CN202320580U - Multi-functional hopping robot capable of self-adaptation after falling to ground - Google Patents
Multi-functional hopping robot capable of self-adaptation after falling to ground Download PDFInfo
- Publication number
- CN202320580U CN202320580U CN2011204512975U CN201120451297U CN202320580U CN 202320580 U CN202320580 U CN 202320580U CN 2011204512975 U CN2011204512975 U CN 2011204512975U CN 201120451297 U CN201120451297 U CN 201120451297U CN 202320580 U CN202320580 U CN 202320580U
- Authority
- CN
- China
- Prior art keywords
- leg
- rotating shaft
- iii
- saves
- gear
- 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 - Fee Related
Links
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model discloses a multi-functional hopping robot capable of self-adaptation after falling to the ground. Two front legs with same structure are installed at the transverse edge of the front end of a robot body; a driving mechanism is arranged on two sides of the robot body; a launch angle locking mechanism is arranged on the position close to a rectangular hole at the rear end of one side of the robot body; and launch legs are arranged backward at the rear end of the robot body. The robot is provided with a plurality of movement forms by two functions of wheeled motion and hopping; by adopting the symmetrical structure of the front and the back side, the robot can hop again after any of the front side or the back side of the robot falls to the ground so that the addition of redundant gestures adjusting mechanism is avoided and the influence caused by the turning of the robot on once more hopping when the robot falls to the ground is reduced; the front leg uses a two-level vibration reducing structure, the shock damage of the universal guiding wheel of the front leg is prevented; and the guide groove cam structure enables the power storage component to achieve a momentary unrestraint release, thereby the hopping performance of the mechanism is improved. The multi-functional hopping robot capable of self-adaptation after falling to the ground is small in size, light in weight and good in concealment, thereby the multi-functional hopping robot capable of self-adaptation after falling to the ground can be applied for the fields of urban war on terrorism, earthquake and disaster relief, environmental detection, space and military and the like by adding sensors.
Description
Technical field
The utility model relates to a kind of hopping robot, especially relates to a kind of multi-functional hopping robot of self adaptation that lands.
Background technology
Small scale robot is because of advantages such as volume is little, in light weight, good concealment, and the application in city anti-terrorism, the scouting of military information, environmental monitoring is increasingly extensive.Along with reducing of body yardstick, smooth ground regards to small scale robot and becomes rugged originally, adopts the jump gait that possesses big step-length characteristic as its optimal movement mode, can reduce the loss that causes owing to too much ground contact.
The federal Institute of Technology of Lausanne, SUI develops high 5cm, and the miniature hopping robot of imitative grasshopper of heavy 7g can not reply initial take-off state but land after rolling, and has influenced take-off once more.To this problem Mirko professor Kovac etc.; In original mechanism, install carbon-point additional and connect to form lantern appearance skeleton structure, utilize the auxiliary back of landing of action of gravity to recover take-off initial condition, its maximum outside diameter 12cm; Heavy 9.8g, but direction of take off and take-off angle are still non-adjustable.The Minerva of Tokyo University and ISAS joint research and development; The development of west storage university by the robot C rickent Microrobot of artificial muscle as power element; The robot Grillo of Italy's Institute of Technology imitation leafhopper development, the Microbot that is used for space exploration of MIT development all exists and lands upset; Can not reply the take-off initial condition and influence the problem of take-off once more, and direction of take off and take-off angle are unadjustable.
The robot Scout Robot of the heavy 200g of Univ Minnesota-Twin Cities USA's development; Tokyo Univ Japan development be used for the Rescue Robot that earthquake is searched at collapsed house; All possess and jump and wheeled mobile two kinds of motor functions; And all adopt cylinder-like structure design, make to automatically reply the take-off initial condition after landing, but the uncontrollable problem of direction of take off and take-off angle still exists.The first generation hopping robot of NASA development; Employing globosity design utilizes action of gravity to make to land the back to reply the take-off initial condition, through camera motion adjustment center-of-gravity position; Adjust direction of take off indirectly; It is not high that it lands state and take-off angle control reliability, and take-off angle is unadjustable, and second generation hopping robot utilizes gear transmission structure design accuracy control direction of take off; Make and land the body of upset and reply the take-off initial condition through increasing auxiliary part, but take-off angle still can not be adjusted.Third generation robot possesses wheeled moving and the multiple function of jumping; Can adjust direction of take off through wheeled moving, but direction control is not good enough in the jump process, take-off angle 0-85 ° continuous adjustable; But the turning problem of landing fails to solve, and capacity usage ratio only has an appointment 20%.And wheeled moving is existing energy conversion rate mode of motion the most efficiently; Based on above-mentioned consideration; This paper proposes a kind of wheeled moving and the two kinds of motor functions of jumping that possess, and direction of take off and take-off angle are adjustable continuously, can automatically reply hopping robot's structure of take-off state after landing.
Summary of the invention
Consider that wheeled moving is existing energy conversion rate mode of motion the most efficiently; The purpose of the utility model is to provide a kind of multi-functional hopping robot of self adaptation that lands; It possesses wheeled moving and the two kinds of motor functions of jumping; Direction of take off and take-off angle are adjustable continuously, can automatically reply hopping robot's structure of take-off state after landing.
The technical scheme that the utility model adopted is:
The utility model is equipped with two identical forelegs of structure at the horizontal edge place of body front end; On the body dual-side, transmission device is installed; On body one side,, the take off angle lockout mechanism is installed near the rectangular opening place of rear end; Be equipped with backwards in the rear end of body and take off leg.
Described two forelegs: every foreleg includes two foreleg strut bars, two foreleg damping springs, two universal guide wheel units of foreleg; It is an integral body that two foreleg strut bars are connected, and symmetry is installed and penetrated body front end horizontal edge hole up and down, and its free end is installed the universal guide wheel units of foreleg, and two foreleg damping springs are enclosed within respectively on the two foreleg strut bars;
Described two universal guide wheel units of foreleg: include front-wheel damping bracing frame, two front-wheel damping springs, front-wheel fixed derrick, two thrust barings, front-wheel fixed frame, preceding scroll wheel, front-wheel fixed beam, two front-wheel fixed links; Front-wheel damping bracing frame is enclosed within on the foreleg strut bar; Front-wheel fixed link and front-wheel damping bracing frame two ends are connected, and the front-wheel fixed beam is placed on the two front-wheel fixed links, and two front-wheel damping springs are installed on respectively on two front-wheel fixed links; U-shaped front-wheel fixed frame is through the front-wheel fixed derrick; Be installed on the middle tapping of front-wheel fixed beam, two thrust barings all are installed on the front-wheel fixed derrick, and preceding scroll wheel is installed on U-shaped front-wheel fixed frame open end through the axis hole cooperation.
Described transmission device: comprise connecting the shaft type linear stepping motor, connect shaft type linear stepping motor screw mandrel, the H oblique crank Z is to the mobile guide bar, the rotating shaft of I level; Rotary electric machine, I level shaft gear, the rotating shaft of II level, II level rotating shaft first gear, II level rotating shaft second gear; II level rotating shaft the 3rd gear, the rotating shaft of III level, III level rotating shaft first gear; III level rotating shaft second gear, III level rotating shaft the 3rd gear, channel cam; III level rotating shaft the 4th gear, the first back scroll wheel, the second back scroll wheel; Connect the shaft type linear stepping motor and be fixedly installed in the middle of the body horizontal edge, connect shaft type linear stepping motor screw mandrel and body dual-side foremost interporal lacuna cooperate, be connected to mobile guide bar two parallel edges with the H oblique crank Z through tapered roller bearing; The H oblique crank Z is a rectangle to mobile guide bar horizontal edge cross section, and with the rectangular opening formation on the body dual-side, rotary electric machine is fixedly installed in the outer end of body one side; Its output shaft is the rotating shaft of I level, fixed installation I level shaft gear in the rotating shaft of I level, and rotating shaft of II level and body dual-side be second round hole free-running fit from front to back; And be connected to mobile guide bar two parallel edges with the H oblique crank Z through tapered roller bearing, from end to end, fix II level rotating shaft the 3rd gear, II level rotating shaft second gear successively in the rotating shaft of II level near rotary electric machine; II level rotating shaft first gear, three gears all adopt interference fit with the rotating shaft of II level, wherein; The rotating shaft of III level is broken off at the channel cam place, and rivets through the optical axis bolt between two sections axles, and III level rotating shaft two ends are installed on the round hole place of body dual-side tail end through antifriction-bearing box; From end to end, fix the second back scroll wheel successively, III level rotating shaft the 4th gear in the rotating shaft of III level near rotary electric machine; Channel cam, III level rotating shaft the 3rd gear, III level rotating shaft second gear; III level rotating shaft first gear, the first back scroll wheel, III level rotating shaft the 4th gear; III level rotating shaft second gear, the first back scroll wheel, interference fit is all adopted in the second back scroll wheel and the rotating shaft of III level; III level rotating shaft the 3rd gear; Free-running fit is all adopted in channel cam and III level rotating shaft first gear and the rotating shaft of III level, and it is an integral body that III level rotating shaft the 3rd gear and channel cam are connected, and axially utilizes the sleeve location.
Described take off angle lockout mechanism: comprise mobile pilot pin, retracing spring, spreadet spreadet wheel; The stepped stem that adopts square-section and circular section composite structure is as moving pilot pin; Pilot pin square-section end face is moved in the spreadet spreadet wheel fixed installation; The take off angle lockout mechanism is through moving on pilot pin and body one side near the rectangular opening bearing fit of rear end, and retracing spring is installed between the inner end surface of spreadet spreadet wheel and body side.
Described taking off leg: comprise that I saves first leg, I saves second leg, and II saves first leg, and II saves second leg, and III saves first leg; III saves second leg, shank reinforcing rod, jump energy stroage spring, steel rope, guide groove cylinder; Angle adjustment lever, rotating machine, supporting baseplate, I saves first torsion spring, and I saves second torsion spring; II saves first torsion spring, and II saves second torsion spring, and III saves first torsion spring, and III saves second torsion spring; I saves the end that first leg and I save second leg and is installed in the rotating shaft of III level through free-running fit; I saves that the other end that first leg and I save second leg saves first leg with II respectively and II saves the riveted joint of the second leg fork-shaped perforate end; I saves first leg and III level rotating shaft first gear is connected by screw; II saves first leg and II and saves second leg and save the end riveted joint that first leg and III save second leg with III respectively; Both sides, angle adjustment lever tow sides upper ends cylindrical boss saves first leg and III with III respectively and saves the second leg fork-shaped interporal lacuna and cooperate; Angle adjustment lever lower end circular hole is connected with two boss on the oval supporting baseplate through the rotating machine output shaft; The hook at jump energy stroage spring two ends saves riveted joint bolt and II that first leg, III save first leg with II respectively and saves the riveted joint bolted connection that second leg, III save second leg; Steel rope one end is fixed in place, arch hole, angle adjustment lever upper surface; The other end is installed on through the guide groove cylinder in the guide groove of channel cam, and I saves first torsion spring and is installed on I and saves first leg and II and save on first leg riveted joint bolt, and said two spring arms save first leg and II with I respectively and save first leg and be connected; I saves second torsion spring and is installed on I and saves second leg and II and save on second leg riveted joint bolt, and said two spring arms save second leg and II with I respectively and save second leg and be connected; II saves first torsion spring and is installed on II and saves first leg and III and save on first leg riveted joint bolt, and said two spring arms save first leg and III with II respectively and save first leg and be connected; II saves second torsion spring and is installed on II and saves second leg and III and save on second leg riveted joint bolt, and said two spring arms save second leg and III with II respectively and save second leg and be connected; III saves first torsion spring and is installed on angle adjustment lever, and arbitrary upper end of tow sides is near on the rotating machine side cylindrical boss, and said two spring arms save first leg with III respectively and angle adjustment lever is connected; III saves second torsion spring and is installed on angle adjustment lever, saves first torsion spring with simultaneously the upper end is away from the rotating machine side cylindrical boss with III, and said two spring arms save second leg with III respectively and angle adjustment lever is connected.
The beneficial effect that the utlity model has is:
(1) adopts wheeled moving and the design of jumping two kinds of functions, make robot possess multiple mode of motion, when evenness of road surface, can adopt wheeled moving, help improving accuracy of positioning and capacity usage ratio;
(2) adopt positive and negative symmetrical structure design, the back arbitrary face that the lands take-off once more that lands has all avoided redundant attitude-adjusting system to add, and effectively reduces and lands upset to the influence of take-off once more.
(3) foreleg adopts the design of two-stage shock-damping structure, and actv. has prevented the impact failure of the universal track adjusting wheel of foreleg;
(4) channel cam structure design has realized that the moment of energy storage member does not have constraint release, helps improving the jump performance of mechanism.
(5) through the design of slide shaft, make the both sides wheel can realize independently moving respectively, thereby reach the purpose of adjustment direction of take off, improved the alerting ability of skip motion.
(6) structure design of back leg and body adjustable included angle has been realized the body function of regulating center of gravity, and in wheeled moving process, can regulate through barycenter increases the drive wheel friction force, strengthens motion credibility.
(7) adopt six bar structure designs, make shank and sole junction possess unique rotational freedom,, make jump leg and ground angle adjustable continuously through at this place's mounting rotary electric machine.
The utility model can be used as the motion carrier of detecting instrument because of volume is little, in light weight, good concealment, through 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 the robot overall setup scheme drawing of the utility model.
Fig. 2 is the housing construction scheme drawing of the utility model.
Fig. 3 is that the foreleg of the utility model supports and the damping scheme drawing.
Fig. 4 is that the preceding leg wheel type of the utility model moves and secondary damping scheme drawing.
Fig. 5 is three grades of engagement transmission mechanism scheme drawings of the utility model
Fig. 6 is the body angle locking mechanism enlarged drawing of A among Fig. 5.
Fig. 7 is the channel cam and the guide groove idler wheel mechanism scheme drawing of the utility model.
Fig. 8 is the guide groove idler wheel mechanism scheme drawing of the utility model.
Fig. 9 is the back leg energy storage and the hopping mechanism scheme drawing of the utility model.
Figure 10 is the take-off angle adjusting mechanism scheme drawing of the utility model.
Among the figure: 101, foreleg strut bar, 102, the foreleg damping spring, 103, front-wheel damping bracing frame, 104, the front-wheel damping spring, 105, the front-wheel fixed derrick; 106, two thrust barings, 107, the front-wheel fixed frame, 108, preceding scroll wheel, 109, the front-wheel fixed beam, 110, the front-wheel fixed link; 201, body, 202, rectangular opening, 301, connect the shaft type linear stepping motor, 302, connect shaft type linear stepping motor screw mandrel, 303, the H oblique crank Z is to the mobile guide bar; 304, rotating machine output shaft (rotating shaft of I level), 305, rotary electric machine, 306, I level shaft gear, 307, the rotating shaft of II level, 308, II level rotating shaft first gear; 309, II level rotating shaft second gear, 310, II level rotating shaft the 3rd gear, 311, the rotating shaft of III level, 312, III level rotating shaft first gear, 313, III level rotating shaft second gear; 314, III level rotating shaft the 3rd gear, 315, channel cam, 316, III level rotating shaft the 4th gear, 317, the first back scroll wheel, 318, the second back scroll wheel; 401, move pilot pin, 402, retracing spring, 403, spreadet spreadet wheel, 501, I saves first leg, 502, I saves second leg; 503, II saves first leg, and 504, II saves second leg, 505, III saves first leg, 506, III saves second leg, 507, the shank reinforcing rod; 508, jump energy stroage spring, 509, steel rope, 510, the guide groove cylinder, 511, angle adjustment lever; 512, rotating machine, 513, supporting baseplate, 514, I saves first torsion spring, 515, I saves second torsion spring; 516, I saves second torsion spring, and 517, II saves second torsion spring, 518, III saves second torsion spring, 519, III saves second torsion spring.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further described.
As shown in Figure 1, two identical forelegs of structure are installed at the horizontal edge place of body 201 front ends; On body 201 dual-sides, transmission device is installed; On body 201 1 sides,, the take off angle lockout mechanism is installed near rectangular opening 202 places of rear end; Be equipped with backwards in the rear end of body 201 and take off leg.
As shown in Figure 2; Body 201 is the capable framed structure of U; At body 201 horizontal edge two ends along the thickness direction perforate, in body 201 dual-side broad ways perforates, on body 201 dual-sides near an end of horizontal edge toward the other end; Symmetrical successively opened round hole, rectangular opening, circular port, circular port, circular port, and have rectangular opening 202 having most between a circular port and the penult circular port of body 201 1 sides.
As shown in figs. 1 and 3, described two forelegs: every foreleg includes 102, two universal guide wheel units of foreleg of 101, two foreleg damping springs of two foreleg strut bars; Foreleg strut bar 101 is a ladder shaft type cylinder, two foreleg strut bars 101, and being connected than the small end end face through diameter is an integral body; And the symmetry installation penetrates body 201 front end horizontal edge holes up and down, and the bigger end of foreleg strut bar 101 diameters is installed the universal guide wheel units of foreleg, two foreleg damping springs 102; Be enclosed within respectively on the two foreleg strut bars 101; One end of two foreleg damping springs 102 is respectively through body 201 horizontal edge upper surfaces and lower surface location, the other end of two foreleg damping springs 102; In the universal guide wheel units of foreleg, the end face of front-wheel damping bracing frame 103 is located separately.
As shown in Figure 4, described two universal guide wheel units of foreleg: include 103, two front-wheel damping springs 104 of front-wheel damping bracing frame; 105, two thrust barings 106 of front-wheel fixed derrick, front-wheel fixed frame 107; Preceding scroll wheel 108,109, two front-wheel fixed links 110 of front-wheel fixed beam; Have circular hole in the middle of the dolioform front-wheel damping bracing frame 103, be enclosed within on the less bar of foreleg strut bar 101 diameters, this Circularhole diameter greater than foreleg strut bar 101 than the small end diameter; Than outside diameter, both ends of the surface contact with foreleg damping spring 102 with foreleg strut bar 101 shaft shoulders respectively less than foreleg strut bar 101, and front-wheel fixed link 110 is a ladder shaft type cylinder; The interlude diameter is greater than two ends, the shaft part that the two ends diameter is less, diameter and identical length with; Oblong front-wheel fixed beam 109; Through two ends perforate and two front-wheel fixed links, 110 free-running fits, and through shaft shoulder location in the middle of the front-wheel fixed link 110, two front-wheel damping springs 104 are installed on respectively on two front-wheel fixed links 110; Between front-wheel damping bracing frame 103 and front-wheel fixed beam 109; U-shaped front-wheel fixed frame 107 is installed on front-wheel fixed beam 109 middle tappings through front-wheel fixed derrick 105, and two thrust barings 106 all are installed on the front-wheel fixed derrick 105; Lay respectively at U-shaped front-wheel fixed frame 107 two ends; Before scroll wheel 108 cooperate through axis hole and be installed on U-shaped front-wheel fixed frame 107 open ends, front-wheel fixed link 110 free end faces are concordant with preceding scroll wheel 108 rotating shafts, the less shaft part length of front-wheel fixed link 110 diameters is greater than preceding scroll wheel 108 radius values;
With reference to Fig. 1, Fig. 5 and shown in Figure 7, described transmission device: comprise connecting shaft type linear stepping motor 301 that connect shaft type linear stepping motor screw mandrel 302, the H oblique crank Z is to mobile guide bar 303; I level rotating shaft 304,306, the II level rotating shafts 307 of rotary electric machine 305, the I level shaft gears; II level rotating shaft first gear 308, II level rotating shaft second gear 309, the II level rotating shafts the 3rd gear 310, the III level rotating shafts 311, the III level rotating shafts first gear 312; III level rotating shaft second gear 313, the III level rotating shafts the 3rd gear 314, channel cam 315; III level rotating shaft the 4th gear 316, the first back scroll wheels 317, the second back scroll wheels 318; Connect shaft type linear stepping motor 301 and be fixedly installed in the middle of body 201 horizontal edges, connecting shaft type linear stepping motor screw mandrel 302 two ends is optical axis, and the intermediate thread segment length is greater than I level rotating shaft 304 gear thickness; Connect shaft type linear stepping motor screw mandrel 302 and body 201 dual-sides round hole free-running fit foremost, be connected to 303 liang of parallel edges of mobile guide bar with the H oblique crank Z through tapered roller bearing, the H oblique crank Z is a rectangle to mobile guide bar 303 horizontal edge cross sections; Be sliding combined with the rectangular opening on body 201 dual-sides, rotary electric machine 305 is fixedly installed in the outer end of body 201 1 sides, and its output shaft is I level rotating shaft 304; Fixed installation I level shaft gear 306 in the I level rotating shaft 304, and this gear length moves axially the range value greater than II level rotating shaft 307, II level rotating shaft 307 and body 201 dual-sides be second round hole free-running fit from front to back; And be connected to 303 liang of parallel edges of mobile guide bar with the H oblique crank Z through tapered roller bearing, from end to end, fix II level rotating shaft the 3rd gear 310, II level rotating shaft second gear 309 successively in the II level rotating shaft 307 near rotary electric machine 305; 308, three gears of II level rotating shaft first gear all adopt interference fit with II level rotating shaft 307, wherein; II level rotating shaft first gear 308 equates that with II level rotating shaft the 3rd gear 310 thickness the off-axis structure is adopted in III level rotating shaft 311, and the rotating shaft 311 of III level is broken off at channel cam 315 places; And through optical axis bolt riveted joint, III level rotating shaft 311 two ends are installed on the round hole place of body 201 dual-side tail ends through antifriction-bearing box between two sections axles, in the III level rotating shaft 311 from end to end near rotary electric machine 305; Fixing successively second back scroll wheel 318, the III level rotating shafts the 4th gear 316, channel cam 315; III level rotating shaft the 3rd gear 314; III level rotating shaft second gear 313, the III level rotating shafts first gear 312, the first back scroll wheels 317; III level rotating shaft the 4th gear 316; Interference fit is all adopted in III level rotating shaft second gear 313, the first back scroll wheels, 317, the second back scroll wheels 318 and III level rotating shaft 311; III level rotating shaft the 3rd gear 314; Free-running fit is all adopted in channel cam 315 and III level rotating shaft first gear 312 and III level rotating shaft 311, and it is an integral body that III level rotating shaft the 3rd gear 314 is connected with channel cam 315, axially utilizes the sleeve location.
Like Fig. 2 and shown in Figure 6, described take off angle lockout mechanism: comprise and move pilot pin 401, retracing spring 402, spreadet spreadet wheel 403; The stepped stem that adopts square-section and circular section composite structure is as moving pilot pin 401; And the diameter of circular section is greater than the square-section catercorner length; Pilot pin 401 square-section end faces are moved in spreadet spreadet wheel 403 fixed installations; Spreadet spreadet wheel 403 tip diameters greater than, move pilot pin 401 square-section catercorner lengths, rectangular opening 202 is slidingly installed the take off angle lockout mechanism on pilot pin 401 and the body 201 through moving; Retracing spring 402 is installed between the inner end surface of spreadet spreadet wheel 403 and body 201 sides, and is in compressive state.
Like Fig. 8 and shown in Figure 9, described taking off leg: comprise that I saves first leg, 501, the I and saves second leg, 502, the II and save first leg 503; II saves second leg, 504, the III and saves first leg, 505, the III and save second leg 506, shank reinforcing rod 507; Jump energy stroage spring 508, steel rope 509, guide groove cylinder 510, angle adjustment lever 511; Rotating machine 512, supporting baseplate 513, the I save first torsion spring, 514, the I and save second torsion spring 515; II saves first torsion spring, 516, the II and saves second torsion spring, 517, the III and save first torsion spring, 518, the III and save second torsion spring 519; I saves first leg 501 and I and saves second leg 502 and be the two ends perforate; I saves the end that first leg 501 and I save second leg 502 and is installed in the III level rotating shaft 311 through free-running fit; II saves first leg 503 and II and saves second leg 504 and be the two ends perforate, and I saves that the other end that first leg 501 and I save second leg 502 saves first leg 503 with II respectively and II saves the riveted joint of second leg, 504 fork-shaped perforate ends, and I saves first leg 501 between the side and III level rotating shaft first gear 312 of body 201 away from rotary electric machine 305; I saves second leg 502 between the side plate and III level rotating shaft four gear 316 of body 201 near rotary electric machine 305; I saves first leg 501 and III level rotating shaft first gear 312 has screw to be connected, and III saves first leg 505 and III and saves second leg, 506 two ends and be the fork-shaped open-celled structure; II saves first leg 503 and II and saves second leg 504 and save the end yoke shape perforate riveted joint that first leg 505 and III save second leg 506 with III respectively; Both sides, angle adjustment lever 511 tow sides upper end have cylindrical boss respectively, and there is the arch hole angle adjustment lever 511 upper surfaces, and there is manhole the lower end; Both sides, angle adjustment lever 511 tow sides upper ends cylindrical boss saves first leg 505 and III with III respectively and saves second leg, 506 fork-shaped interporal lacunas and cooperate; Angle adjustment lever 511 lower end circular holes are connected with two boss on the oval supporting baseplate 513 through rotating machine 512 output shafts, and rotating machine 512 and oval supporting baseplate 513 are connected; The hook at jump energy stroage spring 508 two ends; Save riveted joint bolt and II that first leg 503, III save first leg 505 with II respectively and save the riveted joint bolted connection that second leg 504, III save second leg 506, steel rope 509 1 ends are fixed in place, arch hole, angle adjustment lever 511 upper surface; The other end is installed in the guide groove of channel cam 315 through guide groove cylinder 510; Be the cylindrical screw of compression in the middle of the torsion spring, there is spring arm at two ends, and I saves first torsion spring 514 and is installed on I and saves first leg 501 and save first leg 503 with II and rivet on the bolts; I saves 514 liang of spring arms of first torsion spring, saves first leg 501 and II with I respectively and saves first leg 503 and be connected; I saves second torsion spring 515 and is installed on I and saves second leg 502 and II and save on second leg, the 504 riveted joint bolts, and I saves 515 liang of spring arms of second torsion spring, saves second leg 502 and II with I respectively and saves second leg 504 and be connected; II saves first torsion spring 516 and is installed on II and saves first leg 503 and III and save on first leg, the 505 riveted joint bolts, and II saves 516 liang of spring arms of first torsion spring, saves first leg 503 and III with II respectively and saves first leg 505 and be connected; II saves second torsion spring 517 and is installed on II and saves second leg 504 and III and save on second leg, the 506 riveted joint bolts, and II saves 517 liang of spring arms of second torsion spring, saves second leg 504 and III with II respectively and saves second leg 506 and be connected; Shown in figure 10; III saves first torsion spring 518 and is installed on angle adjustment lever 511; Arbitrary upper end of tow sides is near on the rotating machine 512 side cylindrical bosss, and III saves 518 liang of spring arms of first torsion spring, saves first leg 505 with III respectively and is connected with angle adjustment lever 511; III saves second torsion spring 519 and is installed on angle adjustment lever 511; Save first torsion spring, 518 same one side upper ends away from the rotating machine 512 side cylindrical bosss with III; III saves 519 liang of spring arms of second torsion spring, saves second leg 506 with III respectively and is connected with angle adjustment lever 511.
The principle of work of the utility model is following:
In the present embodiment; Body 201 dual-sides are installed the transmission device of three grades of engaged transmission functions; Connect 301 runnings of shaft type linear stepping motor, make perforation shaft type linear stepping motor screw mandrel 302 axial motions of screw thread fit, be synchronized with the movement to mobile guide bar 303 and II level rotating shaft 307 thereby drive the H oblique crank Z; And then adjust the engagement that gear and III level rotating shaft 311 in the II level rotating shaft 307 cog, realize different transmission agencys.
In the present embodiment; Can realize wheeledly moving and jumping, wherein wheeled move comprise two scroll wheels respectively independently moving be synchronized with the movement, when II level rotating shaft 307 axial motions; After making II level rotating shaft first gear 308 and 313 engagements of III level rotating shaft second gear; Rotary electric machine 305, the III level rotating shaft that drives all gears in I level shaft gear 306, the rotating shaft of II level, III level rotating shaft second gear, 313, the first back scroll wheels 317 and this side is rotated; In like manner; When II level rotating shaft 307 axial motions; When making II level rotating shaft the 3rd gear 310 and 316 engagements of III level rotating shaft the 4th gear; Rotary electric machine 305 drives, and the III level rotating shaft of all gears in I level shaft gear 306, the rotating shaft of II level, the rotating shaft of III level the 4th gear 316, the second back scroll wheel 318 and this side is rotated; When II level rotating shaft 307 axial motions; Make II level rotating shaft first gear 308 and III level rotating shaft second gear 313; And II level rotating shaft the 3rd gear 310 and III level rotating shaft the 4th gear 316 are when meshing simultaneously; The first back scroll wheel, 317, the second back scroll wheels 318 rotate synchronously, realize the two-wheel straight-line motion; When II level rotating shaft 307 axial motions; When making 314 engagements of II level rotating shaft second gear 309 and the rotating shaft of III level the 3rd gear, rotary electric machine 305 drives, and all gears in I level shaft gear 306, the rotating shaft of II level, the rotating shaft of III level the 3rd gear 314, channel cam 315 are rotated; Guide groove cylinder 510 slides at channel cam 315 inwalls; Through steel rope 509 supporting baseplate 513 and III level rotating shaft 311 distances are changed, when guide groove cylinder 510 moved to from III level rotating shaft 311 axle center the most nearby, jump energy stroage spring 508 and all torsion springs were in most compressed state; Channel cam 315 is further rotated; Guide groove cylinder 510 is moved along channel cam 315 inwall linear portions, and abrupt release steel rope 509 jumps robot under the driving of jump energy stroage spring 508 and all torsion springs.
In the present embodiment, this structure design helps helping under most of conditions, the back self adaptation that realizes the landing take-off attitude (sand ground, hollow area may not active homing) that resets; After mechanism lands as stated; If land earlier near scroll wheel 317 sides, first back, at gravity, land under the impulsive force and the first back scroll wheel 317 semisphere camber line guiding function, mechanism tends to roll; Make mechanism finally be in the front or reverse side lands, the adaptive take-off initial attitude that resetted; If land earlier near scroll wheel 318 sides, second back, in like manner, mechanism's take-off initial attitude that also can adaptively reset; And mechanism tow sides adopt the symmetrical structure design, and no matter front or reverse side land, and all can realize take-off once more and wheeled motion.
In the present embodiment, direction of take off adjustment, take-off angle adjustment can be realized, when realizing that as stated one-sided wheel shaft turns round, direction of take off can be adjusted; When a certain direction axial motion in II level rotating shaft 307 edges; Promote spreadet spreadet wheel 403 end faces through II level rotating shaft first gear 308 sides, compression reseting spring makes III level rotating shaft first gear 312 and 308 engagements of II level rotating shaft first gear; Rotate by rotary electric machine 305 again; III level rotating shaft first gear 312 that is connected through I level shaft gear 306, the rotating shaft of II level first gear 308, with body 201, through the corner of control rotating machine 512, adjustment body 201 and ground angle; When II level rotating shaft 307 along the other direction axial motion; Spreadet spreadet wheel 403 with 312 engagements of III level rotating shaft first gear, locks adjusted take-off angle under retracing spring 402 effects.
Claims (5)
1. one kind is landed the multi-functional hopping robot of self adaptation, it is characterized in that: two identical forelegs of structure are installed at the horizontal edge place of body (201) front end; On body (201) dual-side, transmission device is installed; Rectangular opening (202) near the rear end on body (201) one sides is located, and the take off angle lockout mechanism is installed; Be equipped with backwards in the rear end of body (201) and take off leg.
2. a kind of multi-functional hopping robot of self adaptation that lands according to claim 1, it is characterized in that: described two forelegs: every foreleg includes two foreleg strut bars, two foreleg damping springs, two universal guide wheel units of foreleg; It is an integral body that two foreleg strut bars are connected, and symmetry is installed and penetrated body (201) front end horizontal edge hole up and down, and its free end is installed the universal guide wheel units of foreleg, and two foreleg damping springs are enclosed within respectively on the two foreleg strut bars;
Described two universal guide wheel units of foreleg: include front-wheel damping bracing frame (103), two front-wheel damping springs, front-wheel fixed derrick (105); Two thrust barings, front-wheel fixed frame (107), preceding scroll wheel (108); Front-wheel fixed beam (109), two front-wheel fixed links; Front-wheel damping bracing frame (103) is enclosed within on the foreleg strut bar (101); Front-wheel fixed link (110) is connected with front-wheel damping bracing frame (103) two ends; Front-wheel fixed beam (109) is placed on the two front-wheel fixed links; Two front-wheel damping springs are installed on respectively on two front-wheel fixed links, and U-shaped front-wheel fixed frame (107) is installed on the middle tapping of front-wheel fixed beam (109) through front-wheel fixed derrick (105); Two thrust barings all are installed on the front-wheel fixed derrick (105), and preceding scroll wheel (108) is installed on U-shaped front-wheel fixed frame (107) open end through the axis hole cooperation.
3. a kind of multi-functional hopping robot of self adaptation that lands according to claim 1 is characterized in that: described transmission device: comprise connecting shaft type linear stepping motor (301), connect shaft type linear stepping motor screw mandrel (302); The H oblique crank Z is to mobile guide bar (303), I level rotating shaft (304), rotary electric machine (305); I level shaft gear (306), II level rotating shaft (307), II level rotating shaft first gear (308), II level rotating shaft second gear (309); II level rotating shaft the 3rd gear (310), III level rotating shaft (311), III level rotating shaft first gear (312); III level rotating shaft second gear (313), III level rotating shaft the 3rd gear (314), channel cam (315); III level rotating shaft the 4th gear (316), the first back scroll wheel (317), the second back scroll wheel (318); Connect shaft type linear stepping motor (301) and be fixedly installed in the middle of body (201) horizontal edge, connect shaft type linear stepping motor screw mandrel (302) and body (201) dual-side foremost interporal lacuna cooperate, be connected to mobile guide bar (303) two parallel edges with the H oblique crank Z through tapered roller bearing; The H oblique crank Z is a rectangle to mobile guide bar (303) horizontal edge cross section, and with the rectangular opening bearing fit on body (201) dual-side, rotary electric machine (305) is fixedly installed in the outer end of body (201) one sides; Its output shaft is I level rotating shaft (304), and fixed installation I level shaft gear (306) is gone up in I level rotating shaft (304), and II level rotating shaft (307) and body (201) dual-side be second round hole free-running fit from front to back; And is connected to mobile guide bar (303) two parallel edges with the H oblique crank Z through tapered roller bearing, from end to end, fix II level rotating shaft the 3rd gear (310), II level rotating shaft second gear (309) successively in the II level rotating shaft (307) near rotary electric machine (305); II level rotating shaft first gear (308), three gears all adopt interference fit with II level rotating shaft (307), wherein; III level rotating shaft (311) is located to break off in channel cam (315), and rivets through the optical axis bolt between two sections axles, and III level rotating shaft (311) two ends are installed on the round hole place of body (201) dual-side tail end through antifriction-bearing box; III level rotating shaft (311) is gone up from the end to end near rotary electric machine (305); The fixing successively second back scroll wheel (318), III level rotating shaft the 4th gear (316), channel cam (315); III level rotating shaft the 3rd gear (314); III level rotating shaft second gear (313), III level rotating shaft first gear (312), the first back scroll wheel (317); III level rotating shaft the 4th gear (316); III level rotating shaft second gear (313), the first back scroll wheel (317), the second back scroll wheel (318) all adopts interference fit with III level rotating shaft (311); III level rotating shaft the 3rd gear (314); Channel cam (315) and III level rotating shaft first gear (312) all adopt free-running fit with III level rotating shaft (311), and it is an integral body that III level rotating shaft the 3rd gear (314) is connected with channel cam (315), axially utilize the sleeve location.
4. a kind of multi-functional hopping robot of self adaptation that lands according to claim 1 is characterized in that: described take off angle lockout mechanism: comprise mobile pilot pin (401), retracing spring (402), spreadet spreadet wheel (403); The stepped stem that adopts square-section and circular section composite structure is as moving pilot pin (401); Pilot pin (401) square-section end face is moved in spreadet spreadet wheel (403) fixed installation; The take off angle lockout mechanism is through moving on pilot pin (401) and body (201) one sides near rectangular opening (202) bearing fit of rear end, and retracing spring (402) is installed between the inner end surface of spreadet spreadet wheel (403) and body (201) side.
5. a kind of multi-functional hopping robot of self adaptation that lands according to claim 1, it is characterized in that: described taking off leg: comprise that I saves first leg (501), I saves second leg (502), and II saves first leg (503); II saves second leg (504), and III saves first leg (505), and III saves second leg (506), shank reinforcing rod (507); Jump energy stroage spring (508), steel rope (509), guide groove cylinder (510); Angle adjustment lever (511), rotating machine (512), supporting baseplate (513); I saves first torsion spring (514), and I saves second torsion spring (515), and II saves first torsion spring (516); II saves second torsion spring (517), and III saves first torsion spring (518), and III saves second torsion spring (519); I saves first leg (501) and is installed in the III level rotating shaft (311) through free-running fit with the end that I saves second leg (502); I saves the other end that first leg (501) and I save second leg (502) and saves first leg (503) with II respectively and save the riveted joint of second leg (504) fork-shaped perforate end with II; I saves first leg (501) and is connected by screw with III level rotating shaft first gear (312); II saves first leg (503) and II and saves second leg (504) and save the end riveted joint that first leg (505) and III save second leg (506) with III respectively; Both sides, angle adjustment lever (511) tow sides upper ends cylindrical boss saves first leg (505) and III with III respectively and saves second leg (506) fork-shaped interporal lacuna and cooperate; Angle adjustment lever (511) lower end circular hole is connected with two boss on the oval supporting baseplate (513) through the rotating machine output shaft; The hook at jump energy stroage spring (508) two ends; Save the riveted joint bolt that first leg (503), III save first leg (505) with II respectively; Save the riveted joint bolted connection that second leg (504), III save second leg (506) with II, steel rope (509) one ends are fixed in place, arch hole, angle adjustment lever (511) upper surface, and the other end is installed in the guide groove of channel cam (315) through guide groove cylinder (510); I saves first torsion spring (514) and is installed on I and saves first leg (501) and II and save on first leg (503) the riveted joint bolt, and said two spring arms save first leg (501) and II with I respectively and save first leg (503) and be connected; I saves second torsion spring (515) and is installed on I and saves second leg (502) and II and save on second leg (504) the riveted joint bolt, and said two spring arms save second leg (502) and II with I respectively and save second leg (504) and be connected; II saves first torsion spring (516) and is installed on II and saves first leg (503) and III and save on first leg (505) the riveted joint bolt, and said two spring arms save first leg (503) and III with II respectively and save first leg (505) and be connected; II saves second torsion spring (517) and is installed on II and saves second leg (504) and III and save on second leg (506) the riveted joint bolt, and said two spring arms save second leg (504) and III with II respectively and save second leg (506) and be connected; III saves first torsion spring (518) and is installed on angle adjustment lever (511), and arbitrary upper end of tow sides is near on rotating machine (512) the side cylindrical boss, and said two spring arms save first leg (505) with III respectively and angle adjustment lever (511) is connected; III saves second torsion spring (519) and is installed on angle adjustment lever (511); Save first torsion spring (518) with simultaneously the upper end is away from rotating machine (512) the side cylindrical boss with III, said two spring arms save second leg (506) with III respectively and angle adjustment lever (511) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204512975U CN202320580U (en) | 2011-11-15 | 2011-11-15 | Multi-functional hopping robot capable of self-adaptation after falling to ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204512975U CN202320580U (en) | 2011-11-15 | 2011-11-15 | Multi-functional hopping robot capable of self-adaptation after falling to ground |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202320580U true CN202320580U (en) | 2012-07-11 |
Family
ID=46432570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204512975U Expired - Fee Related CN202320580U (en) | 2011-11-15 | 2011-11-15 | Multi-functional hopping robot capable of self-adaptation after falling to ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202320580U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514650A (en) * | 2011-11-15 | 2012-06-27 | 浙江大学 | Self-adaptive multifunctional landing jumping robot |
| CN106184448A (en) * | 2016-09-29 | 2016-12-07 | 浙江工业职业技术学院 | A kind of mechanism that leaps on one leg driven based on Pascal curve non-circular gear |
| CN106379433A (en) * | 2016-09-29 | 2017-02-08 | 浙江工业职业技术学院 | Single-leg jump mechanism based on eccentric non-circular gear drive |
-
2011
- 2011-11-15 CN CN2011204512975U patent/CN202320580U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514650A (en) * | 2011-11-15 | 2012-06-27 | 浙江大学 | Self-adaptive multifunctional landing jumping robot |
| CN102514650B (en) * | 2011-11-15 | 2013-04-24 | 浙江大学 | Self-adaptive multifunctional landing jumping robot |
| CN106184448A (en) * | 2016-09-29 | 2016-12-07 | 浙江工业职业技术学院 | A kind of mechanism that leaps on one leg driven based on Pascal curve non-circular gear |
| CN106379433A (en) * | 2016-09-29 | 2017-02-08 | 浙江工业职业技术学院 | Single-leg jump mechanism based on eccentric non-circular gear drive |
| CN106184448B (en) * | 2016-09-29 | 2018-05-11 | 浙江工业职业技术学院 | A kind of mechanism that leaps on one leg based on the driving of Pascal curve non-circular gear |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102514650B (en) | Self-adaptive multifunctional landing jumping robot | |
| CN101869745B (en) | Rescue robot | |
| CN103171641B (en) | Hopping robot with wheel movement function | |
| CN201446986U (en) | Bionic jumping robot | |
| CN202320580U (en) | Multi-functional hopping robot capable of self-adaptation after falling to ground | |
| CN104709375A (en) | Energy-storage type leapfrog-simulation robot | |
| CN203111341U (en) | Hopping robot with wheeled function | |
| CN101774408A (en) | Four-leg bionic walking mechanism | |
| CN101941477B (en) | Energy-stored adjustable gear-five-bar bionic bouncing mechanism | |
| CN109733505B (en) | Working method of all-terrain height active lifting type omnidirectional driving wheel mechanism | |
| CN101734299A (en) | Gliding robot capable of autonomously flying in salutatory mode | |
| CN107511813A (en) | A kind of barrier-surpassing robot | |
| CN105539006A (en) | Obstacle crossing wheel with wheel and jaw switching function | |
| CN102085886B (en) | Folding hopping robot | |
| CN211281483U (en) | Remote control unmanned aerial vehicle | |
| CN114475831B (en) | Foot-type multi-mode bionic robot | |
| CN111846012A (en) | Multi-motion-mode track-adjustable bionic bouncing robot | |
| CN109398656B (en) | Crawler-type running gear of unmanned submersible | |
| CN201701667U (en) | Rescue robot | |
| CN204415556U (en) | A kind of bionical multi-foot walking robot and robot leg thereof | |
| Zhang et al. | A novel one-motor driven robot that jumps and walks | |
| CN204548269U (en) | A kind of accumulating type imitates frog hopping robot | |
| CN202138434U (en) | Simulation jumping mechanism with adjustable jumping degree | |
| CN202201079U (en) | Hopping robot based on rotating-disc cylindrical-pin driving mechanism | |
| US11299030B2 (en) | Smart mobile vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20120711 Termination date: 20131115 |