion link device 201, a first link 202, a second link 203 (fig. 6), a first bouncing leg link 204, a first cylindrical compression spring 205, wherein the pinion link device 201 is composed of a pinion 2011 and a pinion link 2012 parallel to the end face and one end of which is fixed on the axle center; the other end of the pinion link 2012 has a normally disposed first drive shaft 206, the pinion link 2012 being rotatably connected to one end of the first link 202 by the first drive shaft 206; the other end of the first connecting rod 202 is provided with a second transmission shaft 207 which is arranged normally, and the second transmission shaft 207 is connected with one end of the second connecting rod 203 in a rotating way after penetrating through a slideway on a slideway plate 1032 of the rear frame; the other end of the second connecting rod 203 is provided with a third transmission shaft 208 which is arranged normally, and the second connecting rod 203 is rotationally connected with the first bouncing leg connecting rod 204 through the third transmission shaft 208; one end of the first bouncing leg connecting rod 204 is connected with a bearing at the axis of the outer end surface of the pinion 2011; both ends of the first cylindrical compression spring 205 are welded on the first transmission shaft 206 and the third transmission shaft 208 respectively, and gaskets are arranged on the first transmission shaft 206 and the third transmission shaft 208 (fig. 9); the middle frame strip 1022 is provided with a first bearing in a penetrating manner, the inner axle center of the pinion 2011 is provided with a fourth transmission shaft 209 which is arranged normally, and the fourth transmission shaft 209 penetrates through the first bearing and is in rotary connection with the middle frame strip 1022; the driven mechanism comprises a large gear connecting rod device 210, a third connecting rod 211, a fourth connecting rod 212, a second bouncing leg connecting rod 213 and a second cylindrical compression spring 214, wherein the large gear connecting rod device 210 is composed of a large gear 2101 and a large gear connecting rod 2102 which is parallel to the end face of the large gear connecting rod device and one end of which is fixed at the axle center of the large gear connecting rod 2102; the other end of the large gear connecting rod 2102 is provided with a fifth transmission shaft 215 which is arranged normally, and the large gear connecting rod 2102 is rotationally connected with one end of the third connecting rod 211 through the fifth transmission shaft 215; the other end of the third connecting rod 211 is provided with a sixth transmission shaft 216 which is arranged normally, and the sixth transmission shaft 216 is connected with one end of the fourth connecting rod 212 in a rotating way after penetrating through a slideway on the slideway panel 1012 of the front frame; the other end of the fourth connecting rod 212 is provided with a seventh transmission shaft 217 which is arranged normally, and the fourth connecting rod 212 is rotationally connected with the second bouncing leg connecting rod 213 through the seventh transmission shaft 217; one end of the second bouncing leg connecting rod 213 is connected with a bearing at the axle center of the outer end surface of the large gear 2101; two ends of the second cylindrical compression spring 214 are respectively welded on a fifth transmission shaft 215 and a seventh transmission shaft 217, and gaskets are arranged on the fifth transmission shaft 215 and the seventh transmission shaft 217; a second bearing is arranged on the middle frame strip plate 1022, the second bearing is positioned between the front frame parallel plate 1011 and the first bearing, the axle center on the inner side of the large gear 2101 is provided with an eighth transmission shaft 218 which is arranged normally, and the eighth transmission shaft 218 is rotationally connected with the middle frame strip plate 1022 through the second bearing; pinion 2011 rotates positively and intermeshes with bull 2101.
As shown in fig. 7, one end of the first bouncing leg link 204 away from the pinion 2011 and one end of the second bouncing leg link 213 away from the bull gear 2101 are respectively and rotatably connected with a round table type supporting leg 219, two symmetrical fixing plates 220 are fixed at the top ends of the supporting leg 219, a rotating groove 221 is formed in the fixing plate 220, and rotating shafts 222 (fig. 8) are respectively arranged at the bottom ends of the first bouncing leg link 204 and the second bouncing leg link 213, and the rotating shafts 222 are placed in the rotating groove 221 so that the supporting leg 219 and the bouncing leg link are rotatably connected.
The release mechanisms 3 are symmetrically arranged on the inner sides of the two sides of the middle frame 102; as shown in fig. 10, the release mechanism 3 includes a gear 301 with a missing tooth, a gear 302 with a full tooth, and a first motor 303 (fig. 11); the hypoid gear 301 and the full gear 302 are positioned between the middle frame strip 1022 and the rear frame strip 1033, and the first motor 303 is positioned inside the rear frame strip 1033; the inner side of the middle frame strip 1022 is provided with a third bearing, and the rear frame strip 1033 is correspondingly provided with a fourth bearing penetrating through the rear frame strip 1033; the axle center of the tooth-missing gear 301 is provided with a first rotating shaft 304 which is arranged in a penetrating way, one end of the first rotating shaft 304 is arranged in a third bearing and is rotationally connected with the middle rack strip plate 1022 through the third bearing, and the other end of the first rotating shaft passes through a fourth bearing and is rotationally connected with the rear rack strip plate 1033 and is rotationally connected with the first motor 303; the rear frame strip 1033 is further provided with a fifth bearing, one end of the fourth transmission shaft 209 penetrates through the first bearing and then is placed into the fifth bearing and is in rotary connection with the rear frame strip 1033 through the fifth bearing, and the full gear 302 is arranged on the fourth transmission shaft 209 and meshed with the tooth-missing gear 301.
The take-off direction adjusting mechanism 4 is arranged between the front frame 101 and the middle frame 102; as shown in fig. 14, the take-off direction adjusting mechanism 4 includes a disc mechanism 401, a second motor 402 (fig. 11), a support link 403, and a support bar 404, wherein the disc mechanism 401 includes a disc 4011 and a second rotation shaft 4012 (fig. 15) disposed normally on the axis of the disc 4011; the disc mechanism 401, the supporting link 403 and the supporting rod 404 are positioned between the front frame parallel plate 1011 and the middle frame parallel plate 1021, and the second motor 402 is positioned between the middle frame parallel plate 1021 and the rear frame parallel plate 1031; a sixth bearing is arranged on the middle frame parallel plate 1021 in a penetrating way, and a second rotating shaft 4012 passes through the sixth bearing and is rotationally connected with the middle frame parallel plate 1021 through the sixth bearing and is rotationally connected with the second motor 402; the support connecting rod 403 is radially arranged on the surface of the disc 4011, one end of the support connecting rod 403 is fixedly connected with one end of the surface of the disc 4011, and the other end of the support connecting rod is rotatably connected with one end of the support rod 404; the other end of the support bar 404 is provided with a semicircular foot support 4041 (fig. 16).
The working principle of the invention is as follows:
According to the working environment, whether the jump direction of the jump robot needs to be adjusted is firstly judged. If the starting direction does not need to be adjusted, directly entering a preparation stage of energy storage starting; if the starting direction of the jumping robot needs to be adjusted, starting a second motor 402, driving a disc 4011 to rotate through a second rotating shaft 4012 after the second motor 402 rotates, and driving the angle of the jumping robot to deviate through the fact that the disc 4011 acts on a supporting rod 404 through a supporting connecting rod 403 after rotating; when the second motor 402 rotates clockwise, the jump robot is offset to the right by an angle; when the second motor 402 rotates counterclockwise, the jump robot shifts an angle to the left; the degree of angular offset of the jump robot is determined by the number of turns of the second motor 402.
After the adjustment work of the take-off work is finished, the energy storage preparation stage of the take-off is entered. Starting a first motor 303, driving a gear-missing gear 301 to rotate through a first rotating shaft 304 after the first motor rotates, driving a complete gear 302 to rotate through the gear-missing gear 301 as a driving wheel, driving a pinion 2011 in a four-bar mechanism 2 to rotate through a fourth transmission shaft 209 after the complete gear 302 rotates, and driving a pinion connecting rod 2012, a first connecting rod 202, a second connecting rod 203 and a first bouncing leg connecting rod 204 to form a four-bar mechanism to start compressing a first cylindrical compression spring 205 through rotation of the pinion 2011; simultaneously, under the meshing action of the pinion 2011, the large gear 2101 rotates and drives the large gear connecting rod 2102, the third connecting rod 211, the fourth connecting rod 212 and the second bouncing leg connecting rod 213 to form a four-bar mechanism and start to compress the second cylindrical compression spring 214, so that more energy is provided for bouncing.
When the meshing position of the tooth missing gear 301 and the full gear 302 moves to the tooth missing position, the first cylindrical compression spring 205 and the second cylindrical compression spring 214 start to release, and the stored elastic potential energy is converted into kinetic energy, so that the bouncing of the robot is realized.
In the invention, the transmission ratio of the pinion 2011 and the bull gear 2101 in the four-bar mechanism 2 can be adjusted according to actual needs, and the length of each connecting bar and the connecting angle of the connecting bar can be adjusted, so that different take-off postures can be realized.
It should be noted that the terms like "upper", "lower", "left", "right", "front", "rear", and the like are also used for descriptive purposes only and are not intended to limit the scope of the invention in which the invention may be practiced, but rather the relative relationship of the terms may be altered or modified without materially altering the teachings of the invention.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (5)
1. The jumping mechanism of the jumping robot is characterized by comprising a frame (1), a four-bar mechanism (2), a release mechanism (3) and a jumping direction adjusting mechanism (4);
The machine frame (1) comprises a front machine frame (101), a middle machine frame (102) and a rear machine frame (103) which are fixedly connected in sequence;
the front frame (101) comprises a front frame parallel plate (1011) and a front frame slideway plate (1012) with slideways which are vertically fixed on two sides of the front frame parallel plate;
The rear frame (103) comprises a rear frame parallel plate (1031) and a rear frame slideway flat plate (1032) with slideways, wherein the rear frame slideway flat plate (1032) is vertically fixed on two sides of the rear frame parallel plate, the rear frame (103) also comprises two rear frame strip-shaped plates (1033) which are arranged in parallel and are fixed on the rear frame parallel plate (1031) and are positioned on the same side with the rear frame slideway flat plate (1032);
The middle frame (102) is H-shaped and comprises a middle frame parallel plate (1021) and middle frame strip plates (1022) vertically fixed on two sides of the middle frame parallel plate;
One end of the middle frame strip plate (1022) is fixedly connected with the front frame parallel plate (1011), the other end is fixedly connected with the rear frame parallel plate (1031), and the rear frame strip plate (1033) is positioned between the two middle frame strip plates (1022);
the four-bar mechanism (2) is symmetrically arranged at the outer sides of two sides of the middle frame (102);
The four-bar mechanism (2) is composed of a driving mechanism and a driven mechanism;
The driving mechanism comprises a pinion connecting rod device (201), a first connecting rod (202), a second connecting rod (203) and a first bouncing leg connecting rod (204), wherein the pinion connecting rod device (201) comprises a pinion (2011) and a pinion connecting rod (2012) which is parallel to the end face of the pinion connecting rod device and one end of which is fixed at the axle center of the pinion connecting rod device; the other end of the pinion connecting rod (2012) is provided with a first transmission shaft (206) which is arranged normally, and the pinion connecting rod (2012) is rotationally connected with one end of the first connecting rod (202) through the first transmission shaft (206); the other end of the first connecting rod (202) is provided with a second transmission shaft (207) which is arranged normally, and the second transmission shaft (207) is rotationally connected with one end of the second connecting rod (203) after penetrating through a slideway on a slideway plate (1032) of the rear frame; the other end of the second connecting rod (203) is provided with a third transmission shaft (208) which is arranged normally, and the second connecting rod (203) is rotationally connected with the first bouncing leg connecting rod (204) through the third transmission shaft (208); one end of the first bouncing leg connecting rod (204) is connected with a bearing at the axle center of the outer end surface of the pinion (2011); both ends of the first cylindrical compression spring (205) are respectively fixed on a first transmission shaft (206) and a third transmission shaft (208);
The middle frame strip plate (1022) is provided with a first bearing in a penetrating way, the inner side axle center of the pinion (2011) is provided with a fourth transmission shaft (209) which is arranged normally, and the fourth transmission shaft (209) passes through the first bearing and is rotationally connected with the middle frame strip plate (1022);
the driven mechanism comprises a large gear connecting rod device (210), a third connecting rod (211), a fourth connecting rod (212), a second bouncing leg connecting rod (213) and a second cylindrical compression spring (214), wherein the large gear connecting rod device (210) is composed of a large gear (2101) and a large gear connecting rod (2102) which is parallel to the end face of the large gear connecting rod and one end of which is fixed at the axle center of the large gear connecting rod; the other end of the large gear connecting rod (2102) is provided with a fifth transmission shaft (215) which is arranged normally, and the large gear connecting rod (2102) is rotationally connected with one end of the third connecting rod (211) through the fifth transmission shaft (215); the other end of the third connecting rod (211) is provided with a sixth transmission shaft (216) which is arranged normally, and the sixth transmission shaft (216) is rotationally connected with one end of the fourth connecting rod (212) after penetrating through a slideway on the slideway plate (1012) of the front frame; the other end of the fourth connecting rod (212) is provided with a seventh transmission shaft (217) which is arranged normally, and the fourth connecting rod (212) is rotationally connected with the second bouncing leg connecting rod (213) through the seventh transmission shaft (217); one end of the second bouncing leg connecting rod (213) is connected with a bearing at the axle center of the outer end surface of the large gear (2101); two ends of the second cylindrical compression spring (214) are respectively fixed on a fifth transmission shaft (215) and a seventh transmission shaft (217);
a second bearing is arranged on the middle frame strip plate (1022), the second bearing is positioned between the front frame parallel plate (1011) and the first bearing, the inner side axle center of the large gear (2101) is provided with an eighth transmission shaft (218) which is arranged normally, and the eighth transmission shaft (218) is rotationally connected with the middle frame strip plate (1022) through the second bearing;
the pinion (2011) rotates actively and is meshed with the bull gear (2101);
the release mechanisms (3) are symmetrically arranged on the inner sides of the two sides of the middle frame (102);
the release mechanism (3) comprises a gear (301) with a missing tooth, a complete gear (302) and a first motor (303); the gear (301) with the missing teeth and the complete gear (302) are positioned between the middle rack strip plate (1022) and the rear rack strip plate (1033), and the first motor (303) is positioned at the inner side of the rear rack strip plate (1033);
The inner side of the middle frame strip plate (1022) is provided with a third bearing, and the rear frame strip plate (1033) is correspondingly provided with a fourth bearing penetrating through the rear frame strip plate (1033); the axle center of the tooth-missing gear (301) is provided with a first rotating shaft (304) which is arranged in a penetrating way, one end of the first rotating shaft (304) is arranged in a third bearing and is rotationally connected with a middle rack strip plate (1022) through the third bearing, and the other end of the first rotating shaft passes through a fourth bearing and is rotationally connected with a rear rack strip plate (1033) and is rotationally connected with a first motor (303); a fifth bearing is further arranged on the rear frame strip-shaped plate (1033), one end of the fourth transmission shaft (209) penetrates through the first bearing, then is placed into the fifth bearing and is rotationally connected with the rear frame strip-shaped plate (1033) through the fifth bearing, and the complete gear (302) is arranged on the fourth transmission shaft (209) and meshed with the tooth-missing gear (301);
The take-off direction adjusting mechanism (4) is arranged between the front frame (101) and the middle frame (102);
The take-off direction adjusting mechanism (4) comprises a disc mechanism (401), a second motor (402), a supporting connecting rod (403) and a supporting rod (404), wherein the disc mechanism (401) comprises a disc (4011) and a second rotating shaft (4012) which is normally arranged on the axis of the disc (4011); the disc mechanism (401), the supporting connecting rod (403) and the supporting rod (404) are positioned between the front frame parallel plate (1011) and the middle frame parallel plate (1021), and the second motor (402) is positioned between the middle frame parallel plate (1021) and the rear frame parallel plate (1031);
a sixth bearing is arranged on the middle frame parallel plate (1021) in a penetrating way, and a second rotating shaft (4012) penetrates through the sixth bearing and is rotationally connected with the middle frame parallel plate (1021) through the sixth bearing and is rotationally connected with a second motor (402); the support connecting rod (403) is radially arranged on the surface of the disc (4011), one end of the support connecting rod (403) is fixedly connected with one end of the surface of the disc (4011), and the other end of the support connecting rod is rotatably connected with one end of the support rod (404); the other end of the supporting rod (404) is provided with a foot support (4041).
2. A jumping robot bouncing mechanism as set forth in claim 1, wherein,
One end of the first bouncing leg connecting rod (204) far away from the pinion (2011) and one end of the second bouncing leg connecting rod (213) far away from the bull gear (2101) are respectively connected with supporting legs (219) in a rotating way.
3. A jumping robot bouncing mechanism as set forth in claim 2, wherein,
The supporting leg (219) is a round table type supporting leg (219), two symmetrical fixing plates (220) are fixed at the top ends of the supporting leg (219), rotating grooves (221) are formed in the fixing plates (220), rotating shafts (222) are respectively arranged at the bottom ends of the first bouncing leg connecting rod (204) and the second bouncing leg connecting rod (213), and the rotating shafts (222) are placed in the rotating grooves (221) to enable the supporting leg (219) to be connected with the bouncing leg connecting rods in a rotating mode.
4. A jumping robot bouncing mechanism as set forth in claim 1, wherein,
Washers are arranged on the first transmission shaft (206), the third transmission shaft (208), the fifth transmission shaft (215) and the seventh transmission shaft (217).
5. A jumping robot bouncing mechanism as set forth in claim 1, wherein,
The heel brace (4041) is a semicircle heel brace (4041).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211029202.XA CN115195898B (en) | 2022-08-26 | 2022-08-26 | Jumping mechanism of jumping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211029202.XA CN115195898B (en) | 2022-08-26 | 2022-08-26 | Jumping mechanism of jumping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115195898A CN115195898A (en) | 2022-10-18 |
| CN115195898B true CN115195898B (en) | 2024-06-14 |
Family
ID=83572171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211029202.XA Active CN115195898B (en) | 2022-08-26 | 2022-08-26 | Jumping mechanism of jumping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115195898B (en) |
Citations (1)
| 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 |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN102050156B (en) * | 2009-11-05 | 2013-04-03 | 西北工业大学 | Bionic hopping robot with two degrees of freedom |
| CN102050157B (en) * | 2009-11-05 | 2013-04-03 | 西北工业大学 | Energy storage and release device of hopping robot |
| CN102806951B (en) * | 2012-08-07 | 2015-08-12 | 北方工业大学 | Imitative frog hopping robot |
| CN106184445B (en) * | 2016-07-25 | 2018-03-27 | 西北工业大学 | A kind of micro machine drives the four bionical hopping mechanisms of bar straight line |
| CN109319007B (en) * | 2018-08-01 | 2020-06-09 | 浙江理工大学 | Four-foot bouncing device based on incomplete gear |
| CN109533076B (en) * | 2018-12-13 | 2020-04-03 | 燕山大学 | Imitative bullet tail worm jumping robot with ability of crawling |
| CN114212159B (en) * | 2021-11-24 | 2023-07-21 | 西北工业大学 | Single-motor-driven locust-simulated jump flapping wing double-movement-mode mechanism |
| CN114892929A (en) * | 2022-06-14 | 2022-08-12 | 南京晓庄学院 | Crawler robot convenient for brushing wall paint on indoor internal corner area |
-
2022
- 2022-08-26 CN CN202211029202.XA patent/CN115195898B/en active Active
Patent Citations (1)
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| 仿蝗虫跳跃机器人的后腿跳跃机械结构设计;徐成宇;朱人杰;张宝庆;曹晓捷;张连青;袁慧静;熊梦强;;长春理工大学学报(自然科学版);20160815(第04期);第67-72页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115195898A (en) | 2022-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106005092B (en) | The apery Soccer robot leg mechanism of connection in series-parallel mixing | |
| CN110588833B (en) | High-load three-section leg structure suitable for electric foot type robot | |
| CN2789106Y (en) | Single-power rolling four-bar mechanism | |
| CN111003074B (en) | Parallel wheel-foot type robot leg structure and mobile robot | |
| CN111391934B (en) | Wheel-leg composite robot moving device and wheel-leg composite robot | |
| CN103029120A (en) | Folding static load balance adjusting parallel platform | |
| CN108942908B (en) | Rotary joint variable-rigidity actuator | |
| CN103273493A (en) | Robot neck mechanism | |
| CN111547148A (en) | Deformation wheel device, wheel-track leg walking device and wheel-track leg robot | |
| CN110588822B (en) | Bionic wall climbing device | |
| CN102991601A (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN115195898B (en) | Jumping mechanism of jumping robot | |
| CN106363610A (en) | Novel three-freedom-degree translational motion parallel mechanism | |
| CN107717999B (en) | Waist simulation device of bionic robot mouse based on multi-link transmission | |
| CN211586703U (en) | Biomedical detection operation panel | |
| CN206231477U (en) | A kind of hopping robot | |
| CN103010329A (en) | Biped walking movement mechanism | |
| CN113581317A (en) | Bionic hexapod robot | |
| CN111891250B (en) | Humanoid robot leg with advancing function | |
| CN110001813B (en) | Single-foot driven robot leg capable of rolling friction and sliding simultaneously | |
| CN106584432A (en) | Five degree-of-freedom serial-parallel robot | |
| CN111232083B (en) | Robot ground | |
| CN216505167U (en) | Bionic cockroach detection robot | |
| CN109079824A (en) | A kind of robot that stability is good | |
| CN111942495B (en) | Three-foot swinging advancing 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 |