CN201999100U - Dielectric EAP(Equivalent Air Pressure) drive-based vertical jumping mechanism for robots - Google Patents
Dielectric EAP(Equivalent Air Pressure) drive-based vertical jumping mechanism for robots Download PDFInfo
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- CN201999100U CN201999100U CN2010206930016U CN201020693001U CN201999100U CN 201999100 U CN201999100 U CN 201999100U CN 2010206930016 U CN2010206930016 U CN 2010206930016U CN 201020693001 U CN201020693001 U CN 201020693001U CN 201999100 U CN201999100 U CN 201999100U
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- ratchet
- eap
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Abstract
A dielectric EAP drive-based vertical jumping mechanism for robots belongs to the technical field of jumping robots. The vertical jumping mechanism comprises a base (13), an upper cover plate (1), an EAP driver assembly, a central guide post (14) and a central cylindrical cam(24), and the central cylindrical cam (24) is provided with a ratchet wheel structure and a groove structure. The ratchet wheel structure matches with pawls in the EAP driver assembly. The vertical jumping mechanism also comprises two raised rods which are symmetrically fixed on corresponding side guide posts (15) and matches with the groove of the central cylindrical cam(24); and the vertical jumping mechanism also comprises two folding rod mechanisms which are articulated between the upper cover plate (1) and the base (13). By means of pawl-ratchet mechanism, the dielectric EAP driver is utilized to drive the central cylindrical cam to rotate in one direction, external force acts on the spiral groove on the outer surface of the central cylindrical cam when the central cylindrical cam rotates, so that the central cylindrical cam and the spiral groove move downwards at the same time, six-rod mechanism is driven to be deformed, the center of gravity of the mechanism moves downwards, at the same time, springs are stretched to produce internal stress, and thereby the robot can jump. The structure design is simple, and the reliability of motion is high.
Description
Technical field
The present invention relates to the robot that bounces, relate in particular to a kind of vertical spring 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.
Dielectric EAP is a kind of novel intelligent material, compares with traditional electromagnetic technique than other intellectual material to have many good qualities: can directly externally do work, simple in structure, volume is little, light weight; Action is level and smooth, nothing rubs movable parts relatively, do not have heat, noiseless; Power-mass ratio is big, energy conversion efficiency is high; Distortion is big, can produce advantages such as big displacement, speed of response are fast, and tempting application prospect is arranged aspect driving.
Summary of the invention
The object of the invention 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:
A kind of based on the vertical bouncing mechanism of dielectric EAP machine driven people, it is characterized in that: comprise base, vertical fixing in the side guide pillar on the base, be installed on the side guide pillar upper cover plate that can move along side guide pillar easy on and off; Also comprise be installed on upper cover plate by left fixed link, right fixed link, go up guide groove, the EAP actuator installing frame formed of guide groove down; Also comprise the stay bearing plate that is fixed in upper cover plate by the first roundlet pin, the detent that cooperates with the ratchet structure of centered cylinder cam is installed on the stay bearing plate; Provide precompressed compression by the spring wire that is installed on the detent back side to detent; Also comprise the counter-rotating detent assembly of forming by stay bearing plate, detent, spring wire, the first roundlet pin that is installed on upper cover plate; Also comprise the EAP actuator assembly that is installed in the EAP actuator installing frame, the EAP actuator assembly comprises that sliding bar, two sides scribble the EAP actuator of electrode, ratchet mounting rod, drive ratchet; Above-mentioned sliding bar is installed between the last guide groove and following guide groove of EAP actuator installing frame, EAP actuator one end and sliding bar are connected, the other end and right fixed link are connected and are installed between guide groove and the following guide groove, and ratchet mounting rod one end passes the pilot hole on the right fixed link and is connected with sliding bar; Above-mentioned driving ratchet is installed on the ratchet mounting rod by the 3rd roundlet pin, and provides precompressed compression by the spring wire that is installed on the ratchet back side, and is spacing by the second roundlet pin that is installed on the ratchet front; Also comprise the center guide pillar that is fixed on the base, also comprise the centered cylinder cam that central blind hole cooperates with center guide pillar that passes through that is installed on the upper cover plate center by thrust baring; Centered cylinder cam upper end outside face has the ratchet structure with above-mentioned driving click-fit; Centered cylinder cam lower external face has the spiral groove structure, spiral groove expands into two oblique grooves and two vertical grooves along centered cylinder cam 360 degree, and the end of an oblique groove respectively is connected by a vertical groove with the head end of another oblique groove; Should comprise also that two were symmetrically fixed on protruding bar on the respective side guide pillar and the groove fit centered cylinder cam based on the vertical bouncing mechanism of dielectric EAP machine driven people; Should also comprise two pole mechanisms that are articulated between upper cover plate and the base based on the vertical bouncing mechanism of dielectric EAP machine driven people, each pole mechanism comprise one one end and upper cover plate by brace on the first straight pin pivotally attached, end and base by brace under the second straight pin pivotally attached, and on be hinged by the three cylindrical pin between brace and the following brace; The horizontal stretch spring that passes through between two pole mechanisms connects.
The invention has the beneficial effects as follows that 1. the present invention produce displacement when utilizing the energising of dielectric EAP actuator, recover original dimension during no power, can drive the centered cylinder cam in conjunction with pawl ratchet mechanism again and realize unidirectional rotary motion.2. the plug helix when the present invention utilizes the centered cylinder cam rotation on its outside face is moved down by external force effect meeting simultaneously, drives six-bar mechanism and deforms mechanism's down-shift of working center, while extension spring set up stresses, robot is produced jump decoration structure features simple design, motion credibility height.3. robot bounce motion of the present invention combines with the moving movement mode can cross the height that is several times as much as self, can improve the obstacle climbing ability and the action radius of robot significantly, has a wide range of applications in fields such as archaeology, anti-terrorism, geoexplorations.4. robot of the present invention 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 finishes high efficiency motion.
On above-mentioned first straight pin, second straight pin, the three cylindrical pin jump ring that is used for axial hinged location is installed.
Above-mentioned horizontal stretch spring can be installed on the three cylindrical pin.The horizontal stretch spring is installed on this position, can make spring obtain maximum deflection, improves mechanism's layup.
Description of drawings
Fig. 1 is the vertical bouncing mechanism front view of the present invention;
Fig. 2 is the birds-eye view of vertical bouncing mechanism shown in Figure 1;
Fig. 3 is the left view of vertical bouncing mechanism shown in Figure 1;
Fig. 4 is processed with the cylindrical cam figure of ratchet structure for the upper end in the vertical bouncing mechanism shown in Figure 1;
Fig. 5 is that the EAP in the vertical bouncing mechanism shown in Figure 1 drives ratchet three-dimensional part figure;
Fig. 6 is that the EAP in the vertical bouncing mechanism shown in Figure 1 drives pawl component figure;
Fig. 7 is the counter-rotating detent parts block diagram in the vertical bouncing mechanism shown in Figure 1;
Fig. 8 is the counter-rotating detent parts planar view in the vertical bouncing mechanism shown in Figure 1;
Fig. 9 is the upper cover plate block diagram in the vertical bouncing mechanism shown in Figure 1;
Figure 10 is the spiral groove expansion drawing on the cylindrical cam in the vertical bouncing mechanism shown in Figure 1;
Figure 11 is a vertical bouncing mechanism graphics shown in Figure 1;
Number in the figure title: 1, upper cover plate, 2, thrust baring, 3, sliding bar, 4, electrode, 5, last guide groove, 6, following guide groove, 7, the EAP actuator, 8, right fixed link, 9, the ratchet mounting rod, 10, last brace, 11, the three cylindrical pin, 12, following brace, 13, base, 14, center guide pillar, 15, the side guide pillar, 16, left side fixed link, 17, detent, 18, the first roundlet pin, 19, stay bearing plate, 20, the 3rd roundlet pin, 21, the second roundlet pin, 22, spring wire, 23, drive ratchet, 24, the centered cylinder cam, 25, spring, 26, jump ring, 27, nut, 28, cross bar, 29, screw, 30, second straight pin, 31, first straight pin.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing:
A kind of vertical bouncing mechanism of robot comprises dielectric EAP actuator 7, centered cylinder cam 24, pawl ratchet mechanism, counter-rotating detent parts (comprising detent 17, two first roundlet pins 18, stay bearing plate 19, spring wire 22), six-bar mechanism (comprise upper cover plate 1, base 13, go up brace 10, brace 12) down, center guide pillar 14, four side guide pillars 15, cross bar 28, extension spring 25.The two sides, front and back of dielectric EAP actuator 7 scribbles electrode 4.Ratchet structure has been done in the upper end of centered cylinder cam 24.The centre of 28, two cross bars 28 of fixed installation cross bar is processed with protruding bar respectively, the protruding bar on the cross bar 28 and the groove fit of centered cylinder cam 24 on four side guide pillars 15;
The camshaft interference fit that the inner ring of thrust baring 2 and centered cylinder cam 24 extend upwardly out, the cam the tip of the axis has been done screw thread, pushes down the upper end of thrust baring 2 with a nut 27 that is spun on the camshaft screw thread.Have two spiral grooves and two vertical connected in stars on the outside face of centered cylinder cam 24, groove expands into two oblique grooves and two vertical grooves along cylinder 360 degree, and the end of an oblique groove respectively is connected by a vertical groove with the head end of another oblique groove; Two braces 10 are connected on the upper cover plate 1 by first straight pin 31 respectively, two braces 12 are connected on the base 13 by second straight pin 30 respectively, brace 10 inserts three cylindrical pin 11 with brace 12 junctions, and makes that by two jump rings 26 going up brace 10 abuts against with following brace 12.
Counter-rotating detent parts are made up of detent 17, two the first roundlet pins 18, stay bearing plate 19, spring wires 22, detent 17 cooperates with the ratchet of centered cylinder cam 24 upper ends, make ratchet unidirectionally to rotate, stop the 24 contrarotation campaigns of centered cylinder cam.
When applying high potential gradually to the electrode 4 on the two sides, front and back of EAP actuator 7, EAP actuator 7 is at last guide groove 5, the direction of the directional tagging lower edge guide groove of following guide groove 6 stretches elongated gradually, driving ratchet mounting rod 9 simultaneously moves, the driving ratchet of installing on ratchet mounting rod 9 flaps 23 is along with moving forward, when the EAP driver drives drives ratchet 23 positive movements, drive ratchet 23 and promote ratchet in turn, make centered cylinder cam 24 rotate to an angle, center, centered cylinder cam 24 lower end has the blind hole of certain depth, under the effect of protruding bar on the cross bar 28, can move down along center guide pillar 14 simultaneously during 24 rotations of centered cylinder cam, drive upper cover plate 1 simultaneously, thrust baring 2 parts such as grade move down, six-bar mechanism deforms, spring 25 is elongated gradually, storage elasticity potential energy.When protruding bar on the cross bar 28 is on vertical groove is arrived in the spiral groove relative motion, spring 25 is stretched to the longest, centered cylinder cam 24 no longer is subjected to the application force of protruding bar vertical direction on the cross bar 28, spring 25 sudden contractions this moment, drive four braces, make upper cover plate 1 upward movement such as part such as grade, drive liftoff the takeofing of entire machine robot mechanism, final mechanism takeoffs.Because the inertia of object, the robot that vertically bounces can be made bounce motion up and down with certain speed built on stilts.If 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 (3)
1. one kind based on the vertical bouncing mechanism of dielectric EAP machine driven people, it is characterized in that:
Comprise side guide pillar (15) on base (13) of base (13), vertical fixing, be installed on the side guide pillar upper cover plate (1) that can move along side guide pillar easy on and off;
Also comprise be installed on upper cover plate (1) by left fixed link (16), right fixed link (8), go up guide groove (5), the EAP actuator installing frame formed of guide groove (6) down;
Also comprise the EAP actuator assembly that is installed in the EAP actuator installing frame, the EAP actuator assembly comprises that sliding bar (3), two sides scribble the EAP actuator of electrode (4), ratchet mounting rod (9), drive ratchet (23); Above-mentioned sliding bar (3) is installed between the last guide groove (5) and following guide groove (6) of EAP actuator installing frame, EAP actuator one end and sliding bar (3) are connected, the other end and right fixed link (8) are connected and are installed between guide groove (5) and the following guide groove (6), and ratchet mounting rod (9) one ends pass the pilot hole on the right fixed link (8) and are connected with sliding bar (3); Above-mentioned driving ratchet (23) is installed on the ratchet mounting rod (9) by the 3rd roundlet pin (20), and provides precompressed compression by the spring wire (22) that is installed on the ratchet back side, and is spacing by the second roundlet pin (21) that is installed on the ratchet front;
Also comprise the center guide pillar (14) that is fixed on the base (13), also comprise the centered cylinder cam (24) that central blind hole cooperates with center guide pillar (14) that passes through that is installed on upper cover plate (1) center by thrust baring (2); Centered cylinder cam (24) upper end outside face has the ratchet structure that cooperates with above-mentioned driving ratchet (23); Centered cylinder cam (24) lower external face has the spiral groove structure, spiral groove expands into two oblique grooves and two vertical grooves along centered cylinder cam 360 degree, and the end of an oblique groove respectively is connected by a vertical groove with the head end of another oblique groove;
Also comprise the stay bearing plate (19) that is fixed in upper cover plate (1) by the first roundlet pin (18), the detent (17) that cooperates with the ratchet structure of centered cylinder cam (24) is installed on the stay bearing plate (19); Precompressed compression is provided for detent (17) by the spring wire that is installed on the detent back side;
Should comprise also that two were symmetrically fixed on protruding bar on the respective side guide pillar (15) and groove fit centered cylinder cam (24) based on the vertical bouncing mechanism of dielectric EAP machine driven people;
Should also comprise two pole mechanisms that are articulated between upper cover plate (1) and the base (13) based on the vertical bouncing mechanism of dielectric EAP machine driven people, each pole mechanism comprise one one end and upper cover plate (1) by brace (10) on first straight pin (31) pivotally attached, end and base (13) by brace (12) under second straight pin (30) pivotally attached, and on be hinged by three cylindrical pin (11) between brace (10) and the following brace (12); Connect by horizontal stretch spring (25) between two pole mechanisms.
2. according to claim 1 based on the vertical bouncing mechanism of dielectric EAP machine driven people, it is characterized in that: on above-mentioned first straight pin (31), second straight pin (30), the three cylindrical pin (11) jump ring (26) that is used for hinged location is installed.
3. according to claim 1 based on the vertical bouncing mechanism of dielectric EAP machine driven people, it is characterized in that: above-mentioned horizontal stretch spring (25) is installed on the three cylindrical pin (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206930016U CN201999100U (en) | 2010-12-31 | 2010-12-31 | Dielectric EAP(Equivalent Air Pressure) drive-based vertical jumping mechanism for robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206930016U CN201999100U (en) | 2010-12-31 | 2010-12-31 | Dielectric EAP(Equivalent Air Pressure) drive-based vertical jumping mechanism for robots |
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| Publication Number | Publication Date |
|---|---|
| CN201999100U true CN201999100U (en) | 2011-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206930016U Expired - Fee Related CN201999100U (en) | 2010-12-31 | 2010-12-31 | Dielectric EAP(Equivalent Air Pressure) drive-based vertical jumping mechanism for robots |
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| CN (1) | CN201999100U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092430A (en) * | 2010-12-31 | 2011-06-15 | 南京航空航天大学 | Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot |
| CN110304166A (en) * | 2019-07-18 | 2019-10-08 | 南京工程学院 | A kind of hopping robot's bouncing mechanism based on energy engagement conversion |
-
2010
- 2010-12-31 CN CN2010206930016U patent/CN201999100U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092430A (en) * | 2010-12-31 | 2011-06-15 | 南京航空航天大学 | Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot |
| CN102092430B (en) * | 2010-12-31 | 2012-05-30 | 南京航空航天大学 | Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot |
| CN110304166A (en) * | 2019-07-18 | 2019-10-08 | 南京工程学院 | A kind of hopping robot's bouncing mechanism based on energy engagement conversion |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111005 Termination date: 20111231 |