CN206719349U - A kind of hopping robot of imitative flea beetle - Google Patents

A kind of hopping robot of imitative flea beetle Download PDF

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Publication number
CN206719349U
CN206719349U CN201720511664.3U CN201720511664U CN206719349U CN 206719349 U CN206719349 U CN 206719349U CN 201720511664 U CN201720511664 U CN 201720511664U CN 206719349 U CN206719349 U CN 206719349U
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CN
China
Prior art keywords
spring
module
gear
gear train
eccentric wheel
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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
Application number
CN201720511664.3U
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Chinese (zh)
Inventor
周祖鹏
林永发
张晓东
甘良棋
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Priority to CN201720511664.3U priority Critical patent/CN206719349U/en
Application granted granted Critical
Publication of CN206719349U publication Critical patent/CN206719349U/en
Expired - Fee Related legal-status Critical Current
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Abstract

A kind of hopping robot of imitative flea beetle disclosed in the utility model, spring part, environment detection part, communications portion and control section are driven including gear train, gear train driving spring part, environment detection part are connected with communications portion respectively, communications portion is connected with control section, and gear train driving spring part is connected with environment detection part.The robot imitates the body structure design bouncing mechanism of flea beetle, and using motor driven gear group, by gear train driving eccentric wheel rotation, when eccentric wheel rotation is more than half, whole ricochet motion is completed by jumping sub- moment rebound.The utility model steady autotelic bounce motion in rugged environment, can there are temperature, noise, composition of air, the presence situation of metal of the residing environment of detection.

Description

A kind of hopping robot of imitative flea beetle
Technical field
The invention belongs to bio-robot field, a kind of bionic hopping machine particularly using insect flea beetle as bionical object People.
Background technology
The forms of motion of current most robots is mainly wheeled, crawler belt and polypody, these equipment are flat in physical features Land is more efficient, but they are difficult by the barrier also bigger than 1/2 wheel diameter.Caterpillar mobile robot is often applied to Rugged complicated landform is passed through, but the altitude capability of across obstacle is also limited.Because the height that it can be crossed over be by The various influence factors such as track unit size, position of centre of gravity and the friction between landform are determined.
The content of the invention
For the deficiency of above-mentioned technology, the present invention is the spring machine using insect flea beetle as a kind of imitative flea beetle of bionical object People, the robot imitate the body structure design bouncing mechanism of flea beetle, and relatively low to environmental requirement, smart is relatively strong, The barrier also bigger than machine size itself can be crossed over.
Realizing the technical scheme of the object of the invention is:
A kind of hopping robot of imitative flea beetle, including gear train driving spring part, environment detection part, communications portion and Control section, gear train driving spring part, environment detection part are connected with communications portion respectively, communications portion and control section Connection, gear train driving spring part are connected with environment detection part;Wherein:
The gear train driving spring part is made up of gear train module, eccentric wheel module and body spring module, gear The bottom of group module is connected with body spring module, the flat axis connection of output of eccentric wheel module and gear train module, body spring Module is connected with eccentric wheel module.
The gear train module is by motor, casing, flat axle, slave motor gear, driven shaft, output shaft, the first driving cog Wheel, the second travelling gear, active motor gear, output gear composition,
Motor is arranged in casing, and slave motor gear engages with active motor gear, active motor gear and motor Axis connection is exported, slave motor gear coordinates with driven shaft clearance, and the first travelling gear engages with slave motor gear, and first passes Moving gear engages with the second travelling gear, and the first travelling gear, the second travelling gear form gap with output shaft respectively and coordinated, defeated Shaft and casing, flat axis connection, output gear interval are assemblied on output shaft, and the second travelling gear engages with output gear, defeated Go out gear and flat axis connection, flat axle is connected with casing, and motor direct output torque is increased by gear train.
The eccentric wheel module includes eccentric wheel, jumps son and carbon fibre bracing wire, eccentric wheel and the flat axis connection of gear train module, Jump son to be connected with eccentric wheel, carbon fibre bracing wire one end is connected with jumping son, and the other end is connected with body spring module, can be in the short time Interior release elastic potential energy.
The body spring module is made up of shell, foreleg, left hopping leg, right hopping leg, spring and spring shaft, shell point It is not connected with spring shaft, the motor of gear train module, casing, the left front portion of shell is connected with foreleg, spring, left and right hopping leg One end is connected with left and right carbon fibre bracing wire respectively, the other end respectively with spring axis connection, it is left spring midleg and shell it is left back Portion connects, and the right rear portion of right spring midleg and shell connects, and spring and spring axis connection, spring shaft and cage connection, uses It is kinetic energy by spring potential energy in support gear train module, eccentric wheel module and weight itself.
The environment detection part senses instrument by infrared radiation thermometer, gas detecting instrument, noise and metal detector forms, red Outer temperature measurer, gas detecting instrument, noise sensing instrument, metal detector are connected with communications portion respectively, respectively monitoring spring machine The temperature of people's local environment, noise, the presence situation of composition of air and metal.
The communications portion is made up of the first wireless receiving and dispatching end, the second wireless receiving and dispatching end, and the first wireless receiving and dispatching penetrates end and ring Border monitoring part is connected, and gear train driving spring part is connected with the first wireless receiving and dispatching end, the second wireless receiving and dispatching end and control unit Divide connection, for receiving and sending the signal with processing environment monitoring part and control section.
The control section is made up of SCM system module with display module, SCM system and the second wireless receiving and dispatching end Connection, display module are connected with SCM system, for handling the signal at wireless receiving and dispatching end and the state of display environment monitoring.
The present invention compared with prior art, has the advantages that:
The robot imitates the body structure design bouncing mechanism of flea beetle, using motor driven gear group, is driven by gear train Movable eccentric wheel rotates, and when eccentric wheel rotation is more than half, is moved by jumping the whole ricochet of sub- moment rebound completion.The present invention is severe Steady autotelic bounce motion in environment, can there are the temperature of the residing environment of detection, noise, composition of air, metal to deposit In situation.
Brief description of the drawings
Fig. 1 is the structure connection block diagram for the hopping robot that the embodiment of the present invention imitates flea beetle;
Fig. 2 is spring mechanical part front view;
Fig. 3 is spring mechanical part right view;
Fig. 4 is spring mechanical part top view.
Embodiment
The present invention is further elaborated below in conjunction with the accompanying drawings, but is not limitation of the invention:
A kind of hopping robot of imitative flea beetle, including gear train driving spring part 25, environment detection part 29, communication 34 And control section 37 forms.
The gear train driving spring part 25 is by the gear train module 26, eccentric wheel module 27 and body spring module 28 compositions.Wherein the bottom of gear train module 26 is connected with body spring module 28, eccentric wheel module 27 and gear train module 26 The flat axis connection of output, body spring module 28 be connected with eccentric wheel module 27.
The gear train module 26 is by motor 14, left box body 16, right flat axle 22, slave motor gear 17, driven shaft 18, defeated Shaft 21, right case 2, the first travelling gear 19, the second travelling gear 24, active motor gear 15, left flat axle 20, output gear 23 compositions.
Connected mode:Motor 14 is arranged on left box body 16 and forms a casing with right case 2, and active motor gear 15 connects Connect above the output shaft 21 of motor 14, slave motor gear 17 and the engagement of the mechanical gear of driving gear 15, slave motor Gear 17 coordinates with the gap of driven shaft 18, and both ends and left box body 16, the right case 2 of driven shaft 18 are connected with each other, the second driving cog Wheel 24 forms gap with output shaft 21 and coordinated, and the first travelling gear 19 engages with slave motor gear 17, the first travelling gear 19 With output shaft 21 gap is formed to coordinate, one end of output shaft 21 is connected with left box body 16, left flat axle 20, the other end of output shaft 21 and Right case 2, right flat axle 22 are connected, and the first travelling gear 19 is engaged with the second travelling gear 24, and the interval of output gear 23 is assemblied in On output shaft 21, the mechanical engagement of the second travelling gear 24 is connected in output gear 23, output gear 23 with right flat axle 22, right flat axle 22 are connected with right case 2, and left flat axle 20 is connected with left box body 16.
Effect:Motor direct output torque is increased by gear train.
The eccentric wheel module 27 is by right eccentric wheel 3, right jump 10, left eccentric wheel 42, left jump 43 and right carbon fibre bracing wire 9 And left carbon fibre bracing wire 44 forms.
Connected mode:Left eccentric wheel 42 is connected with left flat axle 20, right eccentric wheel 3 and the right flat axis connection of axle 22, left to jump son 43 It is connected with left eccentric wheel 3, right son 10 of jumping is connected with right eccentric wheel 3, and left one end of carbon fibre bracing wire 44 is connected with left son 43 of jumping, and left carbon is fine The other end of bracing wire 44 is connected with the left hopping leg of body spring module 28, and right one end of carbon fibre bracing wire 9 is connected with right son 10 of jumping, left carbon The fine other end of bracing wire 44 is connected with the left hopping leg 45 of body spring module 28.
Effect:Elastic potential energy is discharged in a short time.
The body bounces module by outer upper casing 1, outer lower casing 11, foreleg 12, left hopping leg 45, right hopping leg 8, preceding spring 13rd, upper left spring 40, upper right spring 5, lower spring 41, upper spring shaft 4, middle spring shaft 6 and lower spring axle 7 form.
Connected mode:Outer upper casing 1 is connected with outer lower casing 11, and outer upper casing 1 is connected with upper spring shaft 4, outer lower casing 11 and gear Motor 14, left box body 16, the right case 2 of group module 26 are connected, and the left front portion of outer lower casing 11 is connected with foreleg 12, preceding spring 13, The left middle part of hopping leg 45 is connected with the left back portion of outer lower casing 11, and the right middle part of hopping leg 8 is connected with the right rear portion of outer lower casing 11, left bullet Jump the one end of leg 45 to be connected with left carbon fibre bracing wire 44, the other end of left hopping leg 45 is connected with middle one end of spring shaft 6, right hopping leg 8 One section is connected with right carbon fibre bracing wire 9, and the other end of right hopping leg 8 is connected with middle one end of spring shaft 6, the one end of upper left spring 40 with it is upper Spring shaft 4 connects, and the both ends end of upper right spring 5 is respectively acting on spring shaft 4 and middle spring shaft 6, and the other end of upper right spring 5 is with Spring shaft 6 is connected, and middle one end of spring shaft 6 is connected with left hopping leg 45, and the middle other end of spring shaft 6 is connected with right hopping leg 8, lower bullet Spring axle 7 is connected with outer lower casing 11, and lower spring 41 is respectively acting on middle spring shaft 6 and lower spring axle 7.
Effect:Gear train module, eccentric wheel module and weight itself are supported, is kinetic energy spring potential energy.
The environment detection part 29 senses instrument 32 and metal detection by infrared radiation thermometer 30, gas detecting instrument 31, noise Instrument 33 forms.
Annexation:Infrared radiation thermometer 30, gas detecting instrument 31, noise sensing instrument 32, metal detector 33 and communication unit 34 the first wireless receiving and dispatching end 35 is divided to connect, the first wireless receiving and dispatching end 35 is arranged on gear train driving spring part 25 by the tooth The top of wheel group module 26.
Effect:Temperature, noise, composition of air, the presence situation of metal of environment where monitoring hopping robot.
The communications portion 34 is penetrated end 35, the second wireless receiving and dispatching end 36 by the first wireless receiving and dispatching and formed.
Annexation:First wireless receiving and dispatching is penetrated end 35 and is connected with environmental monitoring part 29, gear train driving spring part 25 It is connected with the first wireless receiving and dispatching end 35, the second wireless receiving and dispatching end 36 is connected with control section 37.
Effect:Receive and send the signal with processing environment monitoring part and control section.
The control section 37 is made up of SCM system module 38 and display module 39.
Connected mode:SCM system 38 is connected with the second wireless receiving and dispatching end 36, display module 39 and SCM system 38 Connection.
Effect:Handle the signal at wireless receiving and dispatching end and the state of display environment monitoring.
The course of work of the present invention:After whole imitative flea beetle robot normal power-up work, motor 14 is given in control section 37 Signal performs rotational action, by the drive motor driven pulley 17 of motor driving gear 15, left flat axle 20 by gear train module 26, Right flat axle 22 exports, and band movable eccentric wheel 3 rotates clockwise, and then does enhancing action, carbon fibre bracing wire 9 to jumping son 10 by eccentric wheel 3 Pull-up action is done to hopping leg 8, the other end of hopping leg 8 does pulling action to upper spring 5, when eccentric wheel 3 rotates about 180 °, jumps Son 10 reaches critical condition, and when eccentric wheel 3 is rotated further, jump sub 10 moments can jump to the opposite side of eccentric wheel 3, the upper spring of compression 5 elastic potential energy abrupt release is converted to the kinetic energy of whole mechanism, and robot bounces into the air, when robot lands, had small Leg 12 and spring 13 play damping energy absorption.It is that infrared radiation thermometer 30 enters first after hopping robot stable landing 30 seconds Row working condition, gained information are sent to display module 39 by the first wireless receiving and dispatching end 35 and show robot local environment in time Whether temperature meets the robot operating ambient temperature of setting such as(1 ° to 300 °).Temperature such as detecting local environment is more than At 300 °, hopping robot performs spring-like movement next time at once, until the temperature detected meets the normal work of hopping robot Untill the environment temperature of work, injury of the high temperature to hopping robot is so effectively prevented.If meet the normal work of robot Environment temperature, successive gas detecting instrument 31, noise sensing instrument 32, metal detector 33 are started working, wireless by first Sending and receiving end 35 is sent to display module 39 and shown, after staff's record, continues to do the motion bounced next time to robot, arrives Carry out the situation of corresponding sniffing robot local environment again up to next place.

Claims (7)

1. a kind of hopping robot of imitative flea beetle, it is characterized in that:Spring part, environment detection part are driven including gear train, are led to Letter part and control section, gear train driving spring part, environment detection part be connected respectively with communications portion, communications portion and Control section is connected, and gear train driving spring part is connected with environment detection part;Wherein:
The gear train driving spring part is made up of gear train module, eccentric wheel module and body spring module, gear train mould The bottom of block is connected with body spring module, the flat axis connection of output of eccentric wheel module and gear train module, body spring module It is connected with eccentric wheel module.
2. hopping robot according to claim 1, it is characterized in that:The gear train module by motor, casing, flat axle, Slave motor gear, driven shaft, output shaft, the first travelling gear, the second travelling gear, active motor gear, output gear group Into,
Motor is arranged in casing, and slave motor gear engages with active motor gear, the output of active motor gear and motor Axis connection, slave motor gear coordinate with driven shaft clearance, and the first travelling gear engages with slave motor gear, the first driving cog Wheel engages with the second travelling gear, and the first travelling gear, the second travelling gear form gap with output shaft respectively and coordinated, output shaft With casing, flat axis connection, output gear interval is assemblied on output shaft, and the second travelling gear engages with output gear, output gear Wheel and flat axis connection, flat axle are connected with casing, and motor direct output torque is increased by gear train.
3. hopping robot according to claim 1, it is characterized in that:The eccentric wheel module include eccentric wheel, jump son and Carbon fibre bracing wire, eccentric wheel and the flat axis connection of gear train module, jump son and be connected with eccentric wheel, carbon fibre bracing wire one end is with jumping son even Connect, the other end is connected with body spring module, can discharge elastic potential energy in a short time.
4. hopping robot according to claim 1, it is characterized in that:The body bounces module by shell, foreleg, left bullet Jump leg, right hopping leg, spring and spring shaft composition, shell to be connected with spring shaft, the motor of gear train module, casing respectively, outside The left front portion of shell is connected with foreleg, spring, and one end of left and right hopping leg is connected with left and right carbon fibre bracing wire respectively, the other end respectively with Spring axis connection, the left back portion of left spring midleg and shell connect, and the right rear portion of right spring midleg and shell connects, Spring and spring axis connection, spring shaft and cage connection, will for supporting gear train module, eccentric wheel module and weight itself Spring potential energy is kinetic energy.
5. hopping robot according to claim 1, it is characterized in that:The environment detection part is by infrared radiation thermometer, gas Body detector, noise sensing instrument and metal detector composition, infrared radiation thermometer, gas detecting instrument, noise sensing instrument, metal detection Instrument is connected with communications portion respectively, monitors depositing for the temperature of hopping robot local environment, noise, composition of air and metal respectively In situation.
6. hopping robot according to claim 1, it is characterized in that:The communications portion is by the first wireless receiving and dispatching end, Two wireless receiving and dispatching ends form, and the first wireless receiving and dispatching is penetrated end and is connected with environmental monitoring part, gear train driving spring part and first Wireless receiving and dispatching end is connected, and the second wireless receiving and dispatching end is connected with control section, and part is monitored with processing environment for receiving and sending And the signal of control section.
7. hopping robot according to claim 1, it is characterized in that:The control section is by SCM system module with showing Show that module forms, SCM system is connected with the second wireless receiving and dispatching end, and display module is connected with SCM system, for handling nothing The state of signal and the display environment monitoring of line sending and receiving end.
CN201720511664.3U 2017-05-10 2017-05-10 A kind of hopping robot of imitative flea beetle Expired - Fee Related CN206719349U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720511664.3U CN206719349U (en) 2017-05-10 2017-05-10 A kind of hopping robot of imitative flea beetle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720511664.3U CN206719349U (en) 2017-05-10 2017-05-10 A kind of hopping robot of imitative flea beetle

Publications (1)

Publication Number Publication Date
CN206719349U true CN206719349U (en) 2017-12-08

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112550515A (en) * 2020-12-29 2021-03-26 清华大学深圳国际研究生院 Miniature jumping robot capable of controlling jumping direction

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112550515A (en) * 2020-12-29 2021-03-26 清华大学深圳国际研究生院 Miniature jumping robot capable of controlling jumping direction
CN112550515B (en) * 2020-12-29 2022-02-25 清华大学深圳国际研究生院 Miniature jumping robot capable of controlling jumping direction

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CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20171208

Termination date: 20180510