CN113602373B - A jumping robot and its test platform in complex terrain environment - Google Patents

Abstract

The invention discloses a jumping robot and a test platform thereof under complex terrain environment. It includes a jumping robot part and a test platform part; the jumping robot part is installed on the test platform part; the test platform part of the present invention has a guide rail slider mechanism, a side transparent baffle that can move in parallel, and can adapt to different widths to be tested robot. The simulated terrain of the test platform part of the present invention can be changed, including changing the horizontal inclination angle of the ground and the vertical height of the ground, and the complex terrain can be simulated flexibly through the combination and combination of multiple ground panels. The robot can perform continuous lateral jumps on the test platform with variable terrain. The robot has the advantages of light weight, high stability, simple driving, and good bionic mechanism movement; the test platform has the advantages of providing variable terrain, protection devices and Data collection and other functions. The platform has the advantages of strong adjustment flexibility and easy operation.

Description

A jumping robot and its test platform in complex terrain environment

technical field

The invention belongs to the fields of military reconnaissance, interstellar detection and the like, and relates to a jumping robot and a test platform thereof under complex terrain environment.

Background technique

In recent years, with the frequent occurrence of natural disasters and man-made accidents around the world and the rising popularity of bionic robots, more and more bionic robots are used for exploration and rescue, military reconnaissance and other life fields, and more and more bionic jumping Robots have attracted wide attention due to their advantages of strong obstacle surmounting ability and low energy consumption.

For the existing small jumping robot design, the application (patent) No. CN202010455041.5 invented a "jumping robot with controllable energy storage size and take-off angle", although it can realize the basic links such as energy storage and release, but has a complex structure , It is difficult to achieve stable and continuous jumping. Application (patent) No. CN201810267653.4 invented a "Pneumatic Muscle Driving Force Arm Variable Bipedal Jumping Robot" to achieve energy storage release through pneumatic and spring mechanisms, but there is a condition that the body is too large and cannot be realized without external assistance. Disadvantages such as jumping down.

In view of the problems existing in the above design, it is necessary to design a small robot with simple structure and stable continuous jumping. Under relatively simple structural conditions and driving conditions, it is necessary to study how to ensure the stability of jumping and conduct effective tests. The main research content of the present invention.

The invention is a small bionic jerboa bipedal jumping robot for use in complex terrain environment, specifically, it is a kind of camouflaged reconnaissance robot that can collect intelligence when earthquake disasters or military conflicts break out. function to provide reliable first-line intelligence for modern combat command. In addition, it can also be used as a landing robot in the field of interstellar exploration. It can quickly adapt to the microgravity environment by virtue of its small size and strong obstacle-surmounting ability, and can realize continuous jumping under complex terrain, and can perform activities such as terrain detection and establishment of communication.

At the same time, the present invention is a special test platform for testing the jumping robot, which is used to test the relevant kinematic parameters and dynamic performance of the small jumping robot, and complete the periodic test of the robot jumping experiment.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a small bionic jerboa bipedal jumping robot and its test platform for use in complex terrain environment. Therefore, the present invention is divided into two parts, one is the jumping robot part, and the other is the robot testing platform part. The robot can perform continuous lateral jumps on the test platform with variable terrain. The robot has the advantages of light weight, high stability, simple driving, and good bionic mechanism movement; the test platform has the advantages of providing variable terrain, protection devices and Data collection and other functions. The platform has the advantages of strong adjustment flexibility and easy operation.

A jumping robot and a test platform thereof in a complex terrain environment, comprising a jumping robot part (1) and a test platform part (2). The jumping robot part (1) includes: a power device part (1-1), a knee joint transmission part (1-2), a hip joint transmission part (1-3), a leg structure part (1-4), and a trunk structure part (1-5);

The test platform part (2) includes: a base part (2-1), a guide rail slider part (2-2), a variable terrain part (2-3), a side baffle part (2-4), a top fixed part ( 2-5); data collection part (2-6).

The power unit part (1-1) includes two micro motors (1-1-1), an upper motor support (1-1-2), a lower motor support (1-1-3), and two support fixing plates (1 -1-4), 2 motor bracket positioning pins (1-1-5), 4 elastic bushings (1-1-6). The connection relationship of each part of the power unit part (1-1) is as follows: two micro motors (1-1-1) are arranged in a straight line opposite to each other, through the motor upper bracket (1-1-2) and the motor lower bracket (1-1-3) ) to fix the motor; the card slots of the left and right bracket fixing plates (1-1-4) are respectively connected with the upper surface of the upper motor bracket (1-1-2) and the lower surface of the lower motor bracket (1-1-3). Matching; the left and right motor bracket positioning pin shafts (1-1-5) pass through the positioning pin holes of the bracket fixing plate (1-1-4) and the positioning pin holes of the micro motor (1-1-1); elastic shafts The inner holes of the sleeve (1-1-6) are respectively in interference fit with the positioning pins (1-1-5) of the motor bracket, and the elastic pre-tightening force is used to achieve the fixing effect.

The knee joint transmission part (1-2) includes two parts of left and right legs, and each part includes a knee joint transmission cam (1-2-1), a knee joint transmission lever (1-2-2), and a knee joint transmission wire rope (1-2-1). 2-3). The matching relationship of each part of the knee joint transmission part (1-2) is as follows: the inner hole of the knee joint transmission cam (1-2-1) is directly interfered with the unilateral output shaft of the micro motor (1-1-1) reducer; The outer edge of the joint transmission cam (1-2-1) forms a high-level match with the knee joint transmission lever (1-2-2); the inner hole of the knee joint transmission lever (1-2-2) is connected with the left and right bracket fixing plates (1-2-2). 1-4) The positioning pin hole is connected and fixed with the knee joint transmission lever positioning shaft (1-2-4) to form a clearance fit, and the elastic bushing (1-2-5) is used for axial positioning; the knee joint transmission wire rope ( 1-2-3) Both ends are respectively connected to the end of the knee joint transmission lever (1-2-2) and the lower leg connecting rod (1-4-4).

The hip joint transmission part (1-3) includes two parts of left and right legs, and each part includes a hip joint transmission cam (1-3-1) and a hip joint transmission lever (1-3-2). The matching relationship between the parts of the hip joint transmission part (1-3) is as follows: the inner hole of the hip joint transmission cam (1-3-1) is directly interfered with the unilateral output shaft of the micro motor (1-1-1) reducer; The outer edge of the joint transmission cam (1-3-1) forms a high-level match with the hip joint transmission lever (1-3-2); the inner hole of the hip joint transmission lever (1-3-2) is connected with the left and right bracket fixing plates (1-3-2). 1-4) The positioning pin hole is connected and fixed with the knee joint drive lever positioning shaft (1-2-4) to form a clearance fit, and the elastic bushing (1-2-5) is used for axial positioning. The end of the hip joint transmission lever (1-3-2) and the hip joint connecting rod (1-4-1) form a high pair of cooperation.

The leg structure part (1-4) includes two parts of left and right legs, each part includes 2 hip joint links (1-4-1), 2 inner thigh links (1-4-2), 2 outer thigh links Link (1-4-3), 2 calf links (1-4-4), 2 soles (1-4-5), 2 rubber layers (1-4-6), 2 Energy storage torsion spring (1-4-7), 4 joint connecting rod shafts (1-4-8), 16 elastic bushings (1-4-9) for fixed connection. The cooperation relationship between the parts of the leg structure part (1-4) is as follows: the hip joint connecting rod (1-4-1) is respectively connected with the inner thigh connecting rod (1-4-2) and the outer thigh connecting rod (1-4-3). ) is connected on one side; the lower leg connecting rod (1-4-4) is connected with the other side of the inner thigh connecting rod (1-4-2) and the outer thigh connecting rod (1-4-3) respectively; -4-5) Connect with the lower leg link (1-4-4) through the joint link shaft (1-4-8); the soleplate rubber layer (1-4-6) is connected with the sole plate (1-4-5) The lower plane fits together; the energy storage torsion spring (1-4-7) passes through the joint link shaft (1-4-8), and the pins are respectively connected to the inner thigh link (1-4-2) and the calf link (1-4-4) Connection.

The torso structure part (1-5) mainly includes the torso main body bracket (1-5-1), the main body bracket rib plate (1-5-2), the elastic bushing (1-5-3), the torso pin shaft (1-5-2) 5-4), connecting boss (1-5-5). The matching relationship of the torso structure part (1-5) is: the connection boss (1-5-5) and the motor upper bracket (1-1-2) have an interference fit; the elastic bushing (1-5-3) and the torso pin The shaft (1-5-4) fixes the torso body bracket (1-5-1) and to the motor lower bracket (1-1-3).

The test platform part (2) includes a base part (2-1), a rail slider part (2-2), a variable terrain part (2-3), a side baffle part (2-4), and a top bracket part (2) -5), the sensor bracket part (2-6).

The base part (2-1) includes 2 long base brackets (2-1-1), three base short brackets (2-1-2), 4 support washers (2-1-3), and 4 support shoes (2-1-4). The mating relationship of the base part (2-1) is as follows: the base long bracket (2-1-1) and the base short bracket (2-1-2) are fixed by standard trapezoidal nuts and "L"-shaped connectors; the support pad The sheet (2-1-3) is connected with the support shoe (2-1-4) by screw thread; the support shoe (2-1-4) is connected with the base long bracket (2-1-1) by screw thread.

The slide rail part (2-2) includes three parts: a guide rail (2-2-1), a slide block (2-2-2) and a fixing ring (2-2-3). The matching relationship of each part of the guide rail slider part (2-2) is that the guide rail (2-2-1) is connected to both sides of the base long bracket (2-1-1) through screws; the inner hole of the slider (2-2-2) It forms a low pair with the flange of the guide rail (2-2-1); the fixing ring (2-2-3) is fixed on both ends of the guide rail with set screws to prevent the slider (2-2-2) from being in contact with the guide rail (2-2-2). 2-1) Disengage.

The variable terrain part (2-3) includes the base plate bracket (2-3-1), the base plate (2-3-2), the damping hinge (2-3-3), the terrain plate (2-3-4), the film Pressure sensor (2-3-5). Each part of the variable terrain part (2-3) has a matching relationship as the base plate bracket (2-3-1) is fixed to the base part (2-1) by screws and trapezoidal nuts; the base plate (2-3-2) screws and standard trapezoid Nuts are fixed on the base plate bracket (2-3-1); three damping hinges (2-3-3) are connected in turn to form a hinge group, one end is fixed to the base plate (2-3-2) by screws, and the other end is connected to the base plate (2-3-2) by screws. Connect the terrain board (2-3-4) with screws; the film pressure sensor (2-3-5) is attached to the upper surface of the terrain board (2-3-4).

The side baffle part (2-4) includes a side transparent baffle (2-4-1) and a baffle bracket (2-4-2). The matching relationship of each part of the side baffle part (2-4) is that the side transparent baffle (2-4-1) is fixed with the baffle bracket (2-4-2) by bolts; the baffle bracket (2-4-2) The bottom surface is connected with the top of the slider (2-2-2) by screws.

The top bracket part (2-5) includes an open ring bracket (2-5-1), a bracket rod (2-5-2), a bracket connecting rod (2-5-3), a battery box bracket (2-5-4) ). The matching relationship of each part of the top bracket part (2-5) is that the open ring bracket (2-5-1) is connected and bolted to the side transparent baffle (2-4-1) through the opening slot; the bracket rod (2-5- 2) Match with the inner hole of the open ring bracket (2-5-1) and fix it with set screws; the gap between the bracket connecting rod (2-5-3) and the two bracket rods (2-5-2) open in the middle of one side Matching; the battery box bracket (2-5-4) and the bracket connecting rod (2-5-3) are transitionally matched and fixed with screws.

The sensor bracket part (2-6) includes a sensor bracket base (2-6-1) and a sensor bracket (2-6-2). The mating relationship of each part of the sensor bracket part (2-6) is that the sensor bracket base (2-6-1) is fixed on the base part (2-1) by screws and trapezoidal nuts; the sensor bracket (2-6-2) is fixed by screws and The trapezoidal nut is fixed on the sensor bracket base (2-6-1).

The advantages of the present invention are:

1. The present invention proposes a small bionic jerboa bipedal jumping robot for complex terrain, which can realize smooth buffering and take-off by adjusting the posture of the legs, and can play a camouflage detection function in the field environment.

2. The jumping robot of the present invention is light in weight, only less than 100 g, uses a cam-lever mechanism driven by a micro-motor to provide power, and uses a motor-torsion spring energy storage method to achieve intermittent jumping.

3. The jumping robot of the present invention is flexible in movement. The hip joints and knee joints of the legs on both sides are controlled respectively by bilateral motors, and the posture of the legs of the robot can be flexibly adjusted by controlling the rotation speed and position of the motors to achieve smooth movement.

4. The test platform part of the present invention has a guide rail slider mechanism, a side transparent baffle that can move in parallel, and can adapt to the tested robots of different widths.

5. The simulated terrain of the test platform part of the present invention can be changed, including changing the horizontal inclination angle of the ground and the vertical height of the ground, and the complex terrain can be simulated flexibly through the combination and combination of multiple ground panels.

Description of drawings

Fig. 1 is an external schematic diagram of the jumping robot and the test platform in the present invention.

FIG. 2 is a schematic diagram of the interior of the jumping robot and the test platform in the present invention.

FIG. 3 is a schematic diagram of the overall structure of the jumping robot in the present invention.

FIG. 4 is a schematic diagram of the components of the power device of the jumping robot in the present invention.

FIG. 5 is a schematic diagram of the micro-motor of the jumping robot power device in the present invention.

6 is a schematic diagram of the upper bracket of the motor of the jumping robot power device in the present invention.

FIG. 7 is a schematic diagram of the lower bracket of the motor of the jumping robot power device in the present invention.

FIG. 8 is a schematic diagram of the bracket fixing plate of the jumping robot power device in the present invention.

9 is a schematic diagram of the positioning pin of the motor bracket of the jumping robot power device in the present invention.

FIG. 10 is a schematic diagram of the elastic bushing of the power device of the jumping robot in the present invention.

Fig. 11 is a schematic diagram of the knee joint transmission part of the jumping robot in the present invention.

Figure 12 is a schematic diagram of the knee joint transmission cam of the knee joint transmission part of the jumping robot in the present invention.

Figure 13 is a schematic diagram of the knee joint transmission lever of the knee joint transmission part of the jumping robot in the present invention.

Figure 14 is a schematic diagram of the hip joint transmission part of the jumping robot in the present invention.

15 is a schematic diagram of the knee joint transmission cam of the hip joint transmission part of the jumping robot in the present invention.

Figure 16 is a schematic diagram of the knee joint transmission lever of the hip joint transmission part of the jumping robot in the present invention.

Fig. 17 is a schematic diagram of a part of the leg structure of the jumping robot in the present invention.

Figure 18 is a schematic diagram of the hip joint link of the leg structure part of the jumping robot in the present invention.

19 is a schematic diagram of the inner thigh link of the leg structure part of the jumping robot in the present invention.

Figure 20 is a schematic diagram of the outer thigh link of the leg structure part of the jumping robot in the present invention.

Figure 21 is a schematic diagram of the lower leg link of the leg structure part of the jumping robot in the present invention.

Fig. 22 is a schematic diagram of the foot sole plate of the leg structure part of the jumping robot in the present invention.

Figure 23 is a schematic diagram of the rubber layer of the bottom plate of the leg structure part of the jumping robot in the present invention.

Figure 24 is a schematic diagram of the energy storage torsion spring of the leg structure part of the jumping robot in the present invention.

Fig. 25 is a schematic diagram of the torso structure of the jumping robot in the present invention.

FIG. 26 is an overall schematic diagram of the test platform part of the present invention.

Fig. 27 is a schematic diagram of a part of the base of the test platform in the present invention.

Figure 28 is a partial schematic diagram of the guide rail slider of the test platform in the present invention.

Figure 29 is a schematic diagram of the variable terrain part of the test platform in the present invention.

Figure 30 is a schematic diagram of the damping hinge of the variable terrain part of the test platform in the present invention.

Fig. 31 is a schematic diagram of the side baffle of the test platform in the present invention.

Figure 32 is a schematic diagram of the baffle bracket of the baffle part of the side baffle of the test platform in the present invention.

Fig. 33 is a schematic diagram of a part of the top bracket of the test platform in the present invention.

Fig. 34 is a schematic diagram of a partially open annular support on the top support of the test platform in the present invention.

Fig. 35 is a partial schematic diagram of the sensor bracket of the test platform in the present invention.

In the picture:

1- Jump Robot Part 2- Test Platform Part

1-1- power unit part; 1-2- knee joint transmission part; 1-3- hip joint transmission part; 1-4- leg structure part; 1-5- trunk structure part; 2-1- base part; 2-2-rail slider part; 2-3-variable terrain part; 2-4-side baffle part; 2-5-top bracket part; 2-6-sensor bracket part;

1-1-1 micro motor, 1-1-2 motor upper bracket, 1-1-3 motor lower bracket, 1-1-4 bracket fixing plate, 1-1-5 motor bracket positioning pin, 1-1- 6 elastic bushings;

1-2-1 knee joint transmission cam, 1-2-2 knee joint transmission lever, 1-2-3 knee joint transmission wire rope;

1-3-1 hip drive cam, 1-3-2 hip drive lever;

1-4-1 Hip Link, 1-4-2 Inner Thigh Link, 1-4-3 Outer Thigh Link, 1-4-4 Calf Link, 1-4-5 Foot Plate, 1-4 -6 bottom rubber layer, 1-4-7 energy storage torsion spring, 1-4-8 joint connecting rod shaft, 1-4-9 elastic bushing;

1-5-1 Torso main body bracket, 1-5-2 Main body bracket rib plate, 1-5-3 elastic bushing, 1-5-4 torso pin shaft, 1-5-5 connecting boss;

2-1-1 base long bracket, 2-1-2 base short bracket, 2-1-3 support gasket, 2-1-4 support shoe;

2-2-1 guide rail, 2-2-2 slider, 2-2-3 fixing ring;

2-3-1 base plate bracket, 2-3-2 base plate, 2-3-3 damping hinge, 2-3-4 terrain plate, 2-3-5 film pressure sensor,

2-4-1 side transparent baffle, 2-4-2 baffle bracket;

2-5-1 open ring bracket, 2-5-2 bracket rod, 2-5-3 bracket connecting rod, 2-5-4 battery box bracket;

2-6-1 Sensor bracket base, 2-6-2 Sensor bracket.

Detailed ways

The present invention will be described below with reference to the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments.

Example 1

Referring to Figure 1, Figure 3, and Figure 26, the present invention is a small bionic jerboa bipedal jumping robot and a test platform for use in complex terrain environments. It includes a jumping robot part (1) and a test platform part (2).

Referring to Figure 2, the jumping robot part (1) can perform jumping experiments on the "V" shaped terrain board (2-3-4) on the test platform part (2).

11 and 14, the micro-motor (1-1-1) biaxially drives the knee joint transmission cam (1-2-1), the hip joint transmission cam (1-3-1); the knee joint transmission cam (1) -2-1) Drive the knee joint transmission lever (1-2-2) to move; the knee joint transmission lever (1-2-2) pulls the lower leg connecting rod (1-2-3) through the knee joint transmission wire rope (1-2-3) 4-4); at the same time, the hip joint transmission cam (1-3-1) drives the hip joint transmission lever (1-3-2), thereby driving the hip joint connecting rod (1-4-1); the above two parallel The transmission route jointly controls the rotation of the knee joint and the hip joint of the robot, realizes the contraction of the lower leg link (1-4-4), and stores the energy in the energy storage torsion spring (1-4-7). In one rotation cycle of the micro motor (1-1-1), when the knee joint transmission cam (1-2-1) and the hip joint transmission cam (1-3-1) are simultaneously connected with the knee joint transmission lever (1-2- 2) When the hip joint transmission lever (1-3-2) is separated, the energy in the energy storage torsion spring (1-4-7) is instantly released, and the calf link (1-4-4) is quickly stretched to realize the robot leg Jumping movement. The robot repeats the above actions when buffering, and adjusts the posture of the jumping legs by controlling the rotation speed of the micro motor (1-1-1) and the length adjustment of the knee joint transmission wire rope (1-2-3).

Referring to Figure 28 and Figure 31, the slider (2-2-2) drives the side transparent baffle (2-4-1) fixed on it to realize two parallel side baffle parts (2-4) facing each other Movement, the vertical distance of the two side baffle parts (2-4) can be changed.

Referring to Figure 29 and Figure 30, a hinge group consisting of 2 groups of 3 damping hinges (2-3-3) connects the terrain plate (2-3-4), changes its posture through external force, and uses the damping hinges (2-3-4). 3) The self-locking function can be realized, and the lifting and inclination angle change functions of a single terrain plate (2-3-4) can be realized, so the two terrain plates (2-3-4) arranged linearly can be combined into a "V"-shaped slope. .

Claims (3)

1. a jumping robot under complex terrain environment is characterized in that: comprise jumping robot part (1), and jumping robot part (1) comprises: power unit part (1-1), knee joint transmission part (1-2 ), the hip joint transmission part (1-3), the leg structure part (1-4), the torso structure part (1-5); it is characterized in that, the lower end of the power device part (1-1) is driven by a micro motor ( 1-1-1) respectively connect the knee joint transmission part (1-2) and the hip joint transmission part (1-3), and the knee joint transmission part (1-2) is connected through the knee joint transmission wire rope (1-2) -3) is connected with the knee joint of the leg structure part (1-4), the hip joint transmission part (1-3) is connected with the leg structure part (1-4) through the hip joint transmission cam (1-3-1) ) is connected with the hip joint, and the trunk structure part (1-5) is connected with the power device part (1-1) through the elastic bushing (1-5-3) and the trunk pin (1-5-4); The knee joint transmission part (1-2) is a cam-lever-wire rope transmission mode, which includes a knee joint transmission cam (1-2-1), a knee joint transmission lever (1-2-2), a knee joint transmission lever (1-2-2), and a knee joint transmission lever (1-2-2). The transmission wire rope (1-2-3), the knee joint transmission cam (1-2-1) forms a high pair connection with the front end of the knee joint transmission lever (1-2-2) through the outline of the figure, and the said The end of the knee joint transmission lever (1-2-2) is connected with the knee joint transmission wire rope (1-2-3) through the connecting hole. 2. a kind of jumping robot with complex terrain environment according to claim 1, is characterized in that, described hip joint transmission part (1-3) comprises hip joint transmission cam (1-3-1), hip joint transmission cam (1-3-1), hip joint transmission part (1-3) The joint transmission lever (1-3-2), the hip joint transmission cam (1-3-1) forms a high pair connection with the front end of the hip joint transmission lever (1-3-2) through the outline of the figure, and the hip joint transmission lever (1-3-2) forms a high pair connection. The contour line of the end of the joint transmission lever (1-3-2) forms a high pair connection with the hip joint connecting rod (1-4-1). 3. A kind of jumping robot with complex terrain environment according to claim 1, is characterized in that, the outer thigh link (1-4-3) of described leg structure part (1-4) and calf An energy storage torsion spring (1-4-7) is arranged between the connecting rods (1-4-4).

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