CN201923238U - Vertical bouncing mechanism of robot - Google Patents
Vertical bouncing mechanism of robot Download PDFInfo
- Publication number
- CN201923238U CN201923238U CN2010206274680U CN201020627468U CN201923238U CN 201923238 U CN201923238 U CN 201923238U CN 2010206274680 U CN2010206274680 U CN 2010206274680U CN 201020627468 U CN201020627468 U CN 201020627468U CN 201923238 U CN201923238 U CN 201923238U
- Authority
- CN
- China
- Prior art keywords
- bouncing mechanism
- robot
- vertical bouncing
- drive spindle
- cams
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
The utility model relates to a vertical bouncing mechanism of a robot. The vertical bouncing mechanism comprises a power element, two speed reducing mechanisms, cams, driving rods, a base plate, an extension spring and wheels, wherein the power element is installed on the base plate, the power output end of the power element is connected with input shafts of the two speed reducing mechanisms respectively, two cams are respectively and symmetrically arranged on two axial positions of output shafts of the two speed reducing mechanisms, one side of each of the two speed reducing mechanisms is provided with two driving rods corresponding to the two cams respectively, the middle of each driving rod is articulated with the base plate, the upper parts of the driving rods are in contact with the corresponding cams, the lower parts of the driving rods are connected with the wheels, and the lower parts of the two driving rods corresponding to the cams in the same axial position are connected by the extension spring. The vertical bouncing mechanism has the advantages of concise structure and high moving reliability; the vertical bouncing mechanism is combined with a translation movement mechanism, the robot can cross a height higher than the height of the robot, the obstacle detouring capacity and the moving range of the robot are obviously improved, and the vertical bouncing mechanism has a wide application prospect in the fields of archaeology, terrorism, geologic prospection and the like.
Description
Technical field
The utility model relates to robot, relates in particular to a kind of vertical bouncing mechanism of robot.
Background technology
Current, it is very extensive that the mobile robot uses, and particularly comparatively dangerous or people are difficult for the environment that arrives, as in the archaeology to the detection of coffin chamber, externally exploration, military surveillance and the counterterrorist activity etc. of celestial body.The above-mentioned general physical features of these occasions is comparatively complicated, may have various obstacles, and this just requires robot to have very strong autokinetic movement ability, crosses these obstacles.And the mode of motion of current robot mainly is multiple-wheel drive and bionical walking or creeps, for some taller and bigger obstacles, above-mentioned robot mode of motion be difficult to go beyond or obstacle detouring efficient low.
Summary of the invention
The utility model purpose is to provide a kind of vertical bouncing mechanism for the robot with walking function, makes it when meeting obstacle, can efficiently go beyond apace, and its concrete technical scheme is as follows:
Described vertical bouncing mechanism, comprise dynamical element, two speed reduction gearings, cam, drive spindle, the chassis, extension spring and wheel, described dynamical element is installed on the chassis, the clutch end of this dynamical element is connected with the input shaft of two speed reduction gearings respectively, on the two axial positions of described two speed reduction gearing output shafts respectively symmetry two cams are housed, be equipped with two drive spindles respectively in a side of two speed reduction gearings and corresponding to the position of two cams, the middle part and the chassis of each drive spindle are hinged, top contacts with cooresponding cam, the bottom connects wheel, is connected by extension spring corresponding to two drive spindle bottoms of same axial location cam.
Described vertical bouncing mechanism further design is that dynamical element adopts DC machine or stepping motor, and described motor is fixed on the chassis by screw bolt and nut.
Described vertical bouncing mechanism further design is that speed reduction gearing is a turbine and worm decelerator.
Described vertical spring robot further design is that it is characterized in that, the worm screw fixed mount is equipped with on described chassis, and the worm screw upper end is supported on the worm screw fixed mount.
Described vertical bouncing mechanism further design is that be fixed with the drive spindle bracing frame on the chassis, drive spindle is by the hinged chassis that is articulated in of straight pin and drive spindle bracing frame.
Described vertical bouncing mechanism further design is that the wheel of two drive spindle bottoms of each speed reduction gearing one side is totally one axletree.
The beneficial effects of the utility model are:
1. the variation of radial dimension when the utility model utilizes cam rotation promotes end motion on the drive spindle, and drive spindle rotates around hinge-point, and mechanism's center of gravity moves, and the extension spring set up stresses produces robot and jumps decoration structure features simple design, motion credibility height simultaneously.
2. bouncing mechanism of the present utility model combines with motion of translation mechanism, make robot can cross the height that is several times as much as self, improve the obstacle climbing ability and the action radius of robot significantly, have a wide range of applications in fields such as archaeology, anti-terrorism, geoexplorations.
3. robot of the present utility model can be used as a kind of preferable kinematic mechanism that external talent scout surveys, because general outer celestial body, for example the moon and martian surface acceleration due to gravity are starkly lower than the earth, and bounce motion can make full use of this point, thereby finish high efficiency motion.
Description of drawings
Fig. 1 is vertical bouncing mechanism structural representation of the present utility model (left cam omission).
Fig. 2 is the left view of vertical bouncing mechanism shown in Figure 1.
Fig. 3 is the 3-D view of vertical bouncing mechanism shown in Figure 1.
The specific embodiment
The utility model will be further described below in conjunction with accompanying drawing:
Contrast Fig. 1, Fig. 2, Fig. 3, vertical bouncing mechanism of the present utility model mainly are made up of worm gear 1, worm screw 2, bearing 3, straight pin 4, drive spindle 5, cam 6, straight pin 7, worm-wheel shaft 8, bolt 9, worm-wheel shaft support 10, bolt 11, drive spindle support 12, chassis 13, straight pin 14, DC machine 15, extension spring 16, wheel shaft 17, wheel 18, back-up ring 20, bearing cap shim 21, spring washer 22, worm screw fixed mount 23, flat key 24, sleeve 25 and nut 26.DC machine 15 is installed in 13 middle and lower parts, chassis by bolt 11 and nut 26, worm screw fixed mount 23 is installed in 13 middle and upper parts, chassis by bolt 11 and nut 26, worm screw 2 is installed in by flat key 24 on the turning cylinder of DC machine 15, and the inner ring of bearing 3, outer ring cooperate with turning cylinder one end, worm screw fixed mount 23 1 ends of DC machine 15 respectively.The radially both sides of worm screw 2 are meshed with two worm gears 1 respectively, and worm-wheel shaft 8 is bearing in worm-wheel shaft and supports on 10, and worm gear 1 is installed at the middle part of worm-wheel shaft 8, and sleeve 25, cam 6 and bearing cap shim 21 are installed on the worm-wheel shaft 8 of worm gear 1 both sides successively.Two cams 6 are fixed in worm gear 1 by bolt 9, nut 26 and spring washer 22, worm-wheel shaft supports 10 and is fixed on the chassis 13 by bolt 11 and nut 26, each cam 6 is kept in touch with the upper end of a drive spindle 5 respectively, the middle part of each drive spindle 5 is supported 12 with drive spindle respectively and is hinged by straight pin 14, and drive spindle supports 12 and is fixed on the chassis 13 by bolt 11 and nut 26.Two drive spindles, 5 lower ends of each worm gear 1 one side are connected by a wheel shaft 17, and wheel 18 is installed at wheel shaft 17 two ends respectively.Two drive spindles 5 lower ends consistent with worm-wheel shaft 8 axial locations link to each other by extension spring 16.
When the robot ambulation that contains vertical bouncing mechanism of the present utility model meets obstacle, corresponding sensor is sent signal to controller, and controller drives DC machine 15 starts, and drives worm screw 2 and rotates with certain speed, worm screw 2 drives both sides worm gear 1 by engagement and rotates, and cam 6 rotates thereupon.Drive spindle 5 is kept in touch with cam 6 all the time at extension spring 16 next end of effect, when the distance between cam 6 centers and the contact point increases gradually, extension spring 16 is constantly stretched, the robot center of gravity reduces, when the distance between cam 6 centers and the contact point is maximum, the robot center of gravity drops to minimum, after this, distance between cam 6 centers and the contact point is undergone mutation, contact point by A to B, two drive spindles 5 consistent with worm-wheel shaft 8 axial locations reset under extension spring 16 effects fast, and the robot center of gravity of vertically bouncing rises rapidly.Because the inertia of object, the robot that vertically bounces can be made bounce motion up and down with certain speed built on stilts.Because of robot is to do horizontal motion with certain speed before this, upwards bounce motion has just formed the skip motion of going beyond obstacle with the combining of horizontal motion of inertia.When vertical spring robot lands once more, just the incipient stage of spring can be entered once more.
Claims (6)
1. the vertical bouncing mechanism of a robot, it is characterized in that, comprise dynamical element, two speed reduction gearings, cam, drive spindle, the chassis, extension spring and wheel, described dynamical element is installed on the chassis, the clutch end of this dynamical element is connected with the input shaft of two speed reduction gearings respectively, on the two axial positions of described two speed reduction gearing output shafts respectively symmetry two cams are housed, be equipped with two drive spindles respectively in a side of two speed reduction gearings and corresponding to the position of two cams, the middle part and the chassis of each drive spindle are hinged, top contacts with cooresponding cam, the bottom connects wheel, is connected by extension spring corresponding to two drive spindle bottoms of same axial location cam.
2. the vertical bouncing mechanism of robot according to claim 1 is characterized in that, described dynamical element is DC machine or stepping motor, and described motor is fixed on the chassis by screw bolt and nut.
3. the vertical bouncing mechanism of robot according to claim 1 is characterized in that described speed reduction gearing is a turbine and worm decelerator.
4. the vertical bouncing mechanism of robot according to claim 3 is characterized in that the worm screw fixed mount is equipped with on described chassis, and the upper end of worm screw is supported on the worm screw fixed mount.
5. the vertical bouncing mechanism of robot according to claim 1 is characterized in that, is fixed with the drive spindle bracing frame on the described chassis, and drive spindle is hinged by straight pin and drive spindle bracing frame.
6. the vertical bouncing mechanism of robot according to claim 1 is characterized in that the wheel of two drive spindle bottoms of each speed reduction gearing one side is totally one axletree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206274680U CN201923238U (en) | 2010-11-26 | 2010-11-26 | Vertical bouncing mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206274680U CN201923238U (en) | 2010-11-26 | 2010-11-26 | Vertical bouncing mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201923238U true CN201923238U (en) | 2011-08-10 |
Family
ID=44427104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206274680U Expired - Lifetime CN201923238U (en) | 2010-11-26 | 2010-11-26 | Vertical bouncing mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201923238U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009706A (en) * | 2010-11-26 | 2011-04-13 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN102490911A (en) * | 2011-12-16 | 2012-06-13 | 大连理工大学 | Lunar surface walking device for lunar rover |
| CN103273477A (en) * | 2013-05-29 | 2013-09-04 | 北京邮电大学 | Mobile robot capable of jumping |
| CN110126933A (en) * | 2019-04-10 | 2019-08-16 | 南京航空航天大学 | A kind of spring energy-storage hopping mechanism |
-
2010
- 2010-11-26 CN CN2010206274680U patent/CN201923238U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009706A (en) * | 2010-11-26 | 2011-04-13 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN102009706B (en) * | 2010-11-26 | 2012-01-25 | 南京工程学院 | Vertical bouncing mechanism for robot |
| CN102490911A (en) * | 2011-12-16 | 2012-06-13 | 大连理工大学 | Lunar surface walking device for lunar rover |
| CN103273477A (en) * | 2013-05-29 | 2013-09-04 | 北京邮电大学 | Mobile robot capable of jumping |
| CN110126933A (en) * | 2019-04-10 | 2019-08-16 | 南京航空航天大学 | A kind of spring energy-storage hopping mechanism |
| CN110126933B (en) * | 2019-04-10 | 2021-12-14 | 南京航空航天大学 | Spring energy storage type jumping mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102009706B (en) | Vertical bouncing mechanism for robot | |
| CN201446986U (en) | Bionic jumping robot | |
| CN101941477B (en) | Energy-stored adjustable gear-five-bar bionic bouncing mechanism | |
| CN203832605U (en) | Telescopic spherical robot | |
| CN201923238U (en) | Vertical bouncing mechanism of robot | |
| CN102050165B (en) | Motor drive-based robot vertical bounce mechanism | |
| CN103587601B (en) | The long continuation of the journey in polar region wind drive formula ball shape robot | |
| CN103171641B (en) | Hopping robot with wheel movement function | |
| CN111391934B (en) | Wheel-leg composite robot moving device and wheel-leg composite robot | |
| CN106828643B (en) | A kind of omni-directional movement ball shape robot | |
| CN104386157A (en) | Quadruped robot with flexible joints | |
| CN204197100U (en) | A kind of quadruped robot with flexible joint | |
| CN101380739B (en) | Multi-foot robot bionic elastic driving joint module | |
| CN206781912U (en) | A kind of novel bionic Hexapod Robot | |
| CN103287522A (en) | Robot bouncing mechanism based on hydraulic drive | |
| CN102092430B (en) | Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot | |
| CN102328703A (en) | Six-bar bouncing combined-type wheel-leg mobile robot | |
| CN104386158A (en) | Series elastic actuator-based quadruped robot | |
| CN201232833Y (en) | Three-freedom-degree control device for display | |
| CN103879467A (en) | Passive self-adaption crawler belt deformable rocking bar differential motion mobile robot platform | |
| CN202686560U (en) | Mechanical joint and leg structure of bionic mechanical dinosaur | |
| CN101746428A (en) | Automobile/robot foot structure | |
| CN103895726A (en) | Novel full-symmetric spherical robot | |
| CN201089485Y (en) | Robot leg mechanism | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110810 Effective date of abandoning: 20120125 |