CN202499200U - Hopping robot capable of hopping continuously - Google Patents
Hopping robot capable of hopping continuously Download PDFInfo
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- CN202499200U CN202499200U CN2012200057152U CN201220005715U CN202499200U CN 202499200 U CN202499200 U CN 202499200U CN 2012200057152 U CN2012200057152 U CN 2012200057152U CN 201220005715 U CN201220005715 U CN 201220005715U CN 202499200 U CN202499200 U CN 202499200U
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Abstract
Disclosed is a hopping robot capable of hopping continuously, comprising a rack, a hopping mechanism, a regulating mechanism, a sensing control module and a battery, wherein the rack is used for installing and fixing the hopping mechanism, the regulating mechanism, the sensing control module and the battery; the hopping mechanism is used for realizing standing and hopping of the hopping robot; the regulating mechanism is used for self-resetting and the regulation of hopping direction and angle after the hopping robot falls to the ground; the sensing control module is used for sensing the posture and orientation of the hopping robot as well as rotating positions of a cam of the hopping mechanism and a rod leg of the regulating mechanism, controlling the actions of the hopping robot, communicating wirelessly with a remote terminal, uploading sensor data and receiving the commands of the remote terminal, and simultaneously displaying the working state of the hopping robot; and the battery is used for providing electric energy for the hopping robot.
Description
Technical field
The utility model relates to the spring robot, and particularly a kind of spring robot with continuous skip functionality belongs to sensor and automatic control technology field.
Background technology
The mobile robot is developed a lifting that outstanding problem is a motion landform adaptive capacity to be solved.Wheeled robot and caterpillar type robot often can not be smoothly when running into than big obstacle of self size or gully through or sport efficiency low; Walking and climbing robot degree of freedom are many, control is complicated, motion is slow, and be powerless equally when running into big obstacle or gully; The spring robot has that range of movement is big, obstacle climbing ability is strong and hide characteristics such as dangerous fast, can strengthen the adaptive capacity to environment of robot, overcomes that ground is rugged to stop the difficulty of bringing with obstacle, but still has technological deficiency.Research to the spring robot at present improves the jumping height except using the different working principle, mainly concentrates on how to make robot skip motion continuously.This just relates to landing from resetting, regulate direction of take off and take-off angle of robot.Introduced a kind of robot in the applicant's the patent of invention 200910263292.7 with bounce motion function; But it can not realize continuous skip functionality; Simultaneously its bouncing mechanism uses two thighs actions of two cam drives, this to the working accuracy of robot part and installation requirement all than higher.
Summary of the invention
The utility model has designed a kind of spring robot with continuous skip functionality.Under the cooperation of sensor assembly, control module and power module, this robot uses a bouncing mechanism to accomplish the spring function; Use another regulating mechanism to accomplish to land from reset, direction of take off and angular adjustment, thereby realize the continuous skip motion of robot.
The technical scheme that the present invention adopts is following:
A kind of spring robot of continuous jump is characterized in that: comprise frame, bouncing mechanism, regulating mechanism, sensing control module and battery, frame is used to install and fix bouncing mechanism, regulating mechanism, sensing control module and battery; Bouncing mechanism is realized standing and bouncing of spring robot; The regulating mechanism robot that is used to bounce lands and falls the back from the adjusting that resets with direction of take off and angle; The attitude of sensing control module perception spring robot, towards and the turned position of bouncing mechanism cam and regulating mechanism king-rod leg; The action of control spring robot and with the remote terminal radio communication; Upload the order at sensing data and receiving remote terminal, show the mode of operation of spring robot simultaneously; Battery provides electric energy for the spring robot; Wherein:
Frame comprises front end face, left side, right side and skeleton, and left and right end face is fixed on the front end face both sides, and skeletal fixation is between left and right end face;
Bouncing mechanism comprises that DC machine, motor frame, train of reduction gears, cam, bearing, thigh, torque spring, shank and thigh assist leg; DC machine is fixed on the front end face inboard through the motor frame, and the output shaft of DC machine is provided with gear, and this gear and train of reduction gears are connected by meshing transmission successively, and the final stage gear of train of reduction gears is coaxial with cam; One thigh that places between the left and right end face of frame is set, and the top of thigh is provided with a bearing, and this outer race and cam outline are tangent; Captive joint one fulcrum between the left and right end face of frame, the hinged hole that this fulcrum passes the lap setting constitutes hinged connection, and fulcrum is provided with torque spring; An arm of force of torque spring is pressed on the thigh; The another one arm of force is pressed on the frame, and the terminal bifurcated of thigh is flat on ground with two respectively, is hinged connection of shank of " eight " font; Two shank front ends link together; The auxiliary leg of one thigh is set, its two ends respectively with hinged connection of front end of frame front end face and two shanks, cam face is provided with chequered with black and white code-disc mark;
Regulating mechanism comprises DC machine, motor frame, bar leg and counterweight; DC machine is fixed on the front end face outside and the mid point between the left and right end face of frame through the motor frame; The DC machine output shaft is vertical with front end face, captives joint with motor output shaft in the upper end of bar leg, and counterweight is fixed on the bottom of bar leg; The length of bar leg is not less than the ground-surface height of DC machine output shaft distance, and the bar leg is provided with chequered with black and white sensing mark;
The sensing control module comprises voltage regulation unit, state indicating member, electric-motor drive unit, wireless communication unit, controlled processing unit, 3-axis acceleration sensor, compass sensor and two infrared pickoffs; Voltage regulation unit, state indicating member, electric-motor drive unit, wireless communication unit and controlled processing unit are integrated on the circuit card; Be installed in the inboard, left side; 3-axis acceleration sensor and compass sensor are integrated on another circuit card; Be installed in the junction of the auxiliary leg of shank and thigh; Detection machine people's acceleration/accel, acceleration information obtains the attitude angle of robot through the processor processes of control unit, thereby can distinguish that robot stands, falls to the left, falls to the right and to front side state such as fall; Compass sensor can the detection machine people current towards; An infrared pickoff is installed on the frame left side, towards the chequered with black and white code-disc that shows stickup over against cam, calculates the data of infrared pickoff through controlled processing unit, thereby can obtain the position of cam rotation; The another one infrared pickoff is installed in top, robot right side; Its position is on robot left-right symmetric face; Swing through sensing mark test rod leg chequered with black and white on the bar leg; When needs bar leg was got back to default location, this infrared pickoff can be used for the test rod leg and swing to the position of pointing to directly over the robot; Voltage regulation unit provides power supply for the sensing control module; Electric-motor drive unit is under the control of controlled processing unit; Drive the rotating of bouncing mechanism and regulating mechanism motor, the state indicating member can current work and the wireless communication state of display device people, and wireless communication unit can carry out radio communication with remote terminal; Upload sensing data and receive control command; Controlled processing unit can be controlled the DC machine action, drives bouncing mechanism and regulating mechanism and accomplishes corresponding action, realizes the robot continuous movement.
Advantage of the utility model and beneficial effect:
(1) the utility model uses a regulating mechanism to cooperate sensor robot pose and controller control motor action, has realized resetting certainly, direction of take off is regulated and take-off angle is regulated three kinds of functions, and it is simple to have a mechanism, the advantage of saving in energy.
(2) resetting certainly of the utility model is active from resetting, and do not use the passive type self-resetting method of similar tumbler, therefore has stronger initiative and robustness.
(3) direction of take off of the utility model and take-off angle control method can realize that spring direction, the height and distance of robot are controlled, and robot can use different take-off angle according to the height of obstacle, reaches the effect of optimizing motion and saving in energy.
(4) continuous movement that the resetting certainly of the utility model, direction of take off are regulated and take-off angle is adjusted to the spring robot provides powerful guarantee; For the design of spring robot provides new thinking, laid the part basis for accelerating the application of spring robot in complex environment.
Description of drawings
Fig. 1 is the utility model spring robot architecture block diagram;
Fig. 2 is the utility model spring overall assembly drowing of robot (left front view);
Fig. 3 is the utility model spring overall assembly drowing of robot (right back view);
Fig. 4 is the utility model spring overall assembly drowing of robot (right elevation);
Fig. 5 is the utility model spring overall assembly drowing of robot (left view);
Fig. 6 is the rack construction scheme drawing of the utility model spring robot;
Fig. 7 is the bouncing mechanism scheme drawing of the utility model spring robot;
Fig. 8 is the regulating mechanism scheme drawing of the utility model spring robot;
Fig. 9 is the working process scheme drawing that resets certainly of the utility model spring robot;
Figure 10 is that the direction of take off of the utility model spring robot is regulated working process scheme drawing-1;
Figure 11 is that the direction of take off of the utility model spring robot is regulated working process scheme drawing-2;
Figure 12 is that the take-off angle of the utility model spring robot is regulated working process scheme drawing-3.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the specific embodiments of the utility model is done further explain.
Referring to Fig. 1, the utility model spring robot comprises frame 1, bouncing mechanism 2, regulating mechanism 3, sensing control module 4 and battery 5.Wherein, sensing control module 4 comprises voltage regulation unit 4-1, state indicating member 4-2, electric-motor drive unit 4-3, controlled processing unit 4-4, wireless communication unit 4-5,3-axis acceleration sensor 4-6, compass sensor 4-7, infrared pickoff 4-8 and infrared pickoff 4-9.
Referring to Fig. 6, frame 1 comprises front end face 1-1, left side 1-2, right side 1-3 and skeleton 1-4.Left and right end face uses screw to be fixed on the front end face; Skeleton is riveted between the left and right end face, uses nut to be fixed on the left and right end face simultaneously.
Referring to Fig. 2-7, bouncing mechanism 2 comprises spring DC machine 2-1, spring direct current (DC) frame 2-2, elementary reducing gear 2-3, double reduction big gear wheel 2-4, double reduction miniature gears 2-5, three grades of deceleration big gear wheel 2-6, three grades of reduction pinion teeth 2-7, level Four reducing gear 2-8, cam 2-9, cam code-disc 2-10, bearing 2-11, four torque spring 2-12, torque spring skeleton 2-13, thigh 2-14, thigh shank attaching parts 2-15, shank 2-16, the auxiliary leg 2-18 of thighs, the auxiliary leg attaching parts 2-17 of shank thighs and the auxiliary leg frame attaching parts 2-19 of thighs.Spring direct current (DC) frame 2-2 uses screw to be fixed on the front end face 1-1; Spring DC machine 2-1 uses screw to be fixed on the spring direct current (DC) frame 2-2, and its power lead is connected with sensing control module 4 through winding displacement; Elementary reducing gear 2-3 uses screw to be fixed on the spring DC machine 2-1 output shaft with keyway, double reduction big gear wheel 2-4 and coaxial being consolidated of double reduction miniature gears 2-5, and be installed on the 1-3 of right side through gear wheel shaft; Three grades of deceleration big gear wheel 2-6 and three grades of coaxial being consolidated of reduction pinion teeth 2-7, and be installed on the 1-3 of right side through gear wheel shaft; The coaxial use nut of level Four reducing gear 2-8 and cam 2-9 is fixed together, and passes through axle mounting between left and right end face; Cam code-disc 2-10 is attached on the left surface of cam 2-9; Bearing 2-11 passes through axle mounting on thigh 2-14 top, and is tangent with cam 2-9 outer surface; Torque spring skeleton 2-13 is enclosed within the inboard of left and right end face; Thigh 2-14 is sleeved between the left and right torque spring skeleton 2-13, and thigh can be swung around hinging supporting shaft in perpendicular; Four torque spring 2-12 are enclosed within on the torque spring skeleton 2-13; An arm of force of middle two torque springs is installed on the thigh; The another one arm of force is installed on the skeleton 1-4, and an arm of force of two torque springs on both sides is installed on the thigh, and the another one arm of force is installed in respectively on the end face of both sides; Article two, between shank 2-16 and the thigh 2-14 through hinged connection of thigh shank attaching parts 2-15, thigh 2-14 bottom can be swung in perpendicular.The other end of shank 2-16 is assisted hinged connection of leg attaching parts 2-17 with the bottom of the auxiliary leg 2-18 of thigh through the shank thigh; Shank 2-16 is fixed on the auxiliary leg attaching parts 2-17 of shank thigh; And the auxiliary leg of thigh can be swung in perpendicular; The auxiliary leg 2-18 of thigh upper end is connected with front end face is hinged through the auxiliary leg frame attaching parts 2-19 of thigh, can in perpendicular, swing.Article two, shank 2-16 composition robot contacts leg-of-mutton two limits with ground.Thigh 2-6, shank 2-8, the auxiliary leg 2-9 of thigh and frame constitute a four-bar linkage, can in perpendicular, swing.Along with four-bar linkage is swung in perpendicular, torque spring 2-12 storage and release elastic potential energy.In torque spring 2-12 energy storing process, spring DC machine 2-1 is through train of reduction gears deceleration rear drive cam, and the propulsive effort of cam acts on the bearing; Thereby drive the thigh swing, torque spring compression memory elastic potential energy is behind the transformation point at cam rotation gap crossing place; The elastic potential energy rapid release of torque spring the inside; Drive thigh lively, the driving shank jumps with pedaling and rises, thereby realizes skip functionality.The cam code-disc is to make with the chequered with black and white speckle that paper is made, and is attached on the left surface of cam, changes the turned position that detects cam thereby infrared pickoff detects the black and white of speckle.
Referring to Fig. 8 and Fig. 2-6, regulating mechanism 3 comprises regulates DC machine 3-1, adjusting direct current (DC) frame 3-2, bar leg connecting element 3-3, bar leg 3-4, counterweight 3-5 and white paper circle 3-6.Regulating direct current (DC) frame 3-2 uses screw to be fixed on the middle, the outside of front end face 1-1; Regulate DC machine 3-1 and use screw to be fixed on the adjusting direct current (DC) frame 3-2, its power lead is connected with sensing control module 4 through winding displacement; Bar leg connecting element 3-3 uses screw to be fixed on the adjusting DC machine 3-1 output shaft with keyway; The upper end of bar leg 3-4 is used to be threaded and is fixed on the bar leg connecting element 3-3; Counterweight 3-5 uses to be threaded and is fixed on the lower end of bar leg 3-4; White paper circle 3-6 sticks on bar leg 3-4 and goes up (among the figure, the bar leg is a black, and the paper circle then be a white as sensing mark, if the bar leg be white, the paper circle then is a black) white paper circle and be used for the reset mode of infrared pickoff test rod leg.The Design of length of bar leg 3-4 is moderate, and its length is slightly greater than the ground-surface height of DC machine 3-1 output shaft distance, too shortly or long all can not realize regulatory function.
Voltage regulation unit 4-1 provides power supply for the sensing control module; The rotating of electric-motor drive unit 4-3 drive motor 2-1,3-1 under the control of controlled processing unit 4-4; Current work and the wireless communication state of state indicating member 4-2 display device people; Wireless communication unit 4-5 and remote terminal carry out radio communication, upload sensing data and receive control command, controlled processing unit 4-4 control DC machine 2-1,3-1 action; Drive bouncing mechanism 2 and accomplish corresponding action, realize the robot continuous movement with regulating mechanism 3.Consider that compass sensor 4-7 installation requirement is responsive to magnetic interference or metallic material; The needs that acceleration pick-up 4-6 needs level to install; 3-axis acceleration sensor 4-6 and compass sensor 4-7 are integrated on the circuit card, are installed on the auxiliary leg attaching parts 2-17 of shank thigh, be connected with controlled processing unit through winding displacement with screw; Obtain power supply, ground wire from the circuit card of controlled processing unit; The data transfer of going forward side by side, 3-axis acceleration sensor can the detection machine people acceleration/accel, acceleration information obtains the attitude angle of robot through the processor processes of control unit; Thereby can distinguish that robot stands, falls to the left, falls to the right and to front side state such as fall, compass sensor can the detection machine people current towards; An infrared pickoff is installed on the left side, and this infrared pickoff faces the cam code-disc, is used to detect the black and white variation of code-disc, calculates the data of infrared pickoff through controlled processing unit, thereby can obtain the position of cam rotation; The another one infrared pickoff is installed in top, robot right side; Its position is on robot left-right symmetric face; Be used for the swing of test rod leg, when needs bar leg was got back to default location, this infrared pickoff can be used for the test rod leg and swing to the position of pointing to directly over the robot.
Below in conjunction with accompanying drawing the working process of the continuous skip motion of robot is done further explanation.
Robot acquiescence initial position is that robot normal stand attitude is shown in accompanying drawing 2.The adjusting DC machine rotates, and adjust bar is swung to vertical points upwards; The DC machine that then bounces rotates, and drives train of reduction gears work, and the train of reduction gears power cam rotate, the swing of cam drive thigh, thigh compression torque spring storage elastic potential energy; In the time of reducing gearbox work, infrared pickoff is to gear rotation moving-coil counting number, and controlled processing unit can be extrapolated the position of cam according to the number of turns; After cam rotation was crossed bearing to the indentation, there transformation point, controlled processing unit control spring DC machine stopped operating, and torque spring flicks simultaneously; Four-bar mechanism is swung in perpendicular under the driving of torque spring; Shank is pedaled ground, and robot will bounce liftoff, accomplishes spring-like movement.
The process of aloft circling in the air finishes the back robot lands, because the inertia robot can be fallen.The stabilized conditions of design-calculated structure robot has only four stabilized conditionss; Be respectively: reset mode, the left side that shank lands lands, the right side lands and front end face lands; Robot is realized from the attitude that resets and will become the bottom surface to land from the state exchange that front end face, left side, right side land exactly, i.e. reset mode.Robot can just in time not be the reset mode that shank lands generally after landing, and possibly be to land to left side, right side or front end face because center of gravity is higher.Because robot left and right sides structure is symmetrical when resetting certainly, it is different just to regulate turning to of DC machine, only explains here that left side and front end face land how to realize the working process that resets.If the robot left side lands, like the 6-4 in the accompanying drawing 9,3-axis acceleration sensor detects three accekeration can judge that robot is that the left side lands; Generate control command after this sensing data Be Controlled processing unit processes, the control and regulation DC machine rotates, and the bar leg is at the driving lower swing of regulating DC machine; Robot is supported by the bar leg and stands up step by step, and like the 6-5 in the accompanying drawing 9,6-6,3-axis acceleration sensor constantly detects the 3-axis acceleration value; Controlled processing unit can calculate robot and ground-surface angle according to accekeration; Thereby judge whether robot stands up, just control to adjust DC machine after robot is stood up and flip an angle, wait for the subsequent action order when determining; So just accomplished the left side and landed, arrived the 6-7 in the accompanying drawing 9 from the process that resets.If front end face lands like the 6-1 in the accompanying drawing 9; 3-axis acceleration sensor and controlled processing unit can perception detect the robot front end face and land; This moment, shank contacted with ground with the hemline of front end face with a sideline of the auxiliary leg attaching parts of thigh; Form a contact quadrangle, robot is in stable status.Controlled processing unit is at first controlled the spring DC machine and is rotated; Compression four-bar mechanism certain angle makes top kiss the earth and the robot front end face built on stilts of bar leg; This angle detects the cam code-disc by infrared pickoff and obtains; Contact quadrangle and become 6-2 in contact triangle such as the accompanying drawing 9 this moment, owing to contact triangle near equicrural triangle, robot still is in stabilized conditions.Then controlled processing unit control and regulation DC machine rotates; The bar leg is driven to left side swing; Robot center of gravity this moment subpoint has earthward dropped out 6-3 in contact triangle such as the accompanying drawing 9; Robot crank side is left fallen, thereby has been transformed into 6-4 in the stabilized conditions accompanying drawing 9 that the robot left side lands.Then robot uses the method that lands same with the left side to accomplish from resetting process.Right flank lands if robot lands the back, and the swing in the opposite direction of only need leading leg can be accomplished from resetting.Accomplish the position directly over the back robot control stalk leg that resets swings to its sensing robot.
Accomplish after resetting, robot begins to regulate its spring direction.Shown in accompanying drawing 10,11, compass sensor detection machine people works as forward direction, the control sensing unit calculate robot current towards and the sense of motion that requires between angle, control and regulation mechanism travel direction is regulated.Here be example with the left-hand rotation, accompanying drawing 10 and 11 is respectively forward sight and the schematic top plan view that robot turns left.Like accompanying drawing 10; The bar leg can be swung with radius 7-1 according to the direction of arrow in perpendicular, and radius 7-1 is the length of bar leg, because the length of bar leg is than regulating slightly length of DC machine wheelbase height overhead; So the auxiliary leg attaching parts of robot shank and thigh can be by support overhead in the process of bar leg kiss the earth; And in horizontal surface, move, and shank end kiss the earth still, robot can rotate certain angle 7-5 with radius 7-4 in horizontal surface like this; State 7-2 by in the accompanying drawing 11 is transformed into 7-3, thereby the spring direction that realizes angle 7-3 is regulated.This angle can detect through compass sensor, and controlled processing unit can realize that robot is adjusted to the target travel direction according to the number of turns of this angle and the swing of target rotation angle control stalk leg.Angle 7-3 belongs to the angular resolution that robot is regulated the spring direction; This angle is more little, and the precision of adjusting is high more, and the size of this angle is by the length and the height relationships decision overhead of adjusting DC machine wheelbase of bar leg; Under the length unmodified situation of bar leg; Through regulating spring DC machine compression four-bar mechanism, can change and regulate DC machine wheelbase height overhead, thus can adjusting angle 7-3.
After accomplishing the direction of take off adjusting, robot need be regulated take-off angle as required, thus the height and the horizontal throw of control take-off.Shown in accompanying drawing 12; The bar leg is swung the height that can regulate counterweight in perpendicular; The different height of gravitational centers that can influence robot of the height of counterweight, the different take-off angle that can influence robot of the height of gravitational center of robot, so controlled processing unit uses PWM control and regulation DC machine rotational angle as required; Regulate the swing of DC MOTOR CONTROL bar leg, thereby regulate the height of gravitational center of robot.The resolution of bar leg swing is by the dutycycle control of PWM waveform, and the extreme lower position of bar leg swing is the 8-1 among Figure 12, and the extreme higher position is 8-3, and 8-2 belongs to midway location, so take-off angle can be regulated between 8-1 and the cooresponding take-off angle of 8-3 two states.After being adjusted to the target take-off angle, robot has been accomplished all adjusting work, can begin the take-off work of next cycle, cycle completion spring, the airflight and the back adjusting work of landing, thereby the continuous skip motion of realization robot.
Robot is in when standing attitude, because the length of bar leg is bigger than the distance of regulating between DC machine motor shaft and the ground, the bar leg is swung in perpendicular; When bar leg swing kiss the earth; The front end of robot can be supported liftoff, and the robot rear end still lands, after continuing to be swung away from ground along with leading leg; Robot can be supported swing an angle on the ground, thereby realize that direction of take off regulates.The swaying direction of bar leg is different, and the direction that the robot direction of take off is regulated is different.The compass sensor of sensor unit provide robot current towards, for the direction of take off control apparatus provides feedback of status, control module is controlled motor movement according to feedback signal, realizes that the direction of take off of robot is regulated.The described infrared pickoff that is installed on the left side can detect the angle of cam compression, thereby the motor shaft and the ground-surface distance of DC machine are regulated in adjustment, the sensitivity that the spring direction that different distances is corresponding different is regulated.The bar leg is than regulating big many more of distance between DC machine motor shaft and the ground, and the angle that single is regulated direction of take off is just big more.
The counterweight that is fixed on the bar leg can aloft be moved along with the bar leg, thereby regulates the height of gravitational center of robot, the take-off angle that different height of gravitational centers is corresponding different.Controlled processing unit uses PWM control and regulation DC machine rotational angle as required, regulates the swing of DC MOTOR CONTROL bar leg, thereby regulates the height of gravitational center of robot.The resolution of bar leg swing is by the dutycycle control of PWM waveform.Therefore take-off angle can be regulated between the residing the highest and minimum two kinds of cooresponding take-off angle of location status of counterweight.
Claims (1)
1. spring robot that jumps continuously, it is characterized in that: comprise frame, bouncing mechanism, regulating mechanism, sensing control module and battery, frame is used to install and fix bouncing mechanism, regulating mechanism, sensing control module and battery; Bouncing mechanism is realized standing and bouncing of spring robot; The regulating mechanism robot that is used to bounce lands and falls the back from the adjusting that resets with direction of take off and angle; The attitude of sensing control module perception spring robot, towards and the turned position of bouncing mechanism cam and regulating mechanism king-rod leg; The action of control spring robot and with the remote terminal radio communication; Upload the order at sensing data and receiving remote terminal, show the mode of operation of spring robot simultaneously; Battery provides electric energy for the spring robot; Wherein:
Frame comprises front end face, left side, right side and skeleton, and left and right end face is fixed on the front end face both sides, and skeletal fixation is between left and right end face;
Bouncing mechanism comprises that DC machine, motor frame, train of reduction gears, cam, bearing, thigh, torque spring, shank and thigh assist leg; DC machine is fixed on the front end face inboard through the motor frame, and the output shaft of DC machine is provided with gear, and this gear and train of reduction gears are connected by meshing transmission successively, and the final stage gear of train of reduction gears is coaxial with cam; One thigh that places between the left and right end face of frame is set, and the top of thigh is provided with a bearing, and this outer race and cam outline are tangent; Captive joint one fulcrum between the left and right end face of frame, the hinged hole that this fulcrum passes the lap setting constitutes hinged connection, and fulcrum is provided with torque spring; An arm of force of torque spring is pressed on the thigh; The another one arm of force is pressed on the frame, and the terminal bifurcated of thigh is flat on ground with two respectively, is hinged connection of shank of " eight " font; Two shank front ends link together; The auxiliary leg of one thigh is set, its two ends respectively with hinged connection of front end of frame front end face and two shanks, cam face is provided with chequered with black and white code-disc mark;
Regulating mechanism comprises DC machine, motor frame, bar leg and counterweight; DC machine is fixed on the front end face outside and the mid point between the left and right end face of frame through the motor frame; The DC machine output shaft is vertical with front end face, captives joint with motor output shaft in the upper end of bar leg, and counterweight is fixed on the bottom of bar leg; The length of bar leg is not less than the ground-surface height of DC machine output shaft distance, and the bar leg is provided with chequered with black and white sensing mark;
The sensing control module comprises electric-motor drive unit, state indicating member, voltage regulation unit, wireless communication unit, controlled processing unit, 3-axis acceleration sensor, compass sensor and two infrared pickoffs; Electric-motor drive unit, state indicating member, voltage regulation unit, wireless communication unit and controlled processing unit are integrated on the circuit card; Be installed in the inboard, left side, 3-axis acceleration sensor and compass sensor are integrated on another circuit card, are installed in the junction of the auxiliary leg of shank and thigh; An infrared pickoff is installed on the frame left side; Towards the chequered with black and white code-disc that shows stickup over against cam, the another one infrared pickoff is installed in top, robot right side, and its position is on robot left-right symmetric face; Voltage regulation unit provides power supply for the sensing control module; Electric-motor drive unit drives the rotating of bouncing mechanism and regulating mechanism motor, work and wireless communication state that state indicating member display device people is current under the control of controlled processing unit; Wireless communication unit and remote terminal carry out radio communication, upload sensing data and receive control command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200057152U CN202499200U (en) | 2012-01-09 | 2012-01-09 | Hopping robot capable of hopping continuously |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200057152U CN202499200U (en) | 2012-01-09 | 2012-01-09 | Hopping robot capable of hopping continuously |
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| CN202499200U true CN202499200U (en) | 2012-10-24 |
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| CN2012200057152U Withdrawn - After Issue CN202499200U (en) | 2012-01-09 | 2012-01-09 | Hopping robot capable of hopping continuously |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556193A (en) * | 2012-01-09 | 2012-07-11 | 东南大学 | Hopping robot capable of hopping continuously |
| CN110850857A (en) * | 2018-07-26 | 2020-02-28 | 深圳市优必选科技有限公司 | Method and device for determining falling state of robot |
| CN114572323A (en) * | 2022-03-28 | 2022-06-03 | 武汉科技大学 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
-
2012
- 2012-01-09 CN CN2012200057152U patent/CN202499200U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556193A (en) * | 2012-01-09 | 2012-07-11 | 东南大学 | Hopping robot capable of hopping continuously |
| CN110850857A (en) * | 2018-07-26 | 2020-02-28 | 深圳市优必选科技有限公司 | Method and device for determining falling state of robot |
| CN114572323A (en) * | 2022-03-28 | 2022-06-03 | 武汉科技大学 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
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