CN117087781A - Bionic jumping robot - Google Patents
Bionic jumping robot Download PDFInfo
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- CN117087781A CN117087781A CN202311188679.7A CN202311188679A CN117087781A CN 117087781 A CN117087781 A CN 117087781A CN 202311188679 A CN202311188679 A CN 202311188679A CN 117087781 A CN117087781 A CN 117087781A
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- 230000009191 jumping Effects 0.000 title claims abstract description 179
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 273
- 210000003194 forelimb Anatomy 0.000 claims abstract description 35
- 210000000689 upper leg Anatomy 0.000 claims description 142
- 210000002414 leg Anatomy 0.000 claims description 70
- 244000309466 calf Species 0.000 claims description 66
- 210000001364 upper extremity Anatomy 0.000 claims description 33
- 210000002683 foot Anatomy 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 21
- 230000003592 biomimetic effect Effects 0.000 claims description 13
- 210000000548 hind-foot Anatomy 0.000 claims description 11
- 238000004804 winding Methods 0.000 claims description 9
- 210000003414 extremity Anatomy 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 210000004744 fore-foot Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
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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
Abstract
The invention discloses a bionic jumping robot, wherein a first motor and a second motor are arranged in a shell; the left side jump system and the right side jump system are symmetrically arranged at the left rear side and the right rear side of the shell, and are connected to synchronously move; the first motor is only connected with the upper end of the left jumping system or the upper end of the right jumping system so as to adjust the jumping direction of the bionic jumping robot by controlling the left jumping system and the right jumping system to synchronously move; the second motor drives the left jumping system and the right jumping system to synchronously move through the driving traction mechanism so as to realize the jumping of the bionic robot; the left forelimb and the right forelimb are symmetrically arranged on the left front side and the right front side of the shell and can synchronously move; the controller controls the operation of the first motor and the second motor. The invention can adjust the jumping direction, can continuously jump, has good stability, simple and compact structure, light weight, low manufacturing cost and small volume.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a bionic jumping robot.
Background
Along with the development of technologies in various aspects such as machinery, electronics, computers and the like, the application range of robots is continuously expanded, the automation degree and the environmental adaptability of the robots are improved, and the robots play an important role in various fields. The bionic jumping robot imitates a jumping mechanism of living things in nature in terms of mechanical structure, achieves strong obstacle crossing capability, can cross obstacles with the size larger than that of the robot, is widely applied to various complicated terrains, and plays an important role in the work of terrain exploration, disaster rescue and the like.
Jumping motion is a motion form of many organisms, and the current bionic jumping robot mainly adopts jumping mechanisms of organisms such as frog, locust and the like to simulate the motion of legs of the robot. However, the current research is mainly focused on improving the durability of the jumping robot, reducing the structural complexity and cost, improving the production efficiency, and the like, and the research on improving the jumping height and distance is less. Reducing the mass of the robot is an important way to increase the jump height and distance, and the steering engine and the power supply are used as the core of the robot and are primary consideration objects for weight reduction. The working principle of the bionic jumping robot is that a winding roll is rotated through a steering engine, so that a traction wire is tensioned, an incomplete gear is separated from a spur gear, the traction wire is loosened, the elasticity of leg torsion springs is released, and the robot is driven to jump. The steering engine has the advantages that the forelimbs can swing forwards on the ground through the steering engine, so that the jumping stability is improved. Meanwhile, the angle of the hind limb can be adjusted, and the jump height is improved. The robot has the defects that the steering engine required by the mechanism is too many, the quality of the robot is greatly increased, and the jump height and the jump distance are reduced. Meanwhile, the hind limbs on two sides are controlled by two independent steering engines, so that the synchronicity of hind limb extension and contraction is difficult to ensure, and the stability of the robot is reduced.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a bionic jumping robot, which can adjust the jumping direction, can continuously jump, and has the advantages of good stability, simple structure, compactness, light weight, low manufacturing cost and small volume.
According to an embodiment of the invention, a bionic jumping robot includes:
a housing;
the first motor is arranged in the shell;
the second motor is arranged in the shell;
a jumping system comprising a left side jumping system, a right side jumping system, and a traction mechanism; the left side jump system and the right side jump system are symmetrically arranged at the left rear side and the right rear side of the shell, and are connected to synchronously move; the first motor is only connected with the upper end of the left jumping system or the upper end of the right jumping system so as to adjust the jumping direction of the bionic jumping robot by controlling the left jumping system and the right jumping system to synchronously move; the second motor drives the traction mechanism to drive the left jumping system and the right jumping system to synchronously move so as to realize jumping of the bionic robot;
The forelimb system comprises a left forelimb and a right forelimb, the left forelimb and the right forelimb are symmetrically arranged on the left front side and the right front side of the shell, and the left forelimb and the right forelimb are connected to be capable of synchronously moving;
and a controller controlling operations of the first motor and the second motor.
Compared with the existing robots, the bionic jumping robot provided by the embodiment of the invention has the following advantages: the left side jumping system and the right side jumping system are connected and fused into a whole, so that the left side jumping system and the right side jumping system can simultaneously have the same action, only the upper end of the left side jumping system or the upper end of the right side jumping system is connected with the first motor, the second motor is connected with the left side jumping system and the right side jumping system which are connected with each other through the traction mechanism, the complexity of the mechanism is reduced, and the bionic jumping robot is simplified, compact, light and low in manufacturing cost; the stability of the bionic jumping robot is improved; the left jumping system and the right jumping system are driven to synchronously move through the first motor to adjust the pitching angle of the shell, namely the jumping direction of the bionic jumping robot is adjusted, the left jumping system is connected with the right jumping system and the left forelimb is connected with the right forelimb, and the stability of the bionic jumping robot is improved. And the jumping direction and the jumping action of the bionic jumping robot are respectively controlled by only two motors (namely a first motor and a second motor). In summary, the bionic jumping robot provided by the embodiment of the invention can adjust the jumping direction, can continuously jump, and has the advantages of good stability, simple, compact and light structure, low manufacturing cost and small volume.
In some embodiments, the left side jump system includes a left rear leg, a left stop mechanism, and a left resilient member assembly; the upper end of the left rear leg is hinged with the shell, the left limiting mechanism is arranged on the left rear leg, and the left elastic element assembly is arranged on the left rear leg and the left limiting mechanism;
the right side jumping system comprises a right rear leg, a right limiting mechanism and a right elastic element assembly; the upper end of the right rear leg is hinged with the shell, the right limiting mechanism is arranged on the right rear leg, and the right elastic element assembly is arranged on the right rear leg and the right limiting mechanism;
the left rear leg and the right rear leg are connected through a rear leg connecting shaft assembly, the traction mechanism is respectively connected with the second motor and the limiting connecting shaft, and the left end and the right end of the limiting connecting shaft are respectively locked with the left limiting mechanism and the right limiting mechanism when the left rear leg and the right rear leg are in an original state;
when the controller controls the second motor to drive the traction mechanism to tighten up and drive the limiting connecting shaft to move upwards, the limiting connecting shaft drives the left limiting mechanism and the right limiting mechanism, the left limiting mechanism and the right limiting mechanism drive the left rear leg, the right rear leg, the left elastic element assembly and the right elastic element assembly to compress until the limiting connecting shaft slides away from the left limiting mechanism and the right limiting mechanism, the controller controls the second motor to stop running, at the moment, the left rear leg and the right rear leg jump under the action of restoring force of the left elastic element assembly and the right elastic element assembly, and meanwhile, the limiting connecting shaft, the left limiting mechanism and the right limiting mechanism return to the original position under the action of the left elastic element assembly and the right elastic element assembly.
In some embodiments, the left rear leg comprises a left thigh mechanism, a left calf mechanism; the left elastic element assembly comprises a left first elastic element, a left second elastic element and a left third elastic element; the upper end of the left thigh mechanism is hinged with the shell, the upper end of the left calf mechanism is hinged with the lower end of the left thigh mechanism, one end of the left limiting mechanism is hinged with the left thigh mechanism, and the left limiting mechanism is hinged with a left arc rod extending in the front-lower direction on the left calf mechanism; the left first elastic element is positioned at the hinge position of the left thigh mechanism and the left calf mechanism, the left second elastic element is positioned at the hinge position of the left thigh mechanism and the left limiting mechanism, and the left third elastic element is positioned at the hinge position of the left limiting mechanism and the left arc rod;
the right rear leg comprises a right thigh mechanism and a right shank mechanism; the right elastic element assembly comprises a right first elastic element, a right second elastic element and a right third elastic element; the upper end of the right thigh mechanism is hinged with the shell, the upper end of the right calf mechanism is hinged with the lower end of the right thigh mechanism, one end of the right limiting mechanism is hinged with the right thigh mechanism, and the right limiting mechanism is hinged with a right arc rod extending in the front-lower direction on the right calf mechanism; the right first elastic element is positioned at the hinge position of the right thigh mechanism and the right shank mechanism, the right second elastic element is positioned at the hinge position of the right thigh mechanism and the right limiting mechanism, and the right third elastic element is positioned at the hinge position of the right limiting mechanism and the right arc rod;
The rear leg connecting shaft assembly comprises a thigh connecting shaft and a shank connecting shaft, wherein the left end and the right end of the thigh connecting shaft are respectively hinged with the lower end of the left thigh mechanism and the lower end of the right thigh mechanism, and the left end and the right end of the shank connecting shaft are respectively hinged with the lower end of the left shank mechanism and the lower end of the right shank mechanism;
when the controller controls the second motor to drive the traction mechanism to tighten, the limiting connecting shaft is driven to move upwards, meanwhile, upward acting force is given to the left limiting mechanism and the right limiting mechanism, the left limiting mechanism and the right limiting mechanism which are subjected to the upward acting force move under the constraint of the left calf mechanism and the right calf mechanism, the left thigh mechanism and the right thigh mechanism are pulled to rotate, the left first elastic element and the right first elastic element are compressed until the limiting connecting shaft slides away from the left limiting mechanism and the right limiting mechanism, the controller controls the second motor to stop running, the left limiting mechanism and the right limiting mechanism are under the action of restoring force of the left first elastic element and the right first elastic element, the left calf mechanism and the right calf mechanism are driven to rebound, the bionic jumping robot jumps forwards, and meanwhile, the left limiting mechanism returns to the original position under the action of the left second elastic element and the left third elastic element, and the right elastic element returns to the original position under the action of the second elastic element and the right elastic element.
In some embodiments, the left thigh mechanism comprises an upper left short bar, a left thigh front bar, a left middle short bar, and a left thigh rear bar, which are hinged in sequence to form a parallelogram; the left calf mechanism comprises a left calf front rod, a left lower short rod and a left calf rear rod, and the left middle short rod, the left calf front rod, the left lower short rod and the left calf rear rod are sequentially hinged to form a parallelogram; the left limiting mechanism comprises a left first rod and a left second rod, one end of the left first rod is hinged with the left thigh front rod, one end of the left second rod is hinged with the left arc rod, a first pin on the left second rod is slidably abutted on the upper side surface of the left first rod, and the left end of the limiting connecting shaft is slidably abutted on the lower side surface of the left first rod; the left first elastic element is positioned at the hinge position of the left thigh front rod and the left calf front rod, the left second elastic element is positioned at the hinge position of the left thigh front rod and the left limiting mechanism, the left third elastic element is positioned at the hinge position of the left first rod and the left arc rod, the rigidity of the left first elastic element is larger than the rigidity of the left second elastic element, and the rigidity of the left second elastic element is larger than the rigidity of the left third elastic element;
The right thigh mechanism comprises a right upper short rod, a right thigh front rod, a right middle short rod and a right thigh rear rod, and the right upper short rod, the right thigh front rod, the right middle short rod and the right thigh rear rod are sequentially hinged to form a parallelogram; the right calf mechanism comprises a right calf front rod, a right lower short rod and a right calf rear rod, and the right middle short rod, the right calf front rod, the right lower short rod and the right calf rear rod are sequentially hinged to form a parallelogram; the right limiting mechanism comprises a right first rod and a right second rod, one end of the right first rod is hinged with the right thigh front rod, one end of the right second rod is hinged with the right arc rod, a first pin on the right second rod is slidably abutted on the upper side surface of the right first rod, and the right end of the limiting connecting shaft is slidably abutted on the lower side surface of the right first rod; the right first elastic element is positioned at the hinge position of the right thigh front rod and the right calf front rod, the right second elastic element is positioned at the hinge position of the right thigh front rod and the right limiting mechanism, the right third elastic element is positioned at the hinge position of the right first rod and the right arc rod, the rigidity of the right first elastic element is larger than the rigidity of the right second elastic element, and the rigidity of the right second elastic element is larger than the rigidity of the right third elastic element;
The output shaft of the first motor is connected with only the left upper short rod or the right upper short rod.
In some embodiments, the left end of the thigh link shaft is coaxially hinged with the left thigh rear lever and the left mid-rail, and the right end of the thigh link shaft is coaxially hinged with the right thigh rear lever and the right mid-rail;
the left end of the shank connecting shaft is coaxially hinged with the left shank rear rod and the left lower short rod, and the right end of the shank connecting shaft is coaxially hinged with the right shank rear rod and the right lower short rod.
In some embodiments, the left first elastic element is a left first torsion spring, and the left first torsion spring is sleeved on the convex column of the left first rod and is abutted on the left thigh front rod and the left shank front rod; the left second elastic element is a left second torsion spring which is sleeved on the convex column of the left thigh front rod and is abutted on the upper side surfaces of the left thigh front rod and the left first rod; the left third elastic element is a left third torsion spring which is sleeved on the convex column of the left arc rod and is respectively abutted on the left arc rod and the left second rod;
the right first elastic element is a right first torsion spring, and the right first torsion spring is sleeved on the convex column of the right first rod and is abutted to the right thigh front rod and the right shank front rod; the right second elastic element is a right second torsion spring which is sleeved on the convex column of the right thigh front rod and is abutted on the upper side surfaces of the right thigh front rod and the right first rod; the right third elastic element is a right third torsion spring, and the third torsion spring is sleeved on the convex column of the right arc rod and is respectively abutted to the right arc rod and the right second rod.
In some embodiments, the other end face of the left first rod is a semi-circumferential face; the other end face of the right first rod is a semicircular peripheral face.
In some embodiments, the left jumping system further comprises a left hindfoot coaxially hinged at a rear end thereof, at a lower end of the left shank front rod, and at a left end of a foot connecting shaft;
the right jumping system further comprises a right hind foot, wherein the rear end of the right hind foot, the lower end of the right shank front rod and the right end of the foot connecting shaft are coaxially hinged.
In some embodiments, the left forelimb includes a left foreleg bar and a left forefoot, an upper end of the left foreleg bar being hinged with the chassis, a rear end of the left forefoot being hinged with a lower end of the left foreleg bar;
the right front limb comprises a right front leg rod and a right front foot, the upper end of the right front leg rod is hinged with the shell, and the rear end of the right front foot is hinged with the lower end of the right front leg rod;
the lower end of the left front leg rod is hinged with the lower end of the right front leg rod and the left end and the right end of the front leg connecting shaft.
In some embodiments, the traction mechanism includes a spool and a traction wire; the winding wheel is connected onto the driving shaft of the second motor, the traction wire is wound on the winding wheel, and the tail end of the traction wire extends out of the casing and is connected with the limiting connecting shaft.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a biomimetic jumping robot in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of an orientation of a biomimetic jumping robot in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of the partial structure of FIG. 2;
FIG. 4 is another schematic view of an orientation of a biomimetic jumping robot of an embodiment of the present invention;
FIG. 5 is a schematic view of the partial structure of FIG. 4;
reference numerals
Bionic jumping robot 1000; a housing 1; a first motor 2; a second motor 3; a left jump system 4; left rear leg 401; a left thigh mechanism 4011; an upper left short bar 40111; a left thigh front bar 40112; left middle short bar 40113; left thigh rear bar 40114; a left calf mechanism 4012; left shank forward shank 40121; left arc rod 40121a; left lower short bar 40122; left shank rear stem 40123; a left limit mechanism 402; left first rod 4021; left second rod 4022; left first pin 40221; a left elastic element assembly 403; a left first elastic element 4031; a left second elastic element 4032; a left third elastic element 4033; left hindfoot 4013; a right jump system 5; a right rear leg 501; a right thigh mechanism 5011; upper right stub 50111; a right thigh front lever 50112; a right middle short lever 50113; right thigh rear bar 50114; a right calf mechanism 5012; a right calf front lever 50121; a right arc lever 50121a; a lower right short lever 50122; a right calf posterior lever 50123; a right limit mechanism 502; a right first lever 5021; a right second lever 5022; a right first pin 50221; a right spring element assembly 503; a right first elastic element 5031; a right second elastic element 5032; a right third elastic element 5033; right hindfoot 5013; a traction mechanism 6; a winding wheel 601; a pull wire 602; left forelimb 7; left front leg bar 701; left forefoot 702; a right anterior limb 8; a right front leg bar 801; a right forefoot 802; a controller 9; a rear leg link shaft assembly 10; thigh connecting shaft 1001; shank coupling shaft 1002; foot connection shaft 1003; a limit connecting shaft 11; the front leg is connected to the shaft 12.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
A bionic jumping robot 1000 according to an embodiment of the present invention is described below with reference to fig. 1 to 5.
As shown in fig. 1 to 5, a bionic jumping robot 1000 according to an embodiment of the present invention includes a cabinet 1, a first motor 2, a second motor 3, a jumping system, a forelimb system, and a controller 9.
The first motor 2 is arranged in the shell 1 and used as a power source for adjusting the direction of the bionic jumping robot 1000; the second motor 3 is arranged in the casing 1 and is used as a power source for realizing the jump of the bionic jumping robot 1000.
The jumping system comprises a left jumping system 4, a right jumping system 5 and a traction mechanism 6. The left side jumping system 4 and the right side jumping system 5 are symmetrically disposed at the left rear side and the right rear side of the cabinet 1, and the left side jumping system 4 and the right side jumping system 5 are connected to be capable of synchronous movement; the first motor 2 is connected with the upper end of the left jumping system 4 or the upper end of the right jumping system 5 only, so as to adjust the jumping direction of the bionic jumping robot 1000 by controlling the left jumping system 4 and the right jumping system 5 to synchronously move; the second motor 3 drives the traction mechanism 6 to drive the left jumping system 4 and the right jumping system 5 to synchronously move so as to realize the jumping of the bionic robot. It can be understood that the left side jumping system 4 and the right side jumping system 5 are connected and fused into a whole, so that the left side jumping system 4 and the right side jumping system 5 can have the same action at the same time, only the upper end of the left side jumping system 4 or the upper end of the right side jumping system 5 is needed to be accessed into the first motor 2, the second motor 3 is connected with the left side jumping system 4 and the right side jumping system 5 which are connected with each other through the traction mechanism 6, the complexity of the mechanism is reduced, the structure of the bionic jumping robot 1000 is simplified, and the stability of the bionic jumping robot 1000 is improved; the first motor 2 drives the left jumping system 4 and the right jumping system 5 to synchronously move to adjust the pitching angle of the shell 1, namely the jumping direction of the bionic jumping robot 1000 is adjusted, and the second motor 3 drives the traction mechanism 6 to drive the left jumping system 4 and the right jumping system 5 to simultaneously jump. That is, the jumping direction and the jumping motion of the bionic jumping robot 1000 are controlled by only two motors, i.e., the first motor 2 and the second motor 3, respectively.
The forelimb system comprises a left forelimb 7 and a right forelimb 8, wherein the left forelimb 7 and the right forelimb 8 are symmetrically arranged on the left front side and the right front side of the shell 1, and the left forelimb 7 and the right forelimb 8 are connected to be capable of synchronous movement; it can be understood that the left forelimb 7 and the right forelimb 8 are connected and fused into a whole, so that the left forelimb 7 and the right forelimb 8 can have the same action at the same time, and the stability of the bionic jumping robot 1000 is improved.
The controller 9 is disposed in the casing 1, and controls the operation of the first motor 2 and the second motor 3 to adjust the jumping direction of the bionic jumping robot 1000 and realize jumping of the bionic jumping robot 1000.
Compared with the existing robots, the bionic jumping robot 1000 of the embodiment of the invention has the following advantages: the left side jumping system 4 and the right side jumping system 5 are connected and fused into a whole, so that the left side jumping system 4 and the right side jumping system 5 can have the same action at the same time, only the upper end of the left side jumping system 4 or the upper end of the right side jumping system 5 is connected with the first motor 2, the second motor 3 is connected with the left side jumping system 4 and the right side jumping system 5 which are connected with each other through the traction mechanism 6, the complexity of the mechanism is reduced, and the bionic jumping robot 1000 is simplified and compact in structure, light and low in manufacturing cost; and the stability of the bionic jumping robot 1000 is improved; the first motor 2 drives the left jumping system 4 and the right jumping system 5 to synchronously move to adjust the pitching angle of the shell 1, namely the jumping direction of the bionic jumping robot 1000 is adjusted, the left jumping system 4 and the right jumping system 5 are connected, the left forelimb 7 and the right forelimb 8 are connected, and the stability of the bionic jumping robot 1000 is improved. And the jumping direction and the jumping motion of the bionic jumping robot 1000 are controlled by only two motors (i.e., the first motor 2 and the second motor 3), respectively. In summary, the bionic jumping robot 1000 of the embodiment of the invention can adjust the jumping direction, can continuously jump, has good stability, simple and compact structure, light weight, low manufacturing cost, small volume and light weight.
In some embodiments, left jump system 4 includes a left rear leg 401, a left stop mechanism 402, and a left resilient member assembly 403; the upper end of the left rear leg 401 is hinged with the casing 1, a left stopper mechanism 402 is provided on the left rear leg 401, and a left elastic member assembly 403 is provided on the left rear leg 401 and the left stopper mechanism 402.
The right jump system 5 comprises a right rear leg 501, a right stop mechanism 502 and a right resilient member assembly 503; the upper end of the right rear leg 501 is hinged with the casing 1, a right stopper mechanism 502 is provided on the right rear leg 501, and a right elastic member assembly 503 is provided on the right rear leg 501 and the right stopper mechanism 502.
The left rear leg 401 and the right rear leg 501 are connected through the rear leg connecting shaft assembly 10, the traction mechanism 6 is respectively connected with the second motor 3 and the limit connecting shaft 11, and the left end and the right end of the limit connecting shaft 11 are respectively locked with the left limit mechanism 402 and the right limit mechanism 502 when the left rear leg 401 and the right rear leg 501 are in the original state. Thus, the left jump system 4 and the right jump system 5 are integrated together, and can have the same operation at the same time.
When the controller 9 controls the second motor 3 to drive the traction mechanism 6 to tighten, the limiting connecting shaft 11 is driven to move upwards, the limiting connecting shaft 11 drives the left limiting mechanism 402 and the right limiting mechanism 502, the left limiting mechanism 402 and the right limiting mechanism 502 drive the left rear leg 401 and the right rear leg 501 and the left elastic element assembly 403 and the right elastic element assembly 503 to compress until the limiting connecting shaft 11 slides away from the left limiting mechanism 402 and the right limiting mechanism 502, the controller 9 controls the second motor 3 to stop running, at this time, the left rear leg 401 and the right rear leg 501 jump under the restoring force of the left elastic element assembly 403 and the right elastic element assembly 503, and meanwhile, the limiting connecting shaft 11, the left limiting mechanism 402 and the right limiting mechanism 502 return to the original position under the action of the left elastic element assembly 403 and the right elastic element assembly 503, so that the jump of the bionic jumping robot 1000 is realized.
By arranging the left stop mechanism 402 on the left rear leg 401 and the right stop mechanism 502 on the right rear leg 501, the increase in mass caused by using the gear engagement mechanism in the prior art is avoided, and the whole mechanical structure of the bionic jumping robot 1000 is simpler. By the arrangement of the left elastic element assembly 403 and the right elastic element assembly 503, the left side jump system 4 and the right side jump system 5 are automatically returned after the jump, and a plurality of jumps can be performed consecutively.
In some embodiments, left rear leg 401 includes left thigh mechanism 4011, left shank mechanism 4012; the left resilient element assembly 403 includes a left first resilient element 4031, a left second resilient element 4032, and a left third resilient element 4033; the upper end of the left thigh mechanism 4011 is hinged with the casing 1, the upper end of the left shank mechanism 4012 is hinged with the lower end of the left thigh mechanism 4011, one end of the left limiting mechanism 402 is hinged with the left thigh mechanism 4011, and the left limiting mechanism 402 is hinged with a left arc rod 40121a extending forwards and downwards on the left shank mechanism 4012; the left first elastic element 4031 is located at the hinge of the left thigh mechanism 4011 and the left shank mechanism 4012, the left second elastic element 4032 is located at the hinge of the left thigh mechanism 4011 and the left limiting mechanism 402, and the left third elastic element 4033 is located at the hinge of the left limiting mechanism 402 and the left arc rod 40121 a.
The right rear leg 501 includes a right thigh mechanism 5011, a right shank mechanism 5012; the right elastic element assembly 503 includes a right first elastic element 5031, a right second elastic element 5032, and a right third elastic element 5033; the upper end of the right thigh mechanism 5011 is hinged with the shell 1, the upper end of the right calf mechanism 5012 is hinged with the lower end of the right thigh mechanism 5011, one end of the right limiting mechanism 502 is hinged with the right thigh mechanism 5011, and the right limiting mechanism 502 is hinged with a right arc rod 50121a extending in the front lower direction on the right calf mechanism 5012; the right first elastic element 5031 is located at the hinge of the right thigh mechanism 5011 and the right calf mechanism 5012, the right second elastic element 5032 is located at the hinge of the right thigh mechanism 5011 and the right stopper mechanism 502, and the right third elastic element 5033 is located at the hinge of the right stopper mechanism 502 and the right arc lever 50121 a.
The rear leg link assembly 10 includes a thigh link 1001 and a shank link 1002, both left and right ends of the thigh link 1001 are hinged to a lower end of the left thigh mechanism 4011 and a lower end of the right thigh mechanism 5011, respectively, and both left and right ends of the shank link 1002 are hinged to a lower end of the left shank mechanism 4012 and a lower end of the right shank mechanism 5012, respectively.
When the controller 9 controls the second motor 3 to drive the traction mechanism 6 to tighten, the limit connecting shaft 11 is driven to move upwards, meanwhile, upward acting force is given to the left limit mechanism 402 and the right limit mechanism 502, the left limit mechanism 402 and the right limit mechanism 502 which are subjected to the upward acting force move under the constraint of the left lower leg mechanism 4012 and the right lower leg mechanism 5012, the left upper leg mechanism 4011 and the right upper leg mechanism 5011 are pulled to rotate, the left first elastic element 4031 and the right first elastic element 5031 are compressed until the limit connecting shaft 11 slides away from the left limit mechanism 402 and the right limit mechanism 502, the controller 9 controls the second motor 3 to stop running, the restoring force of the left limit mechanism 402 and the right limit mechanism 502 acts on the left first elastic element 4031 and the right first elastic element 5031, the left lower leg mechanism 4012 and the right lower leg mechanism 5012 are driven to rebound, the bionic robot 1000 jumps forwards, meanwhile, the left limit mechanism 402 jumps back to the original position under the action of the left second elastic element 4032 and the right third elastic element 5033, and the right limit mechanism 502 returns to the original position under the action of the third elastic element 5033.
By hinging the left limiting mechanism 402 with the left arc rod 40121a on the left thigh mechanism 4011 and the left shank mechanism 4012, respectively, and by hinging the right limiting mechanism 502 with the right arc rod 50121a on the right thigh mechanism 5011 and the right shank mechanism 5012, respectively, the increase in mass due to the use of the gear engagement mechanism in the prior art is avoided, and the overall mechanical structure of the bionic jumping robot 1000 is made simpler. When the traction mechanism 6 is driven to tighten by the second motor 3, energy is stored by the left first elastic element 4031 and the right first elastic element 5031 for taking off, and at the same time, the left second elastic far-near and right second elastic element 5032 is compressed for taking off. After the limit connecting shaft 11 is separated from the left limit mechanism 402 and the right limit mechanism 502, the left limit mechanism 402 and the right limit mechanism 502 return to the original positions through the left second elastic element 4032, the right second elastic element 5032, the left third elastic element 4033 and the right third elastic element 5033.
In some embodiments, the left thigh mechanism 4011 comprises an upper left stub 40111, a front left thigh 40112, a middle left stub 40113, a rear left thigh 40114, the upper left stub 40111, the front left thigh 40112, the middle left stub 40113, the rear left thigh 40114 being hinged in sequence to form a parallelogram; the left calf mechanism 4012 comprises a left calf front rod 40121, a left lower short rod 40122 and a left calf rear rod 40123, and a left middle short rod 40113, a left calf front rod 40121, a left lower short rod 40122 and a left calf rear rod 40123 are hinged in sequence to form a parallelogram; the left limiting mechanism 402 includes a left first rod 4021 and a left second rod 4022, one end of the left first rod 4021 is hinged with the left thigh front rod 40112, one end of the left second rod 4022 is hinged with the left arc rod 40121a, a first pin on the left second rod 4022 is slidably abutted on the upper side surface of the left first rod 4021, and the left end of the limiting connecting shaft 11 is slidably abutted on the lower side surface of the left first rod 4021; the left first elastic element 4031 is located at the hinge of the left thigh front rod 40112 and the left calf front rod 40121, the left second elastic element 4032 is located at the hinge of the left thigh front rod 40112 and the left stop mechanism 402, the left third elastic element 4033 is located at the hinge of the left first rod 4021 and the left arc rod 40121a, the stiffness of the left first elastic element 4031 is greater than the stiffness of the left second elastic element 4032, and the stiffness of the left second elastic element 4032 is greater than the stiffness of the left third elastic element 4033.
The right thigh mechanism 5011 includes an upper right short lever 50111, a front right thigh lever 50112, a middle right short lever 50113, a rear right thigh lever 50114, and an upper right short lever 50111, a front right thigh lever 50112, a middle right short lever 50113, and a rear right thigh lever 50114 are hinged in this order to form a parallelogram; the right calf mechanism 5012 includes a right calf front lever 50121, a right lower short lever 50122 and a right calf rear lever 50123, and a right middle short lever 50113, a right calf front lever 50121, a right lower short lever 50122 and a right calf rear lever 50123 are hinged in this order to form a parallelogram.
The right limiting mechanism 502 comprises a right first rod 5021 and a right second rod 5022, one end of the right first rod 5021 is hinged with a right thigh front rod 50112, one end of the right second rod 5022 is hinged with a right arc rod 50121a, a first pin on the right second rod 5022 is slidably abutted on the upper side surface of the right first rod 5021, and the right end of a limiting connecting shaft 11 is slidably abutted on the lower side surface of the right first rod 5021; the right first elastic element 5031 is located at the hinge of the right thigh front lever 50112 and the right calf front lever 50121, the right second elastic element 5032 is located at the hinge of the right thigh front lever 50112 and the right stopper 502, the right third elastic element 5033 is located at the hinge of the right first lever 5021 and the right arc lever 50121a, the rigidity of the right first elastic element 5031 is greater than the rigidity of the right second elastic element 5032, and the rigidity of the right second elastic element 5032 is greater than the rigidity of the right third elastic element 5033.
The output shaft of the first motor 2 is connected only to the upper left stub 40111 or the upper right stub 50111.
Taking the connection of the first motor 2 and the upper left short rod 40111 as an example, the working principle and working process of the bionic jumping robot 1000 will be described in detail with reference to the accompanying drawings:
jump direction adjustment:
the controller 9 signals to adjust the jump direction. The first motor 2 receives the signal and drives the left upper short rod 40111 to rotate clockwise or anticlockwise relative to the casing 1. Since the upper left stub 40111 and the middle left stub 40113 are parallel opposite sides in the same parallelogram, the middle left stub 40113 rotates by the same angle with the upper left stub 40111 relative to the casing 1. Because the left middle short rod 40113 and the left lower short rod 40122 are parallel opposite sides in the same parallelogram, the left lower short rod 40122 rotates by the same angle along with the left middle short rod 40113 relative to the casing 1.
Since the left middle short lever 40113 is connected to the right middle short lever 50113 through the thigh connecting shaft 1001 and the left lower short lever 40122 is connected to the right lower short lever 50122 through the shank connecting shaft 1002, the right middle short lever 50113 and the right lower short lever 50122 are rotated by the same angle with respect to the housing 1 when the left middle short lever 40113 and the left lower short lever 40122 are rotated.
Since the robot is supported mainly by the left and right rear legs 501, the left lower short rod 40122 and the right lower short rod 50122 are always kept parallel to the ground, and the pitch angle of the robot relative to the ground can be adjusted by rotating the left lower short rod 40122 and the right lower short rod 50122 relative to the housing 1. The pitch angle is in turn directly related to the jump direction, so that the jump direction is adjusted.
Retention of jump direction:
when the jump direction of the jump robot reaches a predetermined position, the controller 9 signals the end of adjusting the jump direction. The first motor 2 stops rotating after receiving the signal, the angles of the casing 1 relative to the left lower short bar 40122, the right lower short bar 50122 and the ground are unchanged, and the posture of the robot is also determined accordingly, so that the jumping direction of the robot is maintained.
Jumping force accumulation and release:
the controller 9 sends out a jump power storage signal. After the second motor 3 receives the signal, the traction mechanism 6 tightens upwards and then gives an upward force to the limiting connecting shaft 11, and the limiting connecting shaft 11 gives upward forces to the left first rod 4021 and the right first rod 5021 simultaneously.
The forced left primary rod 4021 will move under the constraint of left calf front rod 40121 and pull left thigh front rod 40112 to rotate compressing left primary spring 403136 to achieve the force accumulation. At the same time, the left second elastic element 403234 is also compressed in preparation for rebound home. In the process that the other end of the left first rod 4021 is lifted, the left first pin 40221 on the left second rod 4022 gradually slides to the other end of the left first rod 4021 until the left first pin 40221 is separated from the left first rod 4021, the limiting connecting shaft 11 is separated from the left limiting mechanism 402, and at this time, the left shank front rod 4012122 drives the whole shank mechanism to rebound under the action of the left first elastic element 4031, so that the bionic jumping robot 1000 jumps forward.
The stressed right first lever 5021 will move under the constraint of the right lower leg forward lever 50121 and pull the right thigh forward lever 50112 to rotate, compressing the right first resilient element 5031 to achieve the force reservoir. At the same time, the right second resilient member 5032 is also compressed in preparation for rebound home. In the process that the other end of the right first rod 5021 ascends, the right first pin 50221 on the right second rod 5022 gradually slides to the other end of the right first rod 5021 until the right first pin 50221 is separated from the right first rod 5021, the limiting connecting shaft 11 is separated from the right limiting mechanism 502, at this time, the right shank front rod 50121 drives the whole shank mechanism to rebound under the action of the right first elastic element 5031, and the bionic jumping robot 1000 jumps forwards.
The left and right stop mechanisms 402, 502 home:
when the left first lever 4021 and the right first lever 5021 are separated from the stopper connecting shaft 11, the controller 9 sends a stop signal. Upon receiving the signal, the second motor 3 is stopped, and after the traction mechanism 6 is released, the left first lever 4021 is sprung back by the left second elastic member 4032 and collides with the left first pin 40221. Because the stiffness of left second resilient element 4032 is greater than the stiffness of left third resilient element, left second rod 4022 rotates rearward with left first rod 4021 pressing left first pin 40221, returning left first rod 4021 to left arc rod 40121a of left calf front rod 4012122.
Meanwhile, when the right first lever 5021, the right first lever 5021 and the limit connecting shaft 11 are separated, the controller 9 sends out a stop force storage signal. Upon receiving the signal, the second motor 3 is stopped, and after the traction mechanism 6 is released, the right first lever 5021 is sprung back by the right second elastic element 5032 and collides with the right first pin 50221. Since the rigidity of the right second elastic member 5032 is greater than that of the right third elastic member, the right second lever 5022 is rotated rearward with the right first lever 5021 pressed against the right first pin 50221, returning the right first lever 5021 to the right arc lever 50121a of the right calf front lever 5012122.
The return of the left first lever 4021 and the right first lever 5021 causes the traction mechanism 6 to return at the same time.
The bionic jumping robot 1000 can adjust the jumping direction, can continuously jump, and has the advantages of high energy utilization rate, good stability, simple, compact and light structure, low manufacturing cost, small volume and light weight.
In some embodiments, the left end of the thigh link axle 1001 is coaxially hinged with the left thigh rear lever 40114 and the left mid-short lever 40113, and the right end of the thigh link axle 1001 is coaxially hinged with the right thigh rear lever 50114 and the right mid-short lever 50113; the left end of the shank coupling shaft 1002 is coaxially hinged with the left shank rear rod 40123 and the left lower short rod 40122, and the right end of the shank coupling shaft 1002 is coaxially hinged with the right shank rear rod 50123 and the right lower short rod 50122. In this way, the left jumping system 4 and the right jumping system 5 can do the same action at the same time.
In some embodiments, the left first resilient element 4031 is a left first torsion spring that is sleeved over the boss of the left first rod 4021 and abuts the left thigh front rod 40112 and the left shank front rod 40121; the left second elastic element 4032 is a left second torsion spring, which is sleeved on the boss of the left thigh front rod 40112 and abuts on the upper side surfaces of the left thigh front rod 40112 and the left first rod 4021; the left third elastic element 4033 is a left third torsion spring, and the third torsion spring is sleeved on the convex column of the left arc rod 40121a and is respectively abutted on the left arc rod 40121a and the left second rod 4022; the right first elastic element 5031 is a right first torsion spring, which is sleeved on the convex column of the right first rod 5021 and is abutted on the right thigh front rod 50112 and the right shank front rod 50121; the right second elastic element 5032 is a right second torsion spring, which is sleeved on the convex column of the right thigh front lever 50112 and is abutted on the upper side surfaces of the right thigh front lever 50112 and the right first lever 5021; the right third elastic element 5033 is a right third torsion spring, and the third torsion spring is sleeved on the boss of the right arc rod 50121a and is respectively abutted on the right arc rod 50121a and the right second rod 5022.
In some embodiments, the other end face of left first rod 4021 is a semi-circumferential surface; the other end face of the right first lever 5021 is a semicircular peripheral face. Thus, smooth movement of the left first lever 4021 and the right first lever 5021 is facilitated.
In some embodiments, the left rear leg 401 further includes a left rear foot 4013, the rear end of the left rear foot 4013, the lower end of the left shank forward rod 40121, and the left end of the foot connecting shaft 1003 being coaxially hinged; the right rear leg 501 further includes a right rear foot 5013, the rear end of the right rear foot 5013, the lower end of the right lower leg front lever 50121 and the right end of the foot connecting shaft 1003 being coaxially hinged. By setting the left hindfoot 4013 and the right hindfoot 5013, stability of the bionic jumping robot 1000 is improved.
In some embodiments, left front limb 7 includes left front leg bar 701 and left front foot 702, the upper end of left front leg bar 701 is hinged with chassis 1, the rear end of left front foot 702 is hinged with the lower end of left front leg bar 701; the right front limb 8 comprises a right front leg bar 801 and a right front foot 802, the upper end of the right front leg bar 801 is hinged with the shell 1, and the rear end of the right front foot 802 is hinged with the lower end of the right front leg bar 801; the lower end of the left front leg bar 701 is hinged to the lower end of the right front leg bar 801 and the left and right ends of the front leg connecting shaft 12. By providing the left and right front feet 702, 802, stability of the biomimetic jumping robot 1000 is improved.
It should be noted that, the left hindfoot 4013, the right hindfoot 5013, the left forefoot 702 and the right forefoot 802 are all bionic web-shaped structures, and rollers are arranged on the web-shaped structures, so that posture adjustment of the robot in the landing process after jumping can be ensured, and a certain damping effect is achieved.
In some embodiments, the traction mechanism 6 includes a spool 601 and a traction wire 602; the winding wheel 601 is connected to the driving shaft of the second motor 3, the traction wire 602 is wound on the winding wheel 601, the tail end of the traction wire 602 extends out of the machine shell 1 and is connected with the limiting connecting shaft 11, and the limiting connecting shaft 11 is linked with the winding wheel 601 through the traction wire 602.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A biomimetic jumping robot, comprising:
a housing;
the first motor is arranged in the shell;
the second motor is arranged in the shell;
a jumping system comprising a left side jumping system, a right side jumping system, and a traction mechanism; the left side jump system and the right side jump system are symmetrically arranged at the left rear side and the right rear side of the shell, and are connected to synchronously move; the first motor is only connected with the upper end of the left jumping system or the upper end of the right jumping system so as to adjust the jumping direction of the bionic jumping robot by controlling the left jumping system and the right jumping system to synchronously move; the second motor drives the traction mechanism to drive the left jumping system and the right jumping system to synchronously move so as to realize jumping of the bionic robot;
the forelimb system comprises a left forelimb and a right forelimb, the left forelimb and the right forelimb are symmetrically arranged on the left front side and the right front side of the shell, and the left forelimb and the right forelimb are connected to be capable of synchronously moving;
And a controller controlling operations of the first motor and the second motor.
2. The biomimetic jumping robot of claim 1, wherein the left jumping system comprises a left rear leg, a left limiting mechanism, and a left elastic element assembly; the upper end of the left rear leg is hinged with the shell, the left limiting mechanism is arranged on the left rear leg, and the left elastic element assembly is arranged on the left rear leg and the left limiting mechanism;
the right side jumping system comprises a right rear leg, a right limiting mechanism and a right elastic element assembly; the upper end of the right rear leg is hinged with the shell, the right limiting mechanism is arranged on the right rear leg, and the right elastic element assembly is arranged on the right rear leg and the right limiting mechanism;
the left rear leg and the right rear leg are connected through a rear leg connecting shaft assembly, the traction mechanism is respectively connected with the second motor and the limiting connecting shaft, and the left end and the right end of the limiting connecting shaft are respectively locked with the left limiting mechanism and the right limiting mechanism when the left rear leg and the right rear leg are in an original state;
when the controller controls the second motor to drive the traction mechanism to tighten, the limiting connecting shaft is driven to move upwards, the limiting connecting shaft drives the left limiting mechanism and the right limiting mechanism, the left limiting mechanism and the right limiting mechanism drive the left rear leg, the right rear leg, the left elastic element assembly and the right elastic element assembly to compress until the limiting connecting shaft slides away from the left limiting mechanism and the right limiting mechanism, the controller controls the second motor to stop running, at the moment, the left rear leg and the right rear leg jump under the action of restoring force of the left elastic element assembly and the right elastic element assembly, and meanwhile, the limiting connecting shaft, the left limiting mechanism and the right limiting mechanism return to the original position under the action of the left elastic element assembly and the right elastic element assembly.
3. The biomimetic jumping robot of claim 2, wherein the left rear leg comprises a left thigh mechanism, a left shank mechanism; the left elastic element assembly comprises a left first elastic element, a left second elastic element and a left third elastic element; the upper end of the left thigh mechanism is hinged with the shell, the upper end of the left calf mechanism is hinged with the lower end of the left thigh mechanism, one end of the left limiting mechanism is hinged with the left thigh mechanism, and the left limiting mechanism is hinged with a left arc rod extending in the front-lower direction on the left calf mechanism; the left first elastic element is positioned at the hinge position of the left thigh mechanism and the left calf mechanism, the left second elastic element is positioned at the hinge position of the left thigh mechanism and the left limiting mechanism, and the left third elastic element is positioned at the hinge position of the left limiting mechanism and the left arc rod;
the right rear leg comprises a right thigh mechanism and a right shank mechanism; the right elastic element assembly comprises a right first elastic element, a right second elastic element and a right third elastic element; the upper end of the right thigh mechanism is hinged with the shell, the upper end of the right calf mechanism is hinged with the lower end of the right thigh mechanism, one end of the right limiting mechanism is hinged with the right thigh mechanism, and the right limiting mechanism is hinged with a right arc rod extending in the front-lower direction on the right calf mechanism; the right first elastic element is positioned at the hinge position of the right thigh mechanism and the right shank mechanism, the right second elastic element is positioned at the hinge position of the right thigh mechanism and the right limiting mechanism, and the right third elastic element is positioned at the hinge position of the right limiting mechanism and the right arc rod;
The rear leg connecting shaft assembly comprises a thigh connecting shaft and a shank connecting shaft, wherein the left end and the right end of the thigh connecting shaft are respectively hinged with the lower end of the left thigh mechanism and the lower end of the right thigh mechanism, and the left end and the right end of the shank connecting shaft are respectively hinged with the lower end of the left shank mechanism and the lower end of the right shank mechanism;
when the controller controls the second motor to drive the traction mechanism to tighten, the limiting connecting shaft is driven to move upwards, meanwhile, upward acting force is given to the left limiting mechanism and the right limiting mechanism, the left limiting mechanism and the right limiting mechanism which are subjected to the upward acting force move under the constraint of the left calf mechanism and the right calf mechanism, the left thigh mechanism and the right thigh mechanism are pulled to rotate, the left first elastic element and the right first elastic element are compressed until the limiting connecting shaft slides away from the left limiting mechanism and the right limiting mechanism, the controller controls the second motor to stop running, the left limiting mechanism and the right limiting mechanism are under the action of restoring force of the left first elastic element and the right first elastic element, the left calf mechanism and the right calf mechanism are driven to rebound, the bionic jumping robot jumps forwards, and meanwhile, the left limiting mechanism returns to the original position under the action of the left second elastic element and the left third elastic element, and the right elastic element returns to the original position under the action of the second elastic element and the right elastic element.
4. The biomimetic jumping robot of claim 3, wherein the left thigh mechanism comprises an upper left short bar, a front left thigh bar, a middle left short bar, a rear left thigh bar, the upper left short bar, the front left thigh bar, the middle left short bar, the rear left thigh bar being hinged in sequence to form a parallelogram; the left calf mechanism comprises a left calf front rod, a left lower short rod and a left calf rear rod, and the left middle short rod, the left calf front rod, the left lower short rod and the left calf rear rod are sequentially hinged to form a parallelogram; the left limiting mechanism comprises a left first rod and a left second rod, one end of the left first rod is hinged with the left thigh front rod, one end of the left second rod is hinged with the left arc rod, a first pin on the left second rod is slidably abutted on the upper side surface of the left first rod, and the left end of the limiting connecting shaft is slidably abutted on the lower side surface of the left first rod; the left first elastic element is positioned at the hinge position of the left thigh front rod and the left calf front rod, the left second elastic element is positioned at the hinge position of the left thigh front rod and the left limiting mechanism, the left third elastic element is positioned at the hinge position of the left first rod and the left arc rod, the rigidity of the left first elastic element is larger than the rigidity of the left second elastic element, and the rigidity of the left second elastic element is larger than the rigidity of the left third elastic element;
The right thigh mechanism comprises a right upper short rod, a right thigh front rod, a right middle short rod and a right thigh rear rod, and the right upper short rod, the right thigh front rod, the right middle short rod and the right thigh rear rod are sequentially hinged to form a parallelogram; the right calf mechanism comprises a right calf front rod, a right lower short rod and a right calf rear rod, and the right middle short rod, the right calf front rod, the right lower short rod and the right calf rear rod are sequentially hinged to form a parallelogram; the right limiting mechanism comprises a right first rod and a right second rod, one end of the right first rod is hinged with the right thigh front rod, one end of the right second rod is hinged with the right arc rod, a first pin on the right second rod is slidably abutted on the upper side surface of the right first rod, and the right end of the limiting connecting shaft is slidably abutted on the lower side surface of the right first rod; the right first elastic element is positioned at the hinge position of the right thigh front rod and the right calf front rod, the right second elastic element is positioned at the hinge position of the right thigh front rod and the right limiting mechanism, the right third elastic element is positioned at the hinge position of the right first rod and the right arc rod, the rigidity of the right first elastic element is larger than the rigidity of the right second elastic element, and the rigidity of the right second elastic element is larger than the rigidity of the right third elastic element;
The output shaft of the first motor is connected with only the left upper short rod or the right upper short rod.
5. The biomimetic jumping robot of claim 4, wherein a left end of the thigh link shaft is coaxially hinged with the left thigh rear lever and the left mid-short lever, and a right end of the thigh link shaft is coaxially hinged with the right thigh rear lever and the right mid-short lever;
the left end of the shank connecting shaft is coaxially hinged with the left shank rear rod and the left lower short rod, and the right end of the shank connecting shaft is coaxially hinged with the right shank rear rod and the right lower short rod.
6. The biomimetic jumping robot of claim 4, wherein the left first elastic element is a left first torsion spring, the left first torsion spring is sleeved on a convex column of the left first rod and is abutted on the left thigh front rod and the left shank front rod; the left second elastic element is a left second torsion spring which is sleeved on the convex column of the left thigh front rod and is abutted on the upper side surfaces of the left thigh front rod and the left first rod; the left third elastic element is a left third torsion spring which is sleeved on the convex column of the left arc rod and is respectively abutted on the left arc rod and the left second rod;
The right first elastic element is a right first torsion spring, and the right first torsion spring is sleeved on the convex column of the right first rod and is abutted to the right thigh front rod and the right shank front rod; the right second elastic element is a right second torsion spring which is sleeved on the convex column of the right thigh front rod and is abutted on the upper side surfaces of the right thigh front rod and the right first rod; the right third elastic element is a right third torsion spring, and the third torsion spring is sleeved on the convex column of the right arc rod and is respectively abutted to the right arc rod and the right second rod.
7. The bionic jumping robot according to claim 4, wherein the other end face of the left first rod is a semicircular circumferential face; the other end face of the right first rod is a semicircular peripheral face.
8. The biomimetic jumping robot of claim 4, wherein the left jumping system further comprises a left rear foot, a rear end of the left rear foot, a lower end of the left calf front rod and a left end of a foot connecting shaft being coaxially hinged;
the right jumping system further comprises a right hind foot, wherein the rear end of the right hind foot, the lower end of the right shank front rod and the right end of the foot connecting shaft are coaxially hinged.
9. The biomimetic jumping robot according to any one of claims 1-8, wherein the left forelimb comprises a left foreleg bar and a left foreleg, an upper end of the left foreleg bar being hinged with the chassis, a rear end of the left foreleg being hinged with a lower end of the left foreleg bar;
the right front limb comprises a right front leg rod and a right front foot, the upper end of the right front leg rod is hinged with the shell, and the rear end of the right front foot is hinged with the lower end of the right front leg rod;
the lower end of the left front leg rod is hinged with the lower end of the right front leg rod and the left end and the right end of the front leg connecting shaft.
10. The biomimetic jumping robot according to any one of claims 2-8, wherein the traction mechanism comprises a spool and a traction wire; the winding wheel is connected onto the driving shaft of the second motor, the traction wire is wound on the winding wheel, and the tail end of the traction wire extends out of the casing and is connected with the limiting connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311188679.7A CN117087781A (en) | 2023-09-14 | 2023-09-14 | Bionic jumping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311188679.7A CN117087781A (en) | 2023-09-14 | 2023-09-14 | Bionic jumping robot |
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| CN117087781A true CN117087781A (en) | 2023-11-21 |
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| CN202311188679.7A Pending CN117087781A (en) | 2023-09-14 | 2023-09-14 | Bionic jumping robot |
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- 2023-09-14 CN CN202311188679.7A patent/CN117087781A/en active Pending
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