CN201815109U - Jumping robot imitating the locust movable joint lever ejection mechanism - Google Patents
Jumping robot imitating the locust movable joint lever ejection mechanism Download PDFInfo
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- CN201815109U CN201815109U CN2010205461586U CN201020546158U CN201815109U CN 201815109 U CN201815109 U CN 201815109U CN 2010205461586 U CN2010205461586 U CN 2010205461586U CN 201020546158 U CN201020546158 U CN 201020546158U CN 201815109 U CN201815109 U CN 201815109U
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Abstract
The utility model discloses a jumping robot imitating the locust movable joint lever ejection mechanism, which comprises front legs and rear legs. The front leg has driving, supporting and damping function; is composed of a front leg power mechanism, a front leg motor output shaft, an eccentric cam, a front leg and a front leg spring. The rear leg has driving and movable joint lever elastic energy storing function; is composed of a rear leg power mechanism, a rear leg motor output shaft, a coupling, a rear leg transmission shaft, a spring, a rolling wheel, a rear leg, a rear leg sliding-rotating shaft, a fork shaped rear leg retainer, a fork shaped rear leg retainer tail rod, a spring group, a fixing dialing buckle, a rotating dialing buckle, a screw rod pair, a slide guide sleeve, a spring connected bolt and a wire rope connected bolt. The front leg has the function of providing body lifting force by elastic energy storage realized by the design of eccentric cam; and the rear leg has the functions of slow energy storage and rapid releasing in ejection mechanism realized by the design of movable rotating shaft structure, movable fulcrum lever structure and the combination of fixing dialing buckle and rotating buckle.
Description
Technical field
The utility model relates to a kind of robot architecture, relates to hopping robot's structure that a kind of imitative locust turning joint lever launches mechanism specifically.
Technical background
Space exploration is the focus of an extensive concern of various countries' aerospace field.The Lunokhod series lunar rover of the Soviet Union, the Sojourner of the U.S., Encourage, Spirit series Mars rovers have all adopted the structure that moves in turn.Traditional structural design that moves in turn can not be passed through rugged sloping road, celestial body surface, and avoidances of can only detouring usually relying on solar energy that effect and the efficient that has had a strong impact on exploration in the interspace environment of the energy is provided fully; In addition, because lunar soil and Mars ash be at the celestial body surface sediment, the low-gravity environment on the celestial body causes wheel-slip in addition, makes robot tend to sink, and Spirit has just run into similar problem.The low-gravity environment of celestial body is to adopting the jumping form favourable, and the intrinsic pick-up point discrete feature of jumping can be used for optimizing movement locus, therefore jumping is important research direction in the space exploration, and U.S. NASA just is being devoted to novel hopping robot's research.
In recent years, the bionics of being born in earlier 1960s (mainly is the achievement in research with structure, function, operation principle and the control mechanism of organism, transplant in the application of engineering), be the cross discipline that bioscience combines with engineering.The related scientific research mechanism of various countries is obtaining some positive progress aspect this.
Boston Dynamics imitation dog back leg structure building mechanical device Bigdog, can load be equivalent to the weight of its body weight 30%, and can run, jump and climb up and over 35 ° of slopes, realized that the organism 26S Proteasome Structure and Function is bionical; The high 5cm of Lausanne, SUI Polytechnics development, the hopping robot of heavy 7g can be as the jump of grasshopper, and its jump height can realize that living body functional is bionical above 27 times of himself yardstick; The Cricket Microrobot of west storage university development makes push pull maneuver by what compressed air-driven wove based on fine fibre pipe bionics artificial thews material, by the bionical braking mechanism that makes artificial pneumatic mechanism have similar biological muscles of material; The GRILLO II of Italy Institute of Technology development, by the back leg lanar four rod mechanism that the jump energy is provided is carried out three-dimensional optimized, space tracking when the curve movement when making the output of four-bar mechanism energy is simulated leafhopper back leg take-off campaign, realized that organism back leg movement locus is bionical, by reducing the stability that uneven impulsive force has improved the jump accelerator.It is rhythmic movement mechanism that Kimura and Fukuoka adopt the self-excitation behavior of lower nervous center, by setting up nonlinear differential equation and utilizing the generation of phase place coupled simulation rhythm and pace of moving things signal, the control quadruped robot moves in non-structure environment, use for reference control bionical realized system simply, control efficiently.Though bio-robot research has obtained some positive progress, this direction still is in conceptual phase in the world.The utility model is intended to carry out Bionic Design by the locust movement mechanism is studied on the basis.
The Burrows professor of univ cambridge uk is carrying out animal movement mechanism on the basis of extensive research, has proposed the lever sling movement mechanism of locust, and this achievement in research is reported on 2003 " Nature ".Professor Lichtwark of University College London to different organisms walk, run, the energy of different motion form such as jumping supplies with and carried out big quantity research, go up at 2003 " Nature " to propose to run the mechanism of launching of jumping in the motion fast larger animal.Brown and professor Clark dissect research by motion morphology and health to locust, have provided elasticity epidermis, first quarter moon mechanism and elasticity of muscle energy storage mechanism.The lever that the utility model is intended to bionic locust launches and biological joint elasticity energy storage mechanism.
Summary of the invention
The purpose of this utility model is to provide a kind of imitative locust turning joint lever to launch the hopping robot of mechanism, stretches the musculus flexor leverage according to the locust back leg, utilizes the lever mated spring structure to carry out the elastic energy storage of back leg joint; Make up to reach in conjunction with fixedly driving lever and movable driving lever by motor, driving lever, steel wire rope mechanism and launch.
The technical scheme that the utility model adopted is:
The utility model is equipped with the foreleg of driving and support and shock-absorbing function at the front end of body, is equipped with in the rear end of body to drive and the back leg of turning joint lever elastic energy storage function; Wherein:
1) foreleg of driving and support and shock-absorbing function is installed: comprise the foreleg actuating unit, foreleg motor output shaft, eccentric cam, foreleg rotating shaft bracing frame, foreleg, foreleg spring; The front end of body is passed in the foreleg both sides of shaped as frame, the foreleg that is arranged in the following both sides of body front end is installed the foreleg spring respectively, the front end of body has T shape groove, the horizontal edge of T shape groove be positioned at shaped as frame the foreleg horizontal edge under, the vertical edge of T shape groove is towards the rear end of body, the foreleg actuating unit is installed in the T shape groove of vertical edge, and its foreleg motor output shaft is supported on the foreleg rotating shaft bracing frame, and the eccentric cam that is installed on the foreleg motor output shaft contacts with the foreleg medial surface of shaped as frame;
2) be equipped with and drive and the back leg of turning joint lever elastic energy storage function: comprise the back leg actuating unit, the back leg motor output shaft, shaft coupling, the back leg power transmission shaft, two back leg rotating shaft bracing frames, two springs, two rollers, two back legs, the back leg sliding shaft, two fork-shaped back leg retainers, fork-shaped back leg retainer foot piece, groups of springs, the fixing button of dialling, button is dialled in rotation, two rhizoid bars, and two feed screw nuts, sliding guide sleeve, two connection spring bolts, two connection spring nuts, two steel wire ropes, two connection steel wire rope bolts are connected the steel wire rope nut with two; Middle part, the rear end of body has the vertical groove of vertical edge with the front end T shape groove of body, the both sides, rear end of body have the vertical edge bar shaped groove parallel with the vertical edge of T shape groove, following both sides, the rear end of body are installed outward extending fork-shaped back leg retainer respectively, two fork-shaped back leg retainers outwards have horizontal bar shaped groove and circular hole, the back leg sliding shaft is installed on two fork-shaped back leg retainers and locatees in the horizontal bar shaped groove and by the shaft shoulder, fork-shaped back leg retainer foot piece two ends are fixedly installed on the fork-shaped back leg retainer circular hole, the groups of springs two ends connect fork-shaped back leg retainer foot piece and back leg sliding shaft respectively, two back leg one ends and middle-end have circular port, the other end has the bar shaped groove, two back leg middle-ends adopt between centers crack, hole to cooperate with the back leg sliding shaft, and locate by the shaft shoulder, two back leg bar shaped grooves are respectively by connecting the steel wire rope bolt separately and being connected the steel wire rope nut, an end that connects steel wire rope, after the other end of steel wire rope passes in the square opening of body and this back leg homonymy separately roller respectively, walk around sliding guide sleeve and be fixed in square opening place with this back leg heteropleural of body, two back legs upper end circular hole is fixedlyed connected with spring one end separately, the other end of two springs is by connecting spring bolt separately and being connected spring nut and being connected with body vertical edge bar shaped groove, the back leg actuating unit is installed in the T shape groove of body vertical edge, its back leg motor output shaft is connected by shaft coupling with the back leg power transmission shaft, the back leg power transmission shaft is supported on the back leg rotating shaft bracing frame, detaining and rotate group button for fixing group is installed on the back leg power transmission shaft, and fixing group of button is installed on to rotate dials button inside, two screw mandrels are dialled button by being threaded with rotation, by threaded engagement two feed screw nuts are installed respectively on each screw mandrel, between two feed screw nuts on two screw mandrels sliding guide sleeve are installed.
Described fixing group of button and rotation are dialled button and are installed on the back leg power transmission shaft, and fixing group of button is installed on to rotate dials button inside, the fixing radial section of dialling button is semicircle and rectangle, semicircle diameter limit and the long limit of rectangle are spliced, have in the radial section with the circular hole of semi-circular concentric and be used for cooperating with the back leg power transmission shaft, half of rectangular configuration catercorner length requires to dial the least radius of gyration of buckling the rectangular opening inner surface greater than rotating in the radial section.
The beneficial effect that the utlity model has is:
(1) on the basis that guarantees the foreleg shock-absorbing function, makes foreleg possesses provides the body lifting force by elastic energy storage function by the eccentric cam structural design.The eccentric cam structure of the radius of gyration of gradual change simultaneously can be regulated the foreleg amount of spring compression, thereby regulates accumulation of energy and improve capacity usage ratio;
(2) break through the fixed rotating shaft structural design of traditional pivot pin or ball strand as rotating shaft, the movable rotation-shaft structural design that adopts rotating shaft, groups of springs and chute to combine more meets biological joint physiological structure characteristic;
(3) back leg adopts the lever construction design of moving fulcrum, utilizes leverage to make active force effect end adopt the light-duty motor of small-power can satisfy the required energy storage requirement of spring, alleviates body weight when effectively reducing cost.
(4) the active force application point can be arranged in the optional position of bar shape trench hole structure on the back leg, so the lever ratio in the design of the moving fulcrum lever construction of back leg can be adjusted continuously, processing and rigging error do not influence exercise performance.Bar-shaped trough structural design on back leg and the body is convenient simultaneously changes back adjustment body mechanical property at body mechanical characteristics such as load or onboard instruments.
(5) the fixing button of dialling combines with rotating group button, has realized slow energy storage in the catapult mechanism and the purpose that discharges fast, has improved the jump performance of mechanism, and rotation is dialled button and realized the accumulation of energy adjustable function by the screw structure design in addition.
The utility model can be used as the motion carrier of detection instrument, by adding sensor, can be applicable to fields such as the city war against terror, earthquake relief, environmental monitoring, space flight military affairs.
Description of drawings
Fig. 1 is a robot of the present utility model overall setup schematic diagram.
Fig. 2 is the housing construction of the present utility model and the accessory schematic diagram that is connected thereof.
Fig. 3 is foreleg transmission mechanism schematic diagram of the present utility model.
Fig. 4 is a back leg transmission mechanism schematic diagram of the present utility model.
Fig. 5 is a steel wire rope connection diagram of the present utility model
Fig. 6 is an idler wheel mechanism schematic diagram of the present utility model
Fig. 7 is an of the present utility model group of deduction structure schematic diagram
Among the figure: 100, body, 201, the foreleg actuating unit, 202, the foreleg motor output shaft, 203, eccentric cam, 204, foreleg rotating shaft bracing frame, 205, foreleg, 206, the foreleg spring, 301, the back leg actuating unit, 302, the back leg motor output shaft, 303, shaft coupling, 304, the back leg power transmission shaft, 305, back leg rotating shaft bracing frame, 306, spring, 307, roller, 308, back leg, 309, the back leg sliding shaft, 310, fork-shaped back leg retainer, 311, fork-shaped back leg retainer foot piece, 312, groups of springs, 313, the fixing button of dialling, 314, rotate and dial button, 315, screw mandrel, 316, feed screw nut, 317, sliding guide sleeve, 318, connect spring bolt, 319, connect spring nut, 320, steel wire rope, 321, connect the steel wire rope bolt, 322, connect the steel wire rope nut.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the utility model is equipped with the foreleg of driving and support and shock-absorbing function at the front end of body 100, is equipped with in the rear end of body 100 to drive and the back leg of turning joint lever elastic energy storage function; Wherein:
1) with reference to Fig. 1, Fig. 2 and Fig. 3, the foreleg of driving and support and shock-absorbing function is installed: comprise foreleg actuating unit 201, foreleg motor output shaft 202, eccentric cam 203, foreleg rotating shaft bracing frame 204, foreleg 205, foreleg spring 206; The front end of body 100 is passed in foreleg 205 both sides of shaped as frame, the foreleg that is arranged in the following both sides of body 100 front ends is installed foreleg spring 206 respectively, the front end of body 100 has T shape groove, the horizontal edge of T shape groove be positioned at shaped as frame foreleg 205 horizontal edges under, the vertical edge of T shape groove is towards the rear end of body 100, foreleg actuating unit 201 is installed in the T shape groove of vertical edge, its foreleg motor output shaft 202 is supported on the foreleg rotating shaft bracing frame 204, and the eccentric cam 203 that is installed on the foreleg motor output shaft 202 contacts with foreleg 205 medial surfaces of shaped as frame;
2) with reference to Fig. 1, Fig. 2, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the back leg of driving and turning joint lever elastic energy storage function is installed: comprise back leg actuating unit 301, back leg motor output shaft 302, shaft coupling 303, back leg power transmission shaft 304, two back leg rotating shaft bracing frames 305, two springs 306, two rollers 307, two back legs 308,309, two fork-shaped back legs of back leg sliding shaft retainer 310, fork-shaped back leg retainer foot piece 311, groups of springs 312, the fixing button 313 of dialling rotates and dials button 314,315, two feed screw nuts 316 of two rhizoid bars, sliding guide sleeve 317, two connect spring bolt 318, two connect spring nut 319, two steel wire ropes 320, two connect steel wire rope bolt 321 and are connected steel wire rope nut 322 with two; Middle part, the rear end of body 100 has the vertical groove of vertical edge with the front end T shape groove of body 100, the both sides, rear end of body 100 have the vertical edge bar shaped groove parallel with the vertical edge of T shape groove, following both sides, the rear end of body 100 are installed outward extending fork-shaped back leg retainer 310 respectively, two fork-shaped back leg retainers 310 outwards have horizontal bar shaped groove and circular hole, back leg sliding shaft 309 is installed on two fork-shaped back leg retainers 310 and locatees in the horizontal bar shaped groove and by the shaft shoulder, fork-shaped back leg retainer foot piece 311 two ends are fixedly installed on fork-shaped back leg retainer 310 circular holes, groups of springs 312 two ends connect fork-shaped back leg retainer foot piece 311 and back leg sliding shaft 309 respectively, two back leg 308 1 ends and middle-end have circular port, the other end has the bar shaped groove, two back leg 308 middle-ends adopt between centers crack, hole to cooperate with back leg sliding shaft 309, and locate by the shaft shoulder, two back leg 308 bar shaped grooves are respectively by connecting steel wire rope bolt 321 separately and being connected steel wire rope nut 322, an end that connects steel wire rope 320, after the other end of steel wire rope passes in the square opening of body 100 and this back leg homonymy separately roller 307 respectively, walk around sliding guide sleeve 317 and be fixed in square opening place with body 100 these back leg heteropleurals, two back leg 308 upper end circular holes are fixedlyed connected with spring 306 1 ends separately, the other end of two springs is by connecting spring bolt separately and being connected spring nut and being connected with body 100 vertical edge bar shaped grooves, back leg actuating unit 301 is installed in the T shape groove of body 100 vertical edges, its back leg motor output shaft 302 is connected by shaft coupling 303 with back leg power transmission shaft 304, back leg power transmission shaft 304 is supported on the back leg rotating shaft bracing frame 305, fix to dial button 313 and rotate group button 314 and be installed on the back leg power transmission shaft 304, and the fixing button 313 of dialling is installed on rotation group button 314 inside, two screw mandrels 315 are dialled button 314 by being threaded with rotation, 316 of two feed screw nuts that install respectively on 316, two screw mandrels 315 of two feed screw nuts by threaded engagement on each screw mandrel 315 install sliding guide sleeve 317.Accessories such as the battery in the utility model, control circuit board are as counterweight, and vertical edge position actuating unit upper fixed is installed in T shape groove, and can be used for regulating the complete machine centroid position.
Described fixing dial button 313 and rotate dial button 314 and be installed on the back leg power transmission shaft 304, and the fixing button 313 of dialling is installed on rotation group button 314 inside, the fixing radial section of dialling button 313 is semicircle and rectangle, semicircle diameter limit and the long limit of rectangle are spliced, have in the radial section with the circular hole of semi-circular concentric and be used for cooperating with back leg power transmission shaft 304, half of rectangular configuration catercorner length requires the least radius of gyration of dialling rectangular opening inner surface on the button 314 greater than rotating in the radial section.
Specific embodiment of the utility model is as follows:
The utility model is equipped with the foreleg of driving and support and shock-absorbing function at the front end of body 100, is equipped with in the rear end of body 100 to drive and the back leg of turning joint lever elastic energy storage function.Body 100 integral body are rectangular structure, at body 100 upper edge thickness direction perforate and grooves, as shown in Figure 2, the front end of body 100 is opened T shape groove, the vertical edge vertical rectangular groove with the front end T shape groove of body 100 is opened at middle part, the rear end of body 100, respectively open two rectangular channels in the rectangular through slot two minor faces outside, open a less rectangular channel near rectangular through slot minor face one end, open a bigger rectangular channel away from rectangular through slot minor face one end, this bigger rectangular channel length direction is consistent with body 100 length directions, this bigger rectangular channel length is bigger than roller roller 307B length, littler than roller fixed axis 307A length, the both sides, rear end of body 100 are opened the vertical edge bar shaped groove parallel with the vertical edge of T shape groove respectively.
Leg before and after body 100 is mainly used in and accessory is installed and is connected.As shown in Figure 3, the vertical edge front end fixed installation foreleg actuating unit 201 of body 100 front end T shape grooves, foreleg actuating unit 201 can use the electric rotating machine of not being with auto-lock function but be not limited to electric rotating machine, eccentric cam 203 is connected with foreleg actuating unit 201 by foreleg motor output shaft 202, foreleg motor output shaft 202 cantilever ends, support by foreleg rotating shaft bracing frame 204 upper bearing (metal)s that are fixedly installed on the body 100, the cam contour of driving link eccentric cam 203 contacts with the entablature inner surface of driven member foreleg 205 and transferring power, foreleg spring 206 is set on foreleg 205 left and right sides supporting legs, when eccentric cam 203 and foreleg 205 entablature spacings are radius of cam base-circle, foreleg spring 206 has maximum development length under this assembly structure, and this length promptly has pretightning force under foreleg spring 206 original states less than foreleg spring 206 natural lengths.
As shown in Figure 4, the vertical edge rear end fixed installation back leg actuating unit 301 of body 100 front end T shape grooves, back leg motor output shaft 302 is connected with back leg power transmission shaft 304 by shaft coupling 303, back leg rotating shaft bracing frame 305, be fixed on the outside, rectangular through slot two long limit on the body 100, and install along center, the long limit of rectangular through slot symmetry, corresponding two back leg rotating shaft bracing frames, 305 center positions on back leg power transmission shaft 304, install and fix and dial button 313 and rotate group button 314, and the fixing button 313 of dialling is installed on rotation group button 314 inside, the fixing button 313 of dialling is fixed by marking closely screw with back leg power transmission shaft 304, rotate dialling button 314 and leading screw 315 fixes by threaded engagement, suit sliding guide sleeve 317 on the leading screw 315, sliding guide sleeve 317 axial displacements are by feed screw nut 316 constraints that cooperate, and the position of sliding guide sleeve 317 on screw mandrel 315 can be regulated by feed screw nut 316; Fork-shaped back leg retainer 310 outwards has horizontal bar shaped groove and circular hole, the end face that cooperates with body 100 has rectangular channel, and this rectangular channel is along bigger rectangular channel length equivalence on the length of body 100 length directions and the body, roller fixed axis 307A in the roller 307 is clipped on fork-shaped back leg retainer 310 and 100 rectangular opening places of body, roller roller 307B adopts the hole axle to cooperate with roller fixed axis 307A, fork-shaped back leg retainer 310 and body 100 are connected by bolt, fork-shaped back leg retainer foot piece 311 two ends are fixedly installed on fork-shaped back leg retainer 310 circular holes, back leg sliding shaft 309 is installed in the bar-shaped trough on the fork-shaped back leg retainer 310 and by the shaft shoulder and locatees, groups of springs 312 two ends connect fork-shaped back leg retainer foot piece 311 and back leg sliding shaft 309 respectively, back leg 308 upper ends and middle-end are opened circular hole, the bar shaped groove is opened in the lower end, mounting spring 306 between bar-shaped trough on back leg 308 upper end circular holes and the body 100, spring 306 1 ends are by being fixedly welded in the back leg 308 upper end circular holes, spring 306 other ends are by connecting spring bolt 318 and being connected spring nut 319, be fixedly installed in bar-shaped trough on the body 100, and can connect spring bolt 318 and be connected the position of spring nut 319 on body 100 by regulating, the tie point of regulating spring 306 and body 100, thereby the maximum deformation quantity of regulating spring 306, back leg 308 interstitial holes adopt the hole axle to cooperate with back leg sliding shaft 309; By connecting steel wire rope bolt 321 and being connected steel wire rope nut 322, one end of steel wire rope 320 is fixed in the back leg bar shaped groove, and can connect steel wire rope bolt 321 and be connected the position of steel wire rope nut 322 on the back leg bar-shaped trough by regulating, regulate the tie point of steel wire rope 320 on the back leg bar-shaped trough, the other end of steel wire rope 320 passes roller 307B in the rectangular opening of body and this back leg homonymy, walk around sliding guide sleeve 317 again from the upper end and be fixed in rectangular opening with this back leg heteropleural of body, another root steel wire rope adopts the same method to connect another back leg.
Accessories such as the battery in the utility model, control circuit board are as counterweight, and vertical edge position actuating unit upper fixed is installed in T shape groove, and can regulate the complete machine centroid position by being adjusted in the installation site on this vertical edge.Can control take-off angle by regulating steel wire rope 320 with the position that bar shaped groove on the back leg 308 is connected, by the position that regulating spring 306 is connected with the vertical edge bar shaped groove parallel with the vertical edge of T shape groove on the body, can the energy storage capacity of regulating spring under complete flexion.
Operation principle of the present utility model is as follows:
In the present embodiment, foreleg actuating unit 201 drives foreleg motor output shaft 202 and eccentric cam 203 rotates synchronously, eccentric cam 203 centres of gyration and foreleg 205 entablature spacings are rotated with eccentric cam 203 and are changed, foreleg spring 206 decrements that are set on foreleg 205 left and right sides supporting legs are also rotated variation with eccentric cam 203, and the radius of gyration variable quantity of decrement and eccentric cam 203 etc. are big, when eccentric cam 203 and foreleg 205 entablature spacings reach the maximum radius of gyration of eccentric cam 203, eccentric cam 203 further rotations will make eccentric cam 203 and foreleg 205 entablatures remove and interact, and discharge foreleg spring 206.
In the present embodiment, back leg actuating unit 301 drives back leg motor output shaft 302 and rotates, and drive back leg power transmission shafts 304 and the fixing button 313 of dialling that is connected on it rotates synchronously by shaft coupling 303, when screw mandrel 315 is positioned at vertical downward position, and fixing dial button 313 and rotate when dialling button 314 and beginning to produce extruding force, rotate and dial button 314 and under fixing extruding force effect of dialling button 313, be synchronized with the movement; When screw mandrel 315 turns over 90 ° when promptly being horizontal by vertical downward position, sliding guide sleeve 317 beginnings produce active forces with steel wire rope 320; When screw mandrel 315 further rotates, because steel wire rope 320 1 ends are fixed, the motion pulling steel wire rope 320 of sliding guide sleeve 317, steel wire rope 320 motions drive roller roller 307B and rotate, and steel wire rope 320 other ends and back leg 308 are fixing, and drive back leg 308 relative body 100 flexings, simultaneously, spring 306 energy storage that is stretched, back leg sliding shaft 309 along bar shaped groove on the fork-shaped back leg retainer 310 to the body nose motion, groups of springs 312 energy storage that is stretched; When screw mandrel 315 turns over 180 ° from vertical to upper/lower positions, when promptly being in the vertical position that makes progress, back leg 308 relative bodies 100 produce the maximum flexion amount under this connection status in the design, spring 306 and groups of springs 312 also reach the maximum energy storage capacity under this connection status in the design, and this moment, the A assembly was in critical stable state; When the vertical relatively position of screw mandrel 315 produces the trace rotation, rotating group button 314, screw mandrel 315 and feed screw nut 316 and sliding guide sleeve 317 promptly rotates under the effect of gravity and steel wire rope 320 power, the abrupt release of 320 pairs of back leg 308 active forces of steel wire rope simultaneously, break the borderline balance state of back leg 308, back leg 308 moves under spring 306 and groups of springs 312 pulling force synergy.When rotating back into vertical downward position, screw mandrel 315 can begin the periodic motion of new round energy storage and release.
In the present embodiment, by control circuit board is installed, control foreleg actuating unit 201 and back leg actuating unit 301, make eccentric cam 203 and rotate group button 314 and peak simultaneously, thereby make foreleg spring 206, spring 306 and groups of springs 312 all reach maximum energy storage capacity under this configuration state, and discharge driven machine people motion simultaneously.Also can control foreleg actuating unit 201 and back leg actuating unit 301, make eccentric cam 203 forward assigned address to, rotate and dial button 314 and peak, thereby foreleg spring 206, spring 306 and groups of springs 312 are discharged simultaneously, driven machine people moves.
Claims (2)
1. an imitative locust turning joint lever launches the hopping robot of mechanism, it is characterized in that: at the front end of body (100) foreleg of driving and support and shock-absorbing function is installed, is equipped with in the rear end of body (100) and drives and the back leg of turning joint lever elastic energy storage function; Wherein:
1) foreleg of driving and support and shock-absorbing function is installed: comprise foreleg actuating unit (201), foreleg motor output shaft (202), eccentric cam (203), foreleg rotating shaft bracing frame (204), foreleg (205) and foreleg spring (206); The front end of body (100) is passed in the foreleg of shaped as frame (205) both sides, the foreleg that is arranged in the following both sides of body (100) front end is installed foreleg spring (206) respectively, the front end of body (100) has T shape groove, the horizontal edge of T shape groove be positioned at shaped as frame foreleg (205) horizontal edge under, the vertical edge of T shape groove is towards the rear end of body (100), foreleg actuating unit (201) is installed in the T shape groove of vertical edge, its foreleg motor output shaft (202) is supported on the foreleg rotating shaft bracing frame (204), and the eccentric cam (203) that is installed on the foreleg motor output shaft (202) contacts with foreleg (205) medial surface of shaped as frame;
2) be equipped with and drive and the back leg of turning joint lever elastic energy storage function: comprise back leg actuating unit (301), back leg motor output shaft (302), shaft coupling (303), back leg power transmission shaft (304), two back leg rotating shaft bracing frames, two springs, two rollers, two back legs, back leg sliding shaft (309), two fork-shaped back leg retainers, fork-shaped back leg retainer foot piece (311), groups of springs (312), the fixing button (313) of dialling, rotate and dial button (314), two rhizoid bars, two feed screw nuts, sliding guide sleeve (317), two connect spring bolt, two connect spring nut, two steel wire ropes (320), two connect the steel wire rope bolt and are connected the steel wire rope nut with two; Middle part, the rear end of body (100) has the vertical groove of vertical edge with the front end T shape groove of body (100), the both sides, rear end of body (100) have the vertical edge bar shaped groove parallel with the vertical edge of T shape groove, following both sides, the rear end of body (100) are installed outward extending fork-shaped back leg retainer respectively, two fork-shaped back leg retainers outwards have horizontal bar shaped groove and circular hole, back leg sliding shaft (309) is installed on two fork-shaped back leg retainers and locatees in the horizontal bar shaped groove and by the shaft shoulder, fork-shaped back leg retainer foot piece (311) two ends are fixedly installed on the fork-shaped back leg retainer circular hole, groups of springs (312) two ends connect fork-shaped back leg retainer foot piece (311) and back leg sliding shaft (309) respectively, two back leg one ends and middle-end have circular port, the other end has the bar shaped groove, two back leg middle-ends adopt between centers crack, hole to cooperate with back leg sliding shaft (309), and locate by the shaft shoulder, two back leg bar shaped grooves are respectively by connecting the steel wire rope bolt separately and being connected the steel wire rope nut, an end that connects steel wire rope (320), after the other end of steel wire rope passes in the square opening of body (100) and this back leg homonymy separately roller respectively, walk around sliding guide sleeve (317) and be fixed in square opening place with this back leg heteropleural of body (100), two back legs upper end circular hole is fixedlyed connected with spring one end separately, the other end of two springs is by connecting spring bolt separately and being connected spring nut and being connected with body (100) vertical edge bar shaped groove, back leg actuating unit (301) is installed in the T shape groove of body (100) vertical edge, its back leg motor output shaft (302) is connected by shaft coupling (303) with back leg power transmission shaft (304), back leg power transmission shaft (304) is supported on the back leg rotating shaft bracing frame, detain (313) and rotate group button (314) for fixing group and be installed on the back leg power transmission shaft (304), and the fixing button (313) of dialling is installed on rotation group button (314) inside, two screw mandrels are dialled button (314) by being threaded with rotation, each screw mandrel (315) is gone up and by threaded engagement two feed screw nuts to be installed respectively, between two feed screw nuts on two screw mandrels sliding guide sleeve (317) is installed.
2. imitative locust turning joint lever according to claim 1 launches the hopping robot of mechanism, it is characterized in that: described fixing group of button (313) and rotation are dialled button (314) and are installed on the back leg power transmission shaft (304), and the fixing button (313) of dialling is installed on rotation group button (314) inside, the fixing radial section of dialling button (313) is semicircle and rectangle, semicircle diameter limit and the long limit of rectangle are spliced, have in the radial section with the circular hole of semi-circular concentric and be used for cooperating with back leg power transmission shaft (304), half of rectangular configuration catercorner length requires to dial least radius of gyration that button (314) is gone up the rectangular opening inner surface greater than rotating in the radial section.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010205461586U CN201815109U (en) | 2010-09-27 | 2010-09-27 | Jumping robot imitating the locust movable joint lever ejection mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010205461586U CN201815109U (en) | 2010-09-27 | 2010-09-27 | Jumping robot imitating the locust movable joint lever ejection mechanism |
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| CN201815109U true CN201815109U (en) | 2011-05-04 |
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| CN2010205461586U Expired - Lifetime CN201815109U (en) | 2010-09-27 | 2010-09-27 | Jumping robot imitating the locust movable joint lever ejection mechanism |
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| Country | Link |
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| CN (1) | CN201815109U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN103273477A (en) * | 2013-05-29 | 2013-09-04 | 北京邮电大学 | Mobile robot capable of jumping |
| US9004201B2 (en) | 2012-04-18 | 2015-04-14 | Board Of Trustees Of Michigan State University | Jumping robot |
| CN108420574A (en) * | 2017-11-27 | 2018-08-21 | 华中科技大学 | A kind of variation rigidity stored energy mechanism applied to type ankle-foot prosthesis |
-
2010
- 2010-09-27 CN CN2010205461586U patent/CN201815109U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN101954935B (en) * | 2010-09-27 | 2012-04-25 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| US9004201B2 (en) | 2012-04-18 | 2015-04-14 | Board Of Trustees Of Michigan State University | Jumping robot |
| CN103273477A (en) * | 2013-05-29 | 2013-09-04 | 北京邮电大学 | Mobile robot capable of jumping |
| CN108420574A (en) * | 2017-11-27 | 2018-08-21 | 华中科技大学 | A kind of variation rigidity stored energy mechanism applied to type ankle-foot prosthesis |
| CN108420574B (en) * | 2017-11-27 | 2019-12-20 | 华中科技大学 | Variable-stiffness energy storage mechanism applied to ankle foot prosthesis |
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Granted publication date: 20110504 Effective date of abandoning: 20120425 |