CN103010327A - Single-motor driven climbing jumping robot - Google Patents
Single-motor driven climbing jumping robot Download PDFInfo
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- CN103010327A CN103010327A CN2012105624873A CN201210562487A CN103010327A CN 103010327 A CN103010327 A CN 103010327A CN 2012105624873 A CN2012105624873 A CN 2012105624873A CN 201210562487 A CN201210562487 A CN 201210562487A CN 103010327 A CN103010327 A CN 103010327A
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Abstract
一种单电机驱动可爬行的弹跳机器人，由机架、电源模块、传感装置、控制装置、驱动机构、弹跳机构和爬行机构组成，机架用于安装其它机构和装置；电源装置为驱动机构和控制装置提供能量；传感装置用于感知机器人的姿态、前方是否有障碍物以及驱动杆转动的角度位置；控制装置完成机器人的控制、数据远程传输、传感器数据采集保存；驱动机构使用一个电机的正反转驱动机器人完成爬行和弹跳运动；弹跳机构设计了一种具有急回特性的圆柱凸轮能够实现弹跳运动能量的慢速储能和快速释放，从而实现弹跳运动；爬行机构设计了一种圆盘凸轮配合十字交叉的两个驱动杆，能够实现一个电机驱动四条腿的摆动而实现爬行运动。
A crawlable bouncing robot driven by a single motor, consisting of a frame, a power supply module, a sensing device, a control device, a driving mechanism, a bouncing mechanism and a crawling mechanism, the frame is used to install other mechanisms and devices; the power supply device is the driving mechanism and the control device to provide energy; the sensing device is used to perceive the attitude of the robot, whether there is an obstacle in front of it, and the angular position of the drive rod rotation; the control device completes the control of the robot, remote data transmission, and sensor data collection and storage; the drive mechanism uses a motor The forward and reverse drive robot completes the crawling and bouncing motions; the bouncing mechanism designs a cylindrical cam with snapback characteristics, which can realize the slow energy storage and rapid release of the bouncing motion energy, thereby realizing the bouncing motion; the crawling mechanism designs a The disc cam cooperates with the two driving rods that cross to realize a motor to drive the swing of the four legs to realize the crawling motion.
Description
Technical field
The invention belongs to the Robotics field, relate to creeping and Jumping Design of robot, the hopping robot that can creep for a kind of single motor-driven.
Background technology
Mobile robot's a development lifting that outstanding problem is motion landform adaptive capacity to be solved.Wheeled robot and caterpillar type robot often can not be smoothly when running into than the large obstacle of self size or gully by or kinematic accuracy low.Multivariant walking and climbing robot control complexity, motion are slowly, and be helpless equally when running into larger obstacle or gully.And the characteristics such as hop robot has that range of movement is large, obstacle climbing ability is strong and escape from danger is fast can strengthen the adaptive capacity to environment of robot, overcome the rugged and obstacle in ground and stop the difficulty of bringing.Simple bounce motion is underaction and energy-conservation again.
Summary of the invention
The problem to be solved in the present invention is: the mobile robot needs to promote to the adaptive capacity of motion landform, mobile robot's existence of the prior art is not suitable for the problems such as large scale obstacle, kinematic accuracy is low, control is complicated, and mode of motion underaction and energy-conservation problem.
Technical scheme of the present invention is: the hopping robot that a kind of single motor-driven can be creeped, formed by frame, power module, sensing device, control setup, driver train, bouncing mechanism and climbing mechanism, frame is used for installing fixing described module, device and mechanism, power module is sensing device, control setup and driver train power supply, and sensing device, control setup, actuating device connect successively; The end face of frame object manipulator working direction is front end face, and the relative other end is aft end face;
Described bouncing mechanism comprises the spring gear, the spring unilateral bearing, cylindrical cam, roller, slide block, baffle plate, pulley, slide block pulley attaching parts, stay cord, and pin, a pair of torque spring, torsion axis, a pair of torsion spring axle sleeve, front end face bearing and aft end face bearing, the front end face bearing is installed on the front end face of frame, the aft end face bearing is installed on the aft end face of frame, cylindrical cam is connected with frame with the aft end face bearing by the front end face bearing, what cylindrical cam was provided with sealing has a reciprocating helix groove of quickreturn characteristics, the helix line pitch of lift is along with lift diminishes gradually, and the helix groove that the helix line of backhaul directly passes lift arrives initial position; Spring unilateral bearing inner ring interference fit is installed in cylindrical cam near an end of frame rear end face, spring gear interference fit is installed on the spring unilateral bearing outer ring, motor gear engagement in spring gear and the driver train, baffle plate is fixed on the frame bottom surface, form sliding recess between baffle plate and the frame bottom surface, slide along former and later two directions of robot in the sliding recess of slide block between frame and baffle plate; Roller is that cross-sectional plane is oval-shaped three-dimensional pillar, be installed on the slide block, roller lower surface and slide block are fitted, the inside face of the helix groove on upper surface and the cylindrical cam is fitted, the side of its side and cylindrical cam surface helix groove is tangent, cylindrical cam rotates the drive roller and moves along helix groove, thereby slides with movable slider former and later two directions along frame in sliding recess; Pulley is connected with slide block by slide block pulley attaching parts, and stay cord one end is fixed on the aft end face of frame, walk around pulley after, the other end is fixed on also on the pin; Torsion axis is fixed on the outside of the aft end face of frame, a pair of torsion spring axle sleeve is separately fixed at the two ends of torsion axis, a pair of torque spring is enclosed within respectively two torsion axis and puts, and an arm of force of torque spring is fixed on the aft end face of frame, the another one arm of force be fixed on and pin on;
Described climbing mechanism comprises the gear of creeping, the unilateral bearing of creeping, transmission shaft, forerunner's lever, the rear-guard lever, the pair of discs cam, a pair of foreleg, a pair of back leg, leg link, a pair of torsion spring, transmission shaft be installed between the front/rear end of frame and about placed in the middle, the unilateral bearing inner ring interference fit of creeping is installed in transmission shaft near frame rear end face one end, and fit with aft end face is inboard, the gear interference fit of creeping is installed on the unilateral bearing outer ring of creeping, creep motor gear engagement in gear and the driver train, the DC machine of driver train is rotated by motor gear and the gear driven transmission shaft of creeping, forerunner's lever and rear-guard lever are fixed by socket on transmission shaft, and rotate with the rotation of transmission shaft, forerunner's lever and rear-guard lever are in circumferential phase and differ 90 degree right-angled crossings; Respectively be provided with a frame adapter shaft and the axle that is in transmission connection on described foreleg and the back leg, one end of foreleg and back leg passes through frame adapter shaft mounted in pairs on the left and right end face of frame, and can be take the frame adapter shaft as axis swing in perpendicular, the other end of foreleg and back leg contacts to earth, and supports robot to stand; Described disk cam is provided with a circle center hole and an eccentric orfice, is fixed by socket respectively on the frame adapter shaft of foreleg by described circle center hole, and two forelegs swing with the rotation of two disk cams, and described eccentric orfice is socketed on the axle that is in transmission connection of foreleg; Be respectively equipped with a pair of projection on two disk cams, the position of described a pair of projection is corresponding forerunner's lever and rear-guard lever respectively, when rotating, forerunner's lever and rear-guard lever stir described projection, the drive disk cam rotates, and when forerunner's lever or rear-guard lever are stirred a disk cam rotation, stir another disk cam and rotate in the opposite direction; The foreleg that is positioned at the same end face of frame is connected by leg link with back leg, the two ends of leg link are socketed on the axle that is in transmission connection, consisting of bearing pin connects, the point of connection of leg link and foreleg is below foreleg and frame adapter shaft, and the point of connection of leg link and back leg is above back leg and frame adapter shaft; Described a pair of torsion spring is enclosed within respectively on the adapter shaft of a pair of foreleg, and an arm of force of torsion spring is installed on the foreleg, and the another one arm of force is installed on the frame;
Described driver train comprises DC machine and motor gear, DC machine is fixed on frame inside, motor gear is installed on the DC machine output shaft, motor gear meshes with spring gear and the gear of creeping respectively, the gear interference fit of creeping is socketed in the outer ring of the unilateral bearing of creeping, the unilateral bearing inner ring interference fit of creeping is installed on the transmission shaft, spring gear interference fit is socketed in the outer ring of spring unilateral bearing, the inner ring interference fit of spring unilateral bearing is installed on the cylindrical cam, driving the spring gear during DC machine forward rotates, thereby driving spring unilateral bearing inner ring rotates, spring unilateral bearing inner ring is connected with the cylindrical cam interference fit, drive bouncing mechanism and realize bounce motion, the unilateral bearing idle running of creeping this moment; On the contrary, drive the gear of creeping during the DC machine counter-rotating and rotate, drive machines people realizes crawling exercises, and the idle running of spring bearing;
Described sensing device comprises an obliquity sensor and two infrared pickoffs, obliquity sensor is installed in the frame rear end top, fit with the frame upper surface, the inclination angle that is used for perception machine human organism, two infrared pickoffs are installed in frame front, the working direction of the object manipulator of an infra-ray sensing, be used on the perception robot working direction whether obstacle being arranged, the direction of an infra-ray sensing is used for forerunner's lever of perception climbing mechanism and the angle position that the rear-guard lever is rotated towards the climbing mechanism of frame inboard.
As optimal way, the transmission shaft centre portion of climbing mechanism is cubic cylindricality, and two ends are cylindrical, and forerunner's lever and rear-guard lever are provided with square hole, is fixed by socket on the position of cubic cylindricality in the middle of the transmission shaft by described square hole.
Control setup is installed in the inboard of frame front end face, formed by wireless communication unit, controlled processing unit and memory cell, wireless communication unit and memory cell connect respectively controlled processing unit, wireless communication unit is used for the remote transmission of the long-range transmission control command of operator and sensing device data, the DC motor positive and negative rotation of controlled processing unit control driver train, finish motion control and the sensing device data acquisition and processing (DAP) function of robot, memory cell is used for the intermediate data of storage sensing device data and data processing.
Beneficial effect
(1) the present invention uses the characteristic of unilateral bearing, realizes using the rotating of a motor, thereby realizes creeping and bounce motion of robot, simple in structure, with creeping and bounce in conjunction with the locomitivity that has strengthened robot, utilize according to landform environment optimization energy, save energy.
(2) the present invention uses the characteristic of movable pulley, and stay cord end movement distance is the twice of pulley motion distance, and the distance of spring torsion spring arm of force motion is the twice of slide block movement distance, so that mechanism is compacter, volume is less.
(3) cylindrical cam with quickreturn characteristics of the present invention's design can be realized the at a slow speed energy storage of bounce motion energy and discharge fast, thereby realizes bounce motion.The design plan of lift variable pitch is than the design plan of fixed pitch, can reduce the requirement to motor maximum torque, thereby can select less, lighter, moment of torsion is less, rotating speed motor faster, this can make higher that robot jumps, creeper speed is faster.
(4) disk cam of the present invention's design cooperates two drive spindles of right-angled crossing, can realize the crawling exercises of four legs of a motor-driven, the left leg torsion spring of designed use and right leg torsion spring can either freely swinging of fixed constraints leg also can provide certain predetermincd tension, and torsion spring can provide certain ground to pedal power when disk cam drives the foreleg swing.
Description of drawings
Fig. 1 is the robot system block diagram of the embodiment of the invention.
Fig. 2 is the robot assembly drowing leading flank figure of the embodiment of the invention.
Fig. 3 is the robot assembly drowing trailing flank figure of the embodiment of the invention.
Fig. 4 is the rack construction schematic diagram of the embodiment of the invention.
Fig. 5 is the driver train schematic diagram of the embodiment of the invention.
Fig. 6 is the inner connecting structure principle schematic of the driver train of the embodiment of the invention and bouncing mechanism, climbing mechanism.
Fig. 7 is the bouncing mechanism schematic diagram of the embodiment of the invention.
Fig. 8 is the bouncing mechanism schematic diagram 2 of the embodiment of the invention.
Fig. 9 is the cylindrical cam schematic diagram of the embodiment of the invention.
Figure 10 variable pitch cylindrical cam and constant pitch cylindrical cam characteristic be schematic diagram relatively.
Figure 11 is the driver train schematic diagram 1 of the embodiment of the invention.
Figure 12 is the driver train schematic diagram 2 of the embodiment of the invention.
Figure 13 is the driver train schematic diagram 3 of the embodiment of the invention.
Figure 14 is foreleg and the back leg structural representation of the embodiment of the invention.
Figure 15 is the bounce motion sequence schematic diagram of the embodiment of the invention.
Figure 16 is crawling exercises sequence schematic diagram of the present invention.
The specific embodiment
The present invention designs and uses single motor drive machines people to realize creeping of four-footed and two kinds of functions of bounce motion.The cylindrical cam drive machines people who drives the variable pitch in the present invention during the motor forward realizes bounce motion, and four the leg alternatively swingings of disk cam driving that drive during motor reversal in the present invention are realized creeping.The present invention combines crawling exercises and bounce motion, can strengthen machine human motion ability, carries out crawling exercises in the more smooth landform in surface, then adopts the spring gait in or the environment that has obstacle to stop rugged in landform, realizes Obstacle Negotiation.
Below in conjunction with drawings and Examples, principle of work of the present invention and working process are described in further detail.
Embodiment: with reference to Fig. 1, Fig. 2, Fig. 3, a kind of hopping robot of creeping is comprised of frame 1, power module 2, sensing device 3, control setup 4, driver train 5, bouncing mechanism 6 and climbing mechanism 7.Power module 2 is sensing device 3, control setup 4 and driver train 5 power supplies, and sensing device 3, control setup 4, actuating device 5 connect successively, and actuating device drives respectively bouncing mechanism 6 and climbing mechanism 7.
With reference to Fig. 4, described frame 1 is used for installing fixed power source module 2, sensing device 3, control setup 4, driver train 5, bouncing mechanism 6 and climbing mechanism 7.
With reference to Fig. 1, Fig. 2, Fig. 3, described supply unit 2 is lithium celies, is fixed on the frame front end face, for driver train and control setup provide energy; Described sensing device 3 is comprised of obliquity sensor 3-1, infrared pickoff 3-2 and infrared pickoff 3-3, obliquity sensor is installed in the frame rear end top, fit with the frame upper surface, the inclination angle that is used for perception machine human organism, thereby for motion provides feedback, infrared pickoff 3-2 is installed in above the frame front top forward, be used for perception robot the place ahead whether obstacle is arranged, infrared pickoff 3-3 is installed on the frame front end face inboard towards robot, is used for the angle position of the forward and backward drive spindle rotation of perception climbing mechanism; Described control setup 4 is installed in the inboard of frame front end face, formed by wireless communication unit, controlled processing unit and memory cell, wireless communication unit is used for the remote transmission of the long-range transmission control command of operator and sensing data, controlled processing unit control motor positive and inverse, finish motion control and sensor data acquisition and the processing capacity of robot, memory cell is used for the intermediate data of store sensor data and data processing.
With reference to Fig. 5, described driver train 5 is comprised of DC machine 5-1, motor gear 5-2, motor fixing screw 5-3 and motor gear check screw 5-4, DC machine uses motor fixing screw 5-3 to be installed in frame inside, and motor gear uses screw 5-4 to be installed on the DC machine output shaft with groove structure.With reference to Fig. 6, motor gear 5-2 respectively and spring gear 6-1 and to creep between the gear 7-1 be meshing relation, motor gear 5-2 is installed on the DC machine 5-1 output shaft, the gear 7-1 interference fit of creeping is socketed in the outer ring of the unilateral bearing 7-2 that creeps, the 7-2 unilateral bearing inner ring interference fit of creeping is installed on the transmission shaft 7-3, spring gear 6-1 interference fit is socketed in the outer ring of spring unilateral bearing 6-2, and the inner ring interference fit of spring unilateral bearing 6-2 is installed on the cylindrical cam 6-3.Thereby can drive spring gear 6-1 during DC machine 5-1 forward and rotate the rotation of drive spring unilateral bearing inner ring, spring unilateral bearing inner ring is connected with the cylindrical cam interference fit, thereby can drive bouncing mechanism and realize bounce motion, and the unilateral bearing 7-2 that creeps this moment belongs to idle running, can not drive transmission shaft 7-3 and rotate; On the contrary, DC machine 5-1 can the drive machines people realize crawling exercises during counter-rotating, and the idle running of spring bearing.
With reference to Fig. 2, Fig. 3, Fig. 7, Fig. 8, Fig. 9, described bouncing mechanism 6 is comprised of spring gear 6-1, spring unilateral bearing 6-2, cylindrical cam 6-3, roller 6-4, slide block 6-5, baffle plate 6-6, pulley 6-7, slide block pulley attaching parts 6-8, stay cord 6-9, front stay cord axle 6-10, post-tensioning reel for rope 6-11 and pin 6-12, left side torque spring 6-13, the right torque spring 6-14, torsion axis 6-15, left side torsion spring axle sleeve 6-16, the right torsion spring axle sleeve 6-17, front end face bearing 6-18, aft end face bearing 6-19 and four screw 6-20,6-21,6-22,6-23.Front end face bearing 6-18 is installed on the front end face of frame, aft end face bearing 6-19 is installed on the aft end face of frame, cylindrical cam 6-3 is connected with frame by described two bearings, what a sealing was arranged on the cylindrical cam has a reciprocating helix groove of quickreturn characteristics, the helix line of lift has the advantages that pitch diminishes gradually along with lift, and the helix line of backhaul directly passes the helix groove arrival initial position of backhaul; Spring unilateral bearing 6-2 is installed in cylindrical cam near an end of frame rear end face, spring gear 6-1 is installed on the spring unilateral bearing, motor gear 5-2 engagement in spring gear 6-1 and the driver train, baffle plate 6-6 is fixed on frame 1 bottom surface by four screws, slide block 6-5 can slide along former and later two directions of robot in the groove between frame and baffle plate, roller 6-4 is that cross-sectional plane is oval-shaped three-dimensional pillar, be installed on the slide block 6-5, its lower surface and slide block are fitted, upper surface then with cylindrical cam 6-3 on the inside face of helix groove fit, the side of its side and cylindrical cam surface helix groove is tangent, cylindrical cam rotates and can drive roller and move along groove like this, thereby slide in former and later two directions of frame with movable slider, pulley 6-7 uses slide block pulley attaching parts 6-8 to link with slide block, one section of stay cord on the pulley is fixed on the aft end face of frame, one end be fixed on and pin 6-12 on, torsion axis 6-15 is fixed on the outside of the aft end face of frame, two torsion spring axle sleeves are separately fixed at the two ends of torsion axis, two torque springs are enclosed within respectively two torsion axis and put, their arm of force is fixed on the aft end face of frame, the another one arm of force be fixed on and pin 6-12 on, such motor forward, pass through gear transmission, the drive cylindrical cam rotates, and its drive roller slides in the groove of the idle stroke of helix groove, roller band movable slider moves to frame front end face direction, just can be with movable pulley to move simultaneously, and pulley can be simultaneously with also pin pulling with stay cord, thereby compression torque spring, when roller moved after full stroke gets delivery position with fast stroke, under the huge pulling force of torque spring, finish fast the motion of fast stroke, body is launched away, thereby realizes bounce motion.The pitch of lift helix line can make the power of motor be fully utilized along with lift diminishes gradually, the torque peak of needed like this motor diminishes, thereby can select faster motor of the less and rotating speed of moment of torsion, and the helix line of backhaul directly pass the helix groove of backhaul arrive initial position can be so that this bouncing mechanism has very high quickreturn characteristics.Figure 10 is the schematic diagram of performance comparative analysis of the cylindrical cam of the characteristic of cylindrical cam of variable pitch and constant pitch, 8 representatives be the angle of torque spring compression, the compression angle more arrives, need the drive torque of motor larger, 9 the representative be the lead angle of drive torque or the cylindrical cam helix line of motor, what 10-1 represented is that lead angle is constant, 10-2 represents the motor-driven moment variations trend of lead angle when constant, 10-3 represents lead angle to be had large to little Method of Variable Pitch Screw, 10-4 represents the drive torque variation tendency of required motor corresponding to Method of Variable Pitch Screw, and the maxim of 10-4 is less than the maxim of 10-2.
With reference to Fig. 2, Fig. 3,, Figure 11, Figure 12, the described climbing mechanism of Figure 13, Figure 14 are comprised of the gear 7-1 that creeps, the unilateral bearing 7-2 that creeps, transmission shaft 7-3, forerunner's lever 7-4, rear-guard lever 7-5, left side disk cam 7-6, the right disk cam 7-7, left front leg 7-8, RAT 7-9, left back leg 7-10, right rear leg 7-11, left branch leg connecting rod 7-12, right leg link 7-13, left leg torsion spring 7-14, right leg torsion spring 7-15, forerunner's lever connecting element 7-16, rear-guard lever connecting element 7-17.Transmission shaft 7-3 is installed between the front/rear end of frame 1 and is placed in the middle, the transmission shaft centre portion is cubic cylindricality, two ends are cylindrical, the unilateral bearing 7-2 that creeps is installed in transmission shaft 7-3 near frame rear end face one end, and fit with the frame rear end face is inboard, the gear 7-1 that creeps is installed on the unilateral bearing 7-2 that creeps, can drive transmission shaft 7-3 when DC machine 5-1 reverses rotates, forerunner's lever 7-4 and rear-guard lever 7-5 are fixed on the transmission shaft, in the present embodiment, be provided with square hole in forerunner's lever and rear-guard lever, be fixed by socket on the position of square axis in the middle of the transmission shaft by described square hole, and be fixed on the transmission shaft by forerunner's lever connecting element 7-16 and rear-guard lever connecting element 7-17 respectively, so that forerunner's lever 7-4 and rear-guard lever 7-5 rotate with transmission shaft 7-3, forerunner's lever 7-4 and rear-guard lever 7-5 differ 90 degree, right-angled crossing in the phase place of circumference.As shown in figure 14, left front leg 7-8, RAT 7-9, left back leg 7-10 and right rear leg 7-11 respectively are provided with a frame adapter shaft and the axle that is in transmission connection, the frame adapter shaft of left front leg 7-8 and RAT 7-9 is positioned at the axle below that is in transmission connection, and the frame adapter shaft of left back leg 7-10 and right rear leg 7-11 is positioned at the axle top that is in transmission connection.Left front leg 7-8 and RAT 7-9 are installed on the end face of the frame left and right sides by the frame adapter shaft, install with rotation mode by the frame adapter shaft, can in perpendicular, swing, left back leg 7-10 and right rear leg 7-11 are installed on the end face of the frame left and right sides with rotation mode near position, top frame adapter shaft, the other end of described foreleg and back leg contacts to earth, and supports robot to stand.Left side disk cam 7-6 and be respectively equipped with a circle center hole and an eccentric orfice above the disk cam 7-7 of the right, be fixed by socket respectively on the frame adapter shaft of foreleg by described circle center hole, two forelegs swing in perpendicular with the rotation of two disk cams, described eccentric orfice is socketed on the axle that is in transmission connection of foreleg, wherein, frame adapter shaft and the axle that is in transmission connection also play the effect that disk cam and foreleg are fixed, left front leg 7-8 be connected leg 7-10 and use left branch leg connecting rod 7-12 to connect, RAT 7-9 is connected right leg link 7-13 to connect with right rear leg 7-11, the mode that adopts bearing pin to be connected by the axle that is in transmission connection between leg and the leg link connects, the position that leg link is connected with foreleg is below the frame adapter shaft of foreleg, and the position that leg link is connected with back leg is above the frame adapter shaft of back leg, the foreleg of the same side, leg link and back leg consist of linkage structure, when foreleg swings forward, driving leg link presses backward, so that back leg swings backward, on the contrary, when foreleg swung backward, back leg then swung forward.Be respectively equipped with a pair of projection on two disk cams, the position of described a pair of projection is corresponding forerunner's lever 7-4 and rear-guard lever 7-5 respectively, forerunner's lever 7-4 and rear-guard lever 7-5 stir described projection when rotating, the drive disk cam rotates, and when forerunner's lever or rear-guard lever are stirred a disk cam rotation, stirring another disk cam rotates in the opposite direction, transmission shaft 7-3 drives forerunner lever 7-4 and rear-guard lever 7-5 rotates in perpendicular, forerunner's lever 7-4 contact with two disk cams and the process of separating in left front leg 7-8 step forward a step, the left back leg 7-10 ground of kicking backward simultaneously, the RAT 7-9 ground of kicking backward, right rear leg 7-11 takes a step forward, so just realized the motion in a step, and when transmission shaft is rotated further, rear-guard lever 7-5 contact with two disk cams and the process of separating in, the left front leg 7-8 ground of kicking backward, left back leg 7-10 takes a step forward simultaneously, and RAT 7-9 takes a step forward, the right rear leg 7-11 ground of kicking backward, the motion of realization second step, transmission shaft 7-3 rotates a circle like this, and robot was creeped forward for two steps.Left leg torsion spring 7-14 and right leg torsion spring 7-15 are enclosed within respectively on the turning cylinder of left front leg 7-8 and RAT 7-9, one of them arm of force is installed in that the another one arm of force is installed on the frame on the leg, left leg torsion spring 7-14 can guarantee that left front leg 7-8 and left back leg 7-10 and frame 1 flexibly connect and can arbitrarily not swing, right leg torsion spring 7-15 can guarantee that RAT 7-9 and right rear leg 7-11 and frame 1 flexibly connect and can arbitrarily not swing, drive left side disk cam 7-6 and the right disk cam 7-7 swing at forerunner's lever 7-4 and rear-guard lever 7-5, thereby when driving the foreleg swing, left leg torsion spring 7-14 and right leg torsion spring 7-15 can compress and pull open in the cycle, thereby the drive machines people creeps with pedaling.
With reference to Figure 15, the spring process sequence figure of designed creeped hopping robot, the DC machine forward, when the idle stroke groove of roller through cylindrical cam, after carrying out energy storage, after continuing motion arrival rapid return stroke, the energy in the torque spring discharges, robot is pedaled the ground take-off, thereby realizes the skip motion function.
With reference to Figure 16, the crawling process sequence chart of designed creeped hopping robot, DC machine counter-rotating drives four legs and swings, left front leg and right rear leg, these two groups of legs of RAT and right rear leg ground of alternately taking a step forward and kick backward, the function thereby realization is creeped.
Claims (3)
1. hopping robot that single motor-driven can be creeped, it is characterized in that being formed by frame, power module, sensing device, control setup, driver train, bouncing mechanism and climbing mechanism, frame is used for installing fixing described module, device and mechanism, power module is sensing device, control setup and driver train power supply, and sensing device, control setup, actuating device connect successively; The end face of frame object manipulator working direction is front end face, and the relative other end is aft end face;
Described bouncing mechanism comprises the spring gear, the spring unilateral bearing, cylindrical cam, roller, slide block, baffle plate, pulley, slide block pulley attaching parts, stay cord, and pin, a pair of torque spring, torsion axis, a pair of torsion spring axle sleeve, front end face bearing and aft end face bearing, the front end face bearing is installed on the front end face of frame, the aft end face bearing is installed on the aft end face of frame, cylindrical cam is connected with frame with the aft end face bearing by the front end face bearing, what cylindrical cam was provided with sealing has a reciprocating helix groove of quickreturn characteristics, the helix line pitch of lift is along with lift diminishes gradually, and the helix groove that the helix line of backhaul directly passes lift arrives initial position; Spring unilateral bearing inner ring interference fit is installed in cylindrical cam near an end of frame rear end face, spring gear interference fit is installed on the spring unilateral bearing outer ring, motor gear engagement in spring gear and the driver train, baffle plate is fixed on the frame bottom surface, form sliding recess between baffle plate and the frame bottom surface, slide along former and later two directions of robot in the sliding recess of slide block between frame and baffle plate; Roller is that cross-sectional plane is oval-shaped three-dimensional pillar, be installed on the slide block, roller lower surface and slide block are fitted, the inside face of the helix groove on upper surface and the cylindrical cam is fitted, the side of its side and cylindrical cam surface helix groove is tangent, cylindrical cam rotates the drive roller and moves along helix groove, thereby slides with movable slider former and later two directions along frame in sliding recess; Pulley is connected with slide block by slide block pulley attaching parts, and stay cord one end is fixed on the aft end face of frame, walk around pulley after, the other end is fixed on also on the pin; Torsion axis is fixed on the outside of the aft end face of frame, a pair of torsion spring axle sleeve is separately fixed at the two ends of torsion axis, a pair of torque spring is enclosed within respectively two torsion axis and puts, and an arm of force of torque spring is fixed on the aft end face of frame, the another one arm of force be fixed on and pin on;
Described climbing mechanism comprises the gear of creeping, the unilateral bearing of creeping, transmission shaft, forerunner's lever, the rear-guard lever, the pair of discs cam, a pair of foreleg, a pair of back leg, leg link, a pair of torsion spring, transmission shaft be installed between the front/rear end of frame and about placed in the middle, the unilateral bearing inner ring interference fit of creeping is installed in transmission shaft near frame rear end face one end, and fit with aft end face is inboard, the gear interference fit of creeping is installed on the unilateral bearing outer ring of creeping, creep motor gear engagement in gear and the driver train, the DC machine of driver train is rotated by motor gear and the gear driven transmission shaft of creeping, forerunner's lever and rear-guard lever are fixed by socket on transmission shaft, and rotate with the rotation of transmission shaft, forerunner's lever and rear-guard lever are in circumferential phase and differ 90 degree right-angled crossings; Respectively be provided with a frame adapter shaft and the axle that is in transmission connection on described foreleg and the back leg, one end of foreleg and back leg passes through frame adapter shaft mounted in pairs on the left and right end face of frame, and can be take the frame adapter shaft as axis swing in perpendicular, the other end of foreleg and back leg contacts to earth, and supports robot to stand; Described disk cam is provided with a circle center hole and an eccentric orfice, is fixed by socket respectively on the frame adapter shaft of foreleg by described circle center hole, and two forelegs swing with the rotation of two disk cams, and described eccentric orfice is socketed on the axle that is in transmission connection of foreleg; Be respectively equipped with a pair of projection on two disk cams, the position of described a pair of projection is corresponding forerunner's lever and rear-guard lever respectively, when rotating, forerunner's lever and rear-guard lever stir described projection, the drive disk cam rotates, and when forerunner's lever or rear-guard lever are stirred a disk cam rotation, stir another disk cam and rotate in the opposite direction; The foreleg that is positioned at the same end face of frame is connected by leg link with back leg, the two ends of leg link are socketed on the axle that is in transmission connection, consisting of bearing pin connects, the point of connection of leg link and foreleg is below foreleg and frame adapter shaft, and the point of connection of leg link and back leg is above back leg and frame adapter shaft; Described a pair of torsion spring is enclosed within respectively on the adapter shaft of a pair of foreleg, and an arm of force of torsion spring is installed on the foreleg, and the another one arm of force is installed on the frame;
Described driver train comprises DC machine and motor gear, DC machine is fixed on frame inside, motor gear is installed on the DC machine output shaft, motor gear meshes with spring gear and the gear of creeping respectively, the gear interference fit of creeping is socketed in the outer ring of the unilateral bearing of creeping, the unilateral bearing inner ring interference fit of creeping is installed on the transmission shaft, spring gear interference fit is socketed in the outer ring of spring unilateral bearing, the inner ring interference fit of spring unilateral bearing is installed on the cylindrical cam, driving the spring gear during DC machine forward rotates, thereby driving spring unilateral bearing inner ring rotates, spring unilateral bearing inner ring is connected with the cylindrical cam interference fit, drive bouncing mechanism and realize bounce motion, the unilateral bearing idle running of creeping this moment; On the contrary, drive the gear of creeping during the DC machine counter-rotating and rotate, drive machines people realizes crawling exercises, and the idle running of spring bearing;
Described sensing device comprises an obliquity sensor and two infrared pickoffs, obliquity sensor is installed in the frame rear end top, fit with the frame upper surface, the inclination angle that is used for perception machine human organism, two infrared pickoffs are installed in frame front, the working direction of the object manipulator of an infra-ray sensing, be used on the perception robot working direction whether obstacle being arranged, the direction of an infra-ray sensing is used for forerunner's lever of perception climbing mechanism and the angle position that the rear-guard lever is rotated towards the climbing mechanism of frame inboard.
2. the hopping robot that can creep of a kind of single motor-driven according to claim 1, the transmission shaft centre portion that it is characterized in that climbing mechanism is cubic cylindricality, two ends are cylindrical, forerunner's lever and rear-guard lever are provided with square hole, are fixed by socket on the position of cubic cylindricality in the middle of the transmission shaft by described square hole.
3. the hopping robot that can creep of a kind of single motor-driven according to claim 1 and 2, it is characterized in that control setup is installed in the inboard of frame front end face, by wireless communication unit, controlled processing unit and memory cell form, wireless communication unit and memory cell connect respectively controlled processing unit, wireless communication unit is used for the remote transmission of the long-range transmission control command of operator and sensing device data, the DC motor positive and negative rotation of controlled processing unit control driver train, finish motion control and the sensing device data acquisition and processing (DAP) function of robot, memory cell is used for the intermediate data of storage sensing device data and data processing.
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| CN201210562487.3A CN103010327B (en) | 2012-12-21 | 2012-12-21 | Single-motor driven climbing jumping robot |
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| CN201210562487.3A CN103010327B (en) | 2012-12-21 | 2012-12-21 | Single-motor driven climbing jumping robot |
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| CN103010327B CN103010327B (en) | 2015-04-01 |
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| CN104816767A (en) * | 2015-05-21 | 2015-08-05 | 东南大学 | Bounce robot capable of detecting height and distance of obstacle and detection method |
| CN105584555A (en) * | 2016-03-08 | 2016-05-18 | 上海交通大学 | Magnetoresistive hopping mechanism based on capacitor |
| CN107826173A (en) * | 2017-11-01 | 2018-03-23 | 齐鲁工业大学 | A kind of robot bouncing mechanism and its method of work |
| CN111113438A (en) * | 2019-11-29 | 2020-05-08 | 燕山大学 | A compound motion robot based on the movement mechanism of Collembola |
| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
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| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
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| CN103010327B (en) | 2015-04-01 |
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