CN111591369A - Jumping robot with controllable energy storage size and controllable jumping-off angle - Google Patents

Abstract

The invention discloses a jumping robot with controllable energy storage size and take-off angle, comprising a frame, a controllable winding/releasing unit, a jumping leg unit and a posture adjusting leg unit. The controllable rewinding/releasing unit can use the rotation of the main drive in two directions for rewinding and unwinding of the cable by the cable pulley respectively. The jumping leg unit is located at the rear of the rack, and includes two branches with the same structure, each branch is composed of a connecting plate, a support rod, a foot rod, a calf rod, a thigh rod and an energy storage spring, wherein the support rod is connected with the foot rod and the calf rod. The two ends of the energy storage spring are respectively connected with the support rod and the calf rod, which can be stretched by pulling wires to realize energy storage. The posture-adjusting leg unit is installed at the front end of the frame, and can realize the swing of the forelimb rod relative to the frame under the driving of the steering gear, thereby changing the take-off angle. The energy storage size and the take-off angle of the invention can be adjusted, the bouncing force has bionic characteristics, the structure is compact, the control is simple, and the quality is light.

Description

A jumping robot with controllable energy storage size and take-off angle

technical field

The invention relates to a jumping robot, in particular to a light and small bionic jumping robot with controllable energy storage size and take-off angle.

Background technique

Jumping robots can be divided into non-bionic jumping robots and bionic jumping robots. Among them, non-bionic jumping robots mainly realize jumping motion by using mechanical elastic energy, chemical release energy and field force; bionic jumping robots can simulate vertebrates (such as kangaroos, night monkeys and frogs, etc.) and invertebrates (such as locusts, cicadas, fleas and beetles, etc.) jumping mechanism to achieve the purpose of jumping. With the deepening of research, high bionics will be the future development trend of jumping robots.

Carnegie Mellon University RAIBERT and others developed monopod, biped and quadruped jumping robots on the basis of the spring inverted pendulum model, and thus opened the prelude to the research of jumping robots. The planar bow robot and the three-dimensional bow robot proposed by BROWN et al. use the rope mechanism to realize the energy storage of the bow legs in the air stage, and can realize the body balance through the tail to complete the continuous jump. The 7g locust-like jumping robot proposed by the Swiss Federal Institute of Technology in Lausanne uses a tiny motor and a gear box to drive the centrifugal cam to rotate, and slowly loads and quickly releases the torsion spring at the hip joint to complete the jumping process. Tel Aviv University in Israel imitates the role of the desert locust's meniscus in jumping, and designs a tiny jumping robot that uses torsion springs to store energy at the joints. By imitating the cooperative action of the stretcher and flexor muscles in the femoral segment during the take-off of locusts, the Konkuk University of South Korea uses a stretch spring to simulate the stretcher muscle, uses a wire rope to simulate the flexor muscle, and combines a micro motor, a reduction gear box and a centrifugal cam to design the design. A locust-like jumping robot.

Existing jumping robots have little research on jump controllability, including the adjustment of take-off speed, take-off angle and take-off direction, which greatly limits the flexibility of jumping robots and the diversity of activity space, seriously hindering its practical application. At present, there is no bionic jumping robot that can realize the autonomous adjustment of take-off speed and take-off angle at the same time.

SUMMARY OF THE INVENTION

Aiming at the above problems, the present invention proposes a jumping robot with controllable energy storage size and take-off angle, which realizes controllable energy storage size and take-off angle by referring to the physiological structure of quadruped jumping creatures.

The jumping robot of the present invention includes a frame and a controllable winding/releasing unit, a jumping leg unit and a posture adjusting leg unit installed on the frame.

The controllable winding/unwinding unit includes a main drive, a pinion, a double gear, a gear shaft, a large gear, a pin, a transmission shaft, a cylindrical cam, a trigger pin, a trigger pin return spring, a ratchet, a one-way bearing, a ratchet Claws, pulleys, limit springs and cables.

The pinion gear is fixed coaxially on the output shaft of the main drive; the transmission shaft is fixed coaxially with the output shaft of the main drive; the large gear is fixed at the input end of the transmission shaft; the cylindrical cam is fixed at the output end. The large-diameter gear and the small-diameter gear in the double gear are meshed with the small gear and the large gear, respectively. The ratchet is located between the large gear and the cylindrical cam, and is coaxially mounted on the transmission shaft through a one-way bearing; the pawl is engaged with the external teeth of the ratchet. When the main drive rotates forwardly, the ratchet wheel rotates forwardly driven by the one-way bearing, and the pawl can slide on the tooth back of the external teeth of the ratchet wheel; Prevents the ratchet from reversing due to the pull of the cable.

The trigger end of the trigger pin is in contact with the end face of the cylindrical cam with the curved outline, and the plug end is inserted into the through hole of the end face of the ratchet wheel. The trigger pin return spring is sleeved on the trigger pin. The wire pulley is sleeved on the transmission shaft and is located between the ratchet wheel and the large gear; the limit spring is sleeved on the transmission shaft, and the two ends are respectively connected with the large gear and the wire pulley. Two pulling wires are wound on the pulling wire wheel; the fixed ends of the two pulling wires are respectively fixed on the pulling wire wheel, and the other ends are respectively connected with two jumping leg units. There is also a through hole on the wire pulley for the introduction of the trigger pin.

The two jumping leg units are arranged symmetrically on the left and right, and include a connecting plate, a support rod, a foot rod, a calf rod, a thigh rod and an energy storage spring.

Wherein, the A end of the support rod is designed with a connecting head upward, which is used to be fixedly connected with the connecting plate; the B end of the support rod is bent downward. The above-mentioned connecting plate is fixed on the bottom surface of the frame to realize the fixing between the jumping leg unit and the frame; the A end of the thigh rod is hinged with the support rod to form a rotating pair, and the hinged position is close to the connecting head. The foot rod is divided into front, middle and rear sections; the end of the rear section is hinged with the B end of the support rod to form a rotating pair; the middle end of the foot rod is bent downward, the front section is bent upward, the A end of the calf rod is bent upward, and the end of the leg rod is bent upward. The part is hinged with the B end of the thigh rod to form a rotating pair. The B end of the calf rod is hinged with the foot rod to form a rotating pair. One end of the energy storage spring is fixed with the support rod, and the fixed position is close to the B end of the support rod; the other end of the energy storage spring is fixed with the calf rod, and the fixed position is close to the A end of the calf rod.

The posture-adjusting leg unit is installed at the front of the frame, and includes a steering gear, a left forelimb rod, a right forelimb rod, a forelimb connecting rod, and a forelimb support. Among them, the left forelimb rod and the right forelimb rod are arranged symmetrically on the left and right, and the bottom ends are fixed by the forelimb rod; the top of the left forelimb rod is fixed on the output shaft of the steering gear, and the top of the right forelimb rod is connected to the forelimb support installed on the bottom surface of the frame through the rotating shaft. Swivel connection between seats.

Before the jumping robot of the present invention takes off, the cylindrical cam is in a critical state about to cross the far rest section, and the plug end of the trigger pin extends into the through hole on the pulley, which limits the rotation of the pulley; The tension stretches the distance between the support rod and the calf rod, so that the energy storage spring is compressed and deformed to store energy, and the energy storage size can be adjusted by the pressure exerted by the pull wire on the foot rod.

When taking off, the main driver drives the cylindrical cam to reverse through the gear train and the transmission shaft, and crosses the far rest section of the cylindrical cam; at this time, the trigger pin rebounds under the action of the trigger pin return spring and leaves the through hole on the side of the pulley. The pulling wheel rotates without restriction, the pulling wire is released, the energy storage spring releases the energy instantly, the front section of the foot bar quickly pushes the ground backward and downward, and the robot takes off.

When the jumping robot lands, the left forelimb rod and the right forelimb rod can play a certain buffering role; at this time, the main driver continues to reverse until the trigger pin is pushed into the through hole on the side of the pulley by the cylindrical cam; then the main driver rotates forward, The ratchet rotates in the same direction with the cylindrical cam under the action of the one-way bearing, so that the trigger pin drives the pulley to rewind the puller, and the energy storage spring stretches to the required length. Finally, driven by the steering gear, the forelimb rod controls the left forelimb rod and the right forelimb rod to swing back and forth synchronously, adjust the take-off posture to the desired angle, and prepare to take off again.

The advantages of the present invention are:

1. The jumping robot with controllable energy storage size and take-off angle of the present invention not only satisfies the bionic characteristics of the bouncing force, but also realizes the controllability of the energy storage size and the take-off angle, and improves the adaptability of the miniature jumping robot to complex terrain. .

2. The jumping robot with controllable energy storage size and take-off angle of the present invention, the energy storage size and the take-off angle can be adjusted, the bouncing force has bionic characteristics, the structure is compact, the control is simple, and the quality is light.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the jumping robot of the present invention.

FIG. 2 is a schematic structural diagram of a controllable winding/releasing unit of the jumping robot of the present invention.

FIG. 3 is a schematic diagram of the layout of the controllable winding/releasing unit of the jumping robot of the present invention.

FIG. 4 is a schematic diagram of the assembly of the controllable winding/releasing unit of the jumping robot of the present invention.

5 is a schematic diagram of the branch structure of the left rear jumping leg in the jumping leg unit of the jumping robot of the present invention.

FIG. 6 is a schematic structural diagram of the posture-adjusting leg unit of the jumping robot of the present invention.

In the picture:

1-Frame 2-Controllable Rewinding/Unwinding Unit 3-Jumping Leg Unit

4-posture leg unit 5-battery 6-controller

201-Main drive 202-Main drive support 203-Pinion gear

204-Double gear 205-Gear shaft 206-Double gear support

207-big gear 208-pin 209-drive shaft

210-drive shaft support 211-cylindrical cam 212-trigger pin

213- Trigger pin return spring 214- Ratchet 215- One-way bearing

216-pawl 217-pawl support 218-line pulley

219-limit spring 220-pull wire 301-connection plate

302-support bar 303-foot bar 304-calf bar

305-Thigh rod 306-Energy storage spring 401-Servo

402-Servo base 403-Left forelimb rod 404-Right forelimb rod

405-Forelimb Link 406-Forelimb Support

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings.

The present invention provides a jumping robot with controllable energy storage size and take-off angle, as shown in FIG. 1 , including a frame 1, a controllable winding/releasing unit 2, a jumping leg unit 3, an attitude-adjusting leg unit 4, and a battery 5 and the controller 6.

The frame 1 is a rectangular thin plate made of carbon fiber, with mounting holes designed on it for fixing the controllable winding/releasing unit 2, the jumping leg unit 3, the posture-adjusting leg unit 4, the forelimb support 406 and the battery 5 and controller 6.

The controllable winding/unwinding unit 2 includes a main drive 201, a main drive support 202, a pinion 203, a double gear 204, a gear shaft 205, a double gear support 206, a large gear 207, a pin 208, a transmission Shaft 209, transmission shaft support 210, cylindrical cam 211, trigger pin 212, trigger pin return spring 213, ratchet wheel 214, one-way bearing 215, pawl 216, pawl support 217, pulley 218, limit spring 219, The pull wire 220 is shown in FIGS. 2 to 4 .

Among them, the main driver support 202 , the double gear support 206 , the transmission shaft support 210 , and the pawl support 217 are all fixed on the upper surface of the frame 1 . The main driver 201 is fixed on the main driver support 202 ; the output shaft of the main driver 201 is parallel to the frame 1 , and the pinion 203 is fixed coaxially on the output shaft. The transmission shaft and the output shaft of the main driver 201 are coaxially arranged, and the input end and the output end of the transmission shaft are respectively installed on the transmission shaft support 210 ; The output end is fixed to the cylindrical cam 211 by the pin 208 .

The double gear 204 is coaxially fixed on the gear shaft 205, and both ends of the gear shaft 205 are respectively connected to both sides of the double gear support 206; and the large diameter gear and the small diameter gear in the double gear 204 are respectively connected with the pinion 203 Mesh with the large gear 207.

The ratchet wheel 214 is located between the large gear 207 and the cylindrical cam 211, and is coaxially installed on the transmission shaft 209 through the one-way bearing 215; even.

The pawl 216 is fixedly mounted on the pawl shaft, and the pawl shaft is arranged parallel to the transmission shaft 209 and is respectively connected to both sides of the pawl support 217 and can be rotated. The above-mentioned pawl 216 meshes with the external teeth of the ratchet wheel 214. When the main driver 201 rotates forwardly, the ratchet wheel 214 rotates forwardly driven by the one-way bearing 215. At this time, the pawl 216 can slide on the outer teeth of the ratchet wheel 214; When the driver 201 stops rotating, the ratchet pawl 216 is inserted into the outer tooth slot of the ratchet wheel 214 to prevent the ratchet wheel 214 from being reversed due to the pulling force of the pull wire.

There are two trigger pins 212, located between the cylindrical cam 211 and the ratchet wheel 214; the two trigger pins 212 are symmetrically distributed on both sides of the ratchet wheel axis, the trigger end is in contact with the end face of the cylindrical cam 211 with a curved outline, and the plug end is inserted into the end face of the ratchet wheel 214 inside the through hole. The trigger pin return spring 213 is sleeved on the trigger pin 212 , one end is in contact with the annular shoulder in the middle of the trigger pin 212 for positioning, and the other end is in contact with the annular shoulder in the through hole on the end face of the ratchet 214 .

The wire pulley 218 is coaxially sleeved on the transmission shaft 209 and is located between the ratchet wheel 214 and the large gear 204 . The limit spring 219 is sleeved on the transmission shaft 209 , one end is in contact with the large gear 204 to limit the position, and the other end is in contact with the pulley 218 for position limit. There are two pull wires 220 , both of which are wound on the pull wire pulley 218 . The fixed ends of the two pulling wires are respectively fixed on the relative positions on the circumferential side walls of the pulling wire pulley 218 and wound in the same direction. The two side surfaces of the wire pulling wheel 218 are equidistantly spaced with through holes, for the trigger pin 212 to penetrate.

The jumping leg unit 3 includes a left rear jumping leg branch and a right rear jumping leg branch, which are respectively symmetrically installed on the left and right sides of the rear of the bottom surface of the frame 1 and located below the cylindrical cam 211 . The left rear jumping leg branch and the right rear jumping leg branch have the same structure, including connecting plate 301 , support rod 302 , foot rod 303 , calf rod 304 , thigh rod 305 and energy storage spring 306 , as shown in FIG. 5 .

Wherein, the A end of the support rod 302 is designed with a connecting head upward, which is used to be fixedly connected with the connecting plate 301; the B end of the support rod is bent downward; the above connecting plate is fixed on the bottom surface of the frame 1 to realize the connection between the jumping leg unit and the frame. fixed. The A-end of the thigh rod 305 is hinged with the support rod 302 to form a rotating pair, and the hinged position is close to the connecting head, and the hinged position here is the position a. The foot rod 303 is divided into three sections: front, middle and rear; the end of the rear section is hinged with the B end of the support rod 302 to form a rotating pair, and here the hinge position is position b; the middle end of the foot rod 303 is bent downward, and A 160-degree angle is formed between the rear sections, and the front section is bent upward to form a 120-degree angle with the rear section. The A end of the calf rod 304 is bent upward, and the end is hinged with the B end of the thigh rod 305 to form a rotating pair, and the hinge position here is position d; the B end of the calf rod 304 is hinged with the foot rod 303 to form a rotating pair, The hinged position is located at the joint of the rear section and the middle section of the foot rod 303 , and the hinged position here is the position c. Through the above structure, a parallel four-bar structure is formed between the four segments ab, bc, cd, and da. One end of the energy storage spring 306 is fixed to the support rod 302, and the fixed position is close to the B end of the support rod 201; the other end of the energy storage spring 306 is fixed to the calf rod 304, and the fixed position is close to the A end of the calf rod. The two sets of the left rear jumping leg branch and the right rear jumping leg branch of the above structure are respectively connected with the two pulling wires wound on the aforementioned pulling wire wheel 218 .

The posture-adjusting leg unit 4 is installed on the front of the frame 1, and includes a steering gear 401, a steering gear support 402, a left forelimb rod 403, a right forelimb rod 404, a forelimb connecting rod 405, and a forelimb support 406, as shown in FIG. 6 . Show.

The steering gear support 402 is fixed to the bottom surface of the frame 1 , the steering gear 401 is fixed on the steering gear support 402 , and its output shaft is parallel to the frame 1 and arranged in the left-right direction. The left forelimb rod 403 and the right forelimb rod 404 are arranged symmetrically from left to right, and both are arc rods with the lower part bent forward. The bottom end of the left forelimb rod 403 and the bottom end of the right forelimb rod 403 are fixed by a forelimb link 405 . The top of the left forelimb rod is fixed on the output shaft of the steering gear 401 , and the top of the right forelimb rod 404 is rotatably connected to the forelimb support 406 installed on the bottom surface of the frame 1 through the rotating shaft. The above-mentioned rotating shaft is coaxial with the axis of the output shaft of the steering gear 401 .

Before the jumping robot of the above structure takes off, the cylindrical cam 211 is in a critical state about to cross the far rest section, that is, the trigger pin 212 is pushed out to the farthest position by the cylindrical cam 211, and the plug end of the trigger pin 212 extends into the pulley 218. In the through hole of the shank, the rotation of the pulley wheel 218 is restricted; at this time, the pull wire 220 exerts a pulling force on the foot rod 303, and the distance between the support rod 302 and the calf rod 304 is lengthened, so that the energy storage spring 306 is compressed and deformed to store energy. The energy can be adjusted by the pressure exerted by the pull wire 220 on the foot rod 303 .

When the jumping robot takes off, the main driver 201 drives the cylindrical cam 211 to reverse through the gear train and the transmission shaft 209, and crosses the far rest section of the cylindrical cam 211; at this time, the trigger pin 212 rebounds under the action of the trigger pin return spring 213 and leaves the wire pulley The through hole on the side of 128, at this time, the pulling wheel rotates without restriction, the pulling wire is released, the energy storage spring 306 releases energy instantly, the front section of the foot rod 303 quickly pushes the ground backward and downward, and the robot takes off.

When the jumping robot lands, the left forelimb rod 403 and the right forelimb rod 404 can play a certain buffering role; at this time, the main driver 201 continues to reverse until the trigger pin 212 is pushed into the through hole on the side of the pulley 218 by the cylindrical cam 211 . Then the main driver 201 rotates forward, the ratchet 214 rotates in the same direction with the cylindrical cam 211 under the action of the one-way bearing 215, so that the trigger pin 212 drives the pulley 218 to rewind the pull wire 220, and the energy storage spring 306 stretches to the required length. Finally, driven by the steering gear 401, the forelimb rod controls the left forelimb rod 403 and the right forelimb rod 404 to swing back and forth synchronously, adjust the take-off posture to the required angle, and prepare to take off again.

In the present invention, the battery 5 is used to provide voltage for the controller 6; the controller 6 is used to control the rotation of the main driver 201 and the steering gear 401 respectively.

Claims (3)

1. The utility model provides a controllable jump robot of energy storage size and take-off angle which characterized in that: comprises a frame, a controllable winding/unwinding unit, a jumping leg unit and a posture adjusting leg unit, wherein the controllable winding/unwinding unit, the jumping leg unit and the posture adjusting leg unit are arranged on the frame;

the controllable winding/releasing unit comprises a main driver, a pinion, a duplicate gear, a gear shaft, a bull gear, a pin, a transmission shaft, a cylindrical cam, a trigger pin reset spring, a ratchet wheel, a one-way bearing, a pawl, a wire pulling wheel, a limiting spring and a wire pulling;

wherein, a pinion is coaxially and fixedly arranged on an output shaft of the main driver; the transmission shaft is coaxially fixed with an output shaft of the main driver, and the input end of the transmission shaft is fixed with a large gear; the output end is fixed with a cylindrical cam; a large-diameter gear and a small-diameter gear in the duplicate gear are respectively meshed with the small gear and the large gear; the ratchet wheel is positioned between the large gear and the cylindrical cam and is coaxially arranged on the transmission shaft through a one-way bearing; the pawl is meshed with the outer teeth of the ratchet wheel, when the main driver rotates forwards, the ratchet wheel rotates forwards under the driving of the one-way bearing, and the pawl can slide on the outer tooth back of the ratchet wheel; when the main driver stops rotating, the pawl is inserted into an external tooth socket of the ratchet wheel to prevent the ratchet wheel from reversing due to the pulling force of the pull wire;

the trigger end of the trigger pin is contacted with the end face of the cylindrical cam with a curve profile, and the insertion end is inserted into the through hole on the end face of the ratchet wheel; the reset spring of the trigger pin is sleeved on the trigger pin; the wire pulling wheel is sleeved on the transmission shaft and is positioned between the ratchet wheel and the large gear; the limiting spring is sleeved on the transmission shaft, and two ends of the limiting spring are respectively connected with the large gear and the wire pulling wheel; two pull wires are wound on the pull wire wheel; the fixed ends of the two stay wires are respectively fixed on the stay wire wheels, and the other ends of the two stay wires are respectively connected with the two jumping leg units. The wire pulling wheel is also provided with a through hole for transmitting the trigger pin;

the two jumping leg units are arranged in bilateral symmetry and comprise connecting plates, supporting rods, foot rods, lower leg rods, upper leg rods and energy storage springs;

wherein, the A end of the support rod is upwards designed with a connector for fixedly connecting with the connecting plate; the B end of the support rod is bent downwards; the connecting plate is fixed on the bottom surface of the rack, so that the jumping leg unit and the rack are fixed; the A end of the thigh rod is hinged with the supporting rod to form a revolute pair, and the hinged position is close to the connector; the foot rod is divided into a front section, a middle section and a rear section; wherein the end part of the rear section is hinged with the end B of the supporting rod to form a revolute pair; the middle end of the leg rod is bent downwards, the front section of the leg rod is bent upwards, the end A of the lower leg rod is bent upwards, and the end part of the lower leg rod is hinged with the end B of the upper leg rod to form a revolute pair; the B end of the shank rod is hinged with the foot rod to form a revolute pair; one end of the energy storage spring is fixed with the support rod, and the fixed position is close to the B end of the support rod; the other end of the energy storage spring is fixed with the shank rod, and the fixed position is close to the end A of the shank rod;

the posture adjusting leg unit is arranged at the front part of the rack and comprises a steering engine, a left front limb rod, a right front limb rod, a front limb connecting rod and a front limb support;

wherein the left front limb rod and the right front limb rod are arranged in bilateral symmetry, and the bottom ends are fixed by a front limb connecting rod; the top end of the left forelimb rod is fixed on an output shaft of the steering engine, and the top end of the right forelimb rod is rotatably connected with a forelimb support arranged on the bottom surface of the rack through a rotating shaft.

2. A hopping robot with controllable energy storage size and takeoff angle as claimed in claim 1, wherein: before jumping, the cylindrical cam is in a critical state of crossing a far-stop section, and the insertion end of the trigger pin extends into the through hole on the wire pulling wheel, so that the rotation of the wire pulling wheel is limited; at the moment, the pull wire applies pulling force to the foot rods, the distance between the support rods and the shank rods is lengthened, the energy storage springs are compressed, deformed and stored with energy, and the magnitude of the stored energy can be adjusted by the pressure applied to the foot rods by the pull wire;

when jumping, the main driver drives the cylindrical cam to rotate reversely through the gear train and the transmission shaft and cross the far rest section of the cylindrical cam; at the moment, the trigger pin rebounds under the action of the trigger pin reset spring and leaves the through hole on the side face of the stay wire wheel, the stay wire wheel rotates without restraint at the moment, the stay wire is released, the energy storage spring releases energy instantly, the front section of the foot rod quickly pedals backwards and downwards, and the robot jumps;

when the jumping robot lands on the ground, the left front limb rod and the right front limb rod can play a certain role in buffering; at the moment, the main driver continuously rotates reversely until the trigger pin is pushed into the through hole on the side surface of the stay wheel by the cylindrical cam; then the main driver rotates forwards, the ratchet wheel synchronously rotates in the same direction with the cylindrical cam under the action of the one-way bearing, the trigger pin drives the wire pulling wheel to wind the wire pulling, and the energy storage spring is stretched to the required length; and finally, the front limb rod is driven by the steering engine to control the left front limb rod and the right front limb rod to synchronously swing back and forth, and the take-off posture is adjusted to a required angle to prepare for take-off again.

3. A hopping robot with controllable energy storage size and takeoff angle as claimed in claim 1, wherein: the middle end of the foot rod forms an included angle of 160 degrees with the rear section, and the front section forms an included angle of 120 degrees with the rear section.

Images