CN102806951A - Frog-inspired biomimetic jumping robot - Google Patents
Frog-inspired biomimetic jumping robot Download PDFInfo
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- CN102806951A CN102806951A CN2012102793649A CN201210279364A CN102806951A CN 102806951 A CN102806951 A CN 102806951A CN 2012102793649 A CN2012102793649 A CN 2012102793649A CN 201210279364 A CN201210279364 A CN 201210279364A CN 102806951 A CN102806951 A CN 102806951A
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Abstract
The invention provides a frog-inspired biomimetic jumping robot. Forelimb and hindlimb driving mechanisms are mounted on a body mounting plate and connected with forelimb and hindlimb actuating mechanisms respectively, each of the forelimb driving mechanism and the hindlimb driving mechanism comprises an input shaft, a second gear, a one-way bearing, an incomplete gear and a ratchet pawl are mounted on each input shaft, each second gear is in gear transmission with a second output shaft, each incomplete gear is in gear transmission with a first output shaft, ropes are wound on second winding drums which are mounted at two ends of each first output shaft respectively, and output gears are mounted at two ends of each second output shaft respectively. By means of reasonable arrangement of the forelimb and hindlimb driving mechanisms and the forelimb and hindlimb actuating mechanisms, utilization rate of driving elements of the robot is increased, mechanical structures of legs are optimized, biomimetic degree of the robot is increased, jumping capability of the robot is enhanced, flexibility of mechanical mechanisms of the robot is improved, and posture stability during jumping is improved.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of imitative frog hopping robot.
Background technology
Along with the continuous development of Robotics, when facing the landform of rugged environment and complicacy, utilization robot spring function strengthens its landform adaptation and paleocinetic ability, is a kind of faster Robotics of development in recent years.
The shortcoming that hopping robot of the prior art generally has is: the ratio that mechanism freedom is many, physical construction and control complicated, bio-robot carries energy consumption and total energy consumption power is low, the efficient of bouncing is not high.
Summary of the invention
The purpose of this invention is to provide that a kind of degree simple in structure, bionical is high, the take-off attitude is adjustable, land and stablize, bounce the high imitative frog hopping robot of efficient.
The objective of the invention is to realize through following technical scheme:
Imitative frog hopping robot of the present invention; Comprise trunk; Said trunk comprises adapter plate; The front and rear of said trunk adapter plate is equipped with forelimb driver train adapter plate and hind leg driver train adapter plate respectively, and said forelimb driver train adapter plate and hind leg driver train adapter plate are equipped with forelimb driver train and hind leg driver train respectively, and said forelimb driver train and hind leg driver train are connected with forelimb actuating unit and hind leg actuating unit respectively;
Said forelimb driver train and hind leg driver train comprise input shaft respectively; Second gear, unilateral bearing, partial gear and click are housed on the said input shaft; To second output shaft, said partial gear passes through gear transmission to first output shaft to said second gear through gear transmission;
Said input shaft, first output shaft and second output shaft are installed on said forelimb driver train adapter plate or the hind leg driver train adapter plate through clutch shaft bearing;
Second reel is equipped with at the two ends of said first output shaft respectively, and volume has rope on said second reel, and output gear is equipped with at the two ends of said second output shaft respectively;
Said hind leg driver train also comprises the hind leg drive motor that is installed on the hind leg driver train adapter plate, and the mouth of hind leg drive motor is through the input shaft of gear transmission to said hind leg driver train;
Said hind leg actuating unit comprises the hip joint axle, on the said hip joint axle hind leg input gear is housed, and the output gear on second output shaft of said hind leg input gear and said hind leg driver train is meshed;
One end of said hip joint axle is installed on the said hind leg driver train adapter plate through second bearing and second sleeve, and the other end connects thigh bar through flat key, and through the bearing installation connecting rod;
The other end of said thigh bar links to each other with the shank bar through knee axis;
The other end of said shank bar is connected through the middle part of ankle-joint axle with the sole bar, and the rope on second reel on first output shaft of said ankle-joint axle and said hind leg driver train is connected;
The upper end of said sole bar links to each other with said connecting rod through pitman shaft, and the toe supporting is installed in the lower end of sole bar;
Be connected with spring between said pitman shaft and the knee axis;
Said forelimb driver train also comprises the forelimb drive motor that is installed on the forelimb driver train adapter plate, and the mouth of said forelimb drive motor is through the input shaft of gear transmission to said forelimb driver train;
Said forelimb actuating unit comprises the shoulder joint nodal axisn, and said shoulder joint nodal axisn is equipped with the forelimb input gear, and the output gear on second output shaft of the said forelimb driver train of said forelimb input gear is meshed;
One end of said shoulder joint nodal axisn holds with the 3rd sleeve through third axle and is installed on the forelimb driver train adapter plate, and the other end of said shoulder joint nodal axisn is equipped with big armed lever through flat key;
The other end of said big armed lever is equipped with torsion spring through elbow joint axle and little armed lever on the said elbow joint 38, and two limbs of said torsion spring are pressed in respectively on said big armed lever and the little armed lever;
Rope on second reel on first output shaft of the front end of said little armed lever and said forelimb driver train is connected.
Technical scheme by the invention described above provides can be found out, imitative frog hopping robot provided by the invention is owing to the reasonable setting to forward and backward limb driver train and forward and backward limb actuating unit; Improved the degree of utilization of robot driver element; Optimize the shank physical construction, improved the degree of freeing of robot, strengthened the skip capability of robot; Improve the flexibility of robot mechanical mechanism, strengthened the attitude stability of jump process.
Description of drawings
The imitative frog hopping robot's that Fig. 1 provides for the embodiment of the invention general assembly structural representation;
Fig. 2 is the exploded view of forward and backward limb driver train in the embodiments of the invention;
Fig. 3 is the exploded view of hind leg actuating unit in the embodiments of the invention;
Fig. 4 is the exploded view of forelimb actuating unit in the embodiments of the invention.
Label declaration shown in the figure:
1 forelimb drive motor, 2 forelimb driver train adapter plates, 3 first reels, 4 big armed levers, 5 little armed levers, 6 trunk adapter plates, 7 hind leg drive motor; 8 hind leg driver train adapter plates, 9 thigh bars, 10 shank bars, 11 sole bars, 12 springs, 13 second reels, 14 clutch shaft bearings; 15 first gears, 16 first output shafts, 17 second gears, 18 first sleeves, 19 input shafts, 20 second output shafts, 21 unilateral bearings; 22 partial gears, 23 clicks, 24 output gears, 25 hind leg input gears, 26 second bearings, 27 second sleeves, 28 hip joint axles; 29 knee axises, 30 springs are installed pad, 31 pitman shafts, 32 ankle-joint axles, 33 toes support, and 34 third axles hold; 35 the 3rd sleeves, 36 forelimb input gears, 37 shoulder joint nodal axisns, 38 elbow joint axles, 39 torsion springs, 40 connecting rods.
The specific embodiment
To do to describe in detail further to the embodiment of the invention below.
The present invention imitates the frog hopping robot, the specific embodiment that it is preferable such as Fig. 1, Fig. 2, Fig. 3, shown in Figure 4:
Comprise trunk; Said trunk comprises adapter plate 6; The front and rear of said trunk adapter plate 6 is equipped with forelimb driver train adapter plate 2 and hind leg driver train adapter plate 8 respectively; Said forelimb driver train adapter plate 2 is equipped with forelimb driver train and hind leg driver train respectively with hind leg driver train adapter plate 8, and said forelimb driver train and hind leg driver train are connected with forelimb actuating unit and hind leg actuating unit respectively;
Said forelimb driver train and hind leg driver train comprise input shaft 19 respectively; Second gear 17, unilateral bearing 21, partial gear 22 and click 23 are housed on the said input shaft 19; To second output shaft 20, said partial gear 22 passes through gear transmission to first output shaft 16 to said second gear 17 through gear transmission;
Said input shaft 19, first output shaft 16 and second output shaft 20 are installed on said forelimb driver train adapter plate 2 or the hind leg driver train adapter plate 8 through clutch shaft bearing 14;
Said hind leg driver train also comprises the hind leg drive motor 7 that is installed on the hind leg driver train adapter plate 8, and the mouth of hind leg drive motor 7 is through the input shaft 19 of gear transmission to said hind leg driver train;
Said hind leg actuating unit comprises hip joint axle 28, on the said hip joint axle 28 hind leg input gear 25 is housed, and the output gear 24 on second output shaft 20 of said hind leg input gear 25 and said hind leg driver train is meshed;
One end of said hip joint axle 28 is installed on the said hind leg driver train adapter plate 8 through second bearing 26 and second sleeve 27, and the other end connects thigh bar 9 and passes through bearing installation connecting rod 40 through flat key;
The other end of said thigh bar 9 links to each other with shank bar 10 through knee axis 29;
The other end of said shank bar 10 is connected through the middle part of ankle-joint axle 32 with sole bar 11, and the rope on second reel 13 on first output shaft 16 of said ankle-joint axle 32 and said hind leg driver train is connected;
The upper end of said sole bar 11 links to each other with said connecting rod through pitman shaft 31, and toe supporting 33 is installed in the lower end of sole bar 11;
Be connected with spring 12 between said pitman shaft 31 and the knee axis 29;
Said forelimb driver train also comprises the forelimb drive motor 1 that is installed on the forelimb driver train adapter plate 2, and the mouth of said forelimb drive motor 1 is through the input shaft 19 of gear transmission to said forelimb driver train;
Said forelimb actuating unit comprises shoulder joint nodal axisn 37, and said shoulder joint nodal axisn 37 is equipped with forelimb input gear 36, and the output gear 24 on second output shaft 20 of said forelimb input gear 36 said forelimb driver trains is meshed;
One end of said shoulder joint nodal axisn 37 holds the 34 and the 3rd sleeve 35 through third axle and is installed on the forelimb driver train adapter plate 2, and the other end of said shoulder joint nodal axisn 37 is equipped with big armed lever 4 through flat key;
The other end of said big armed lever 4 is equipped with torsion spring 39 through elbow joint axle 38 and forearm bar 5 on the said elbow joint 38, and two limbs of said torsion spring 39 are pressed in respectively on said big armed lever 4 and the forearm bar 5;
Rope on second reel 13 on first output shaft 16 of the front end of said forearm bar 5 and said forelimb driver train is connected.
Imitative frog hopping robot of the present invention has solved that the spring structure is complicated with control, spring efficient is not high and has alleviated problem such as the moment rigid shock that lands, and simple in structure, bionical degree is high, the take-off attitude is adjustable, land and stablize, bounce the efficient height.
The concrete working process of imitative frog hopping robot of the present invention is following:
1, the attitude adjusting stage, pass through gear transmission drive reel through the hind leg motor on the one hand and rotate, shrink the flexible spring stored energy that makes, front and back limb motor is adjusted take off angle through joint angle in the gear transmission adjusting front and rear executive device on the other hand.
2, jump phase, after the partial gear engagement releasing in the hind leg driver train, spring capacity discharges; Robot soars; Aloft the forelimb motor is regulated elbow joint and shoulder joint angle, is that robot steadily lands, and the hind leg motor rotates energy storage once more and prepares for jump next time.
The present invention compares with existing pinch device, has following outstanding advantage and effect:
1, dynamical element is separated with shank mechanism, scope is carried out in the mechanical movement that has enlarged dynamical element, has liberated the shank physical construction simultaneously.
2, according to the Bionic Design principle, bone and the single-piece body structure of frog are simulated, therefore all designed the function that attitude is regulated at foreleg back leg place, can adapt to various environment as real frog and carry out various attitudes adjustings.
3, shank mechanism has been carried out optimal design, the rigid shock that robot is received when landing significantly reduces, and has improved the attitude stability of robot when landing, and mechanical mechanism has been played good protective action.
To sum up, the present invention has improved the degree of utilization of robot driver element, has optimized the shank physical construction; Improved the degree of freeing of robot; Strengthen the skip capability of robot, improved the flexibility of robot mechanical mechanism, strengthened the attitude stability of jump process.
Specific embodiment:
As shown in Figure 1, be divided into hind leg driver train, hind leg actuating unit, trunk, forelimb driver train and forelimb actuating unit on the whole.
As shown in Figure 2, the hind leg driver train:
Comprise that a hind leg drive motor 7 is installed on the adapter plate 8; The mouth of hind leg drive motor 7 is installed gear; Give input shaft 19 through gear-gear transmission moment of torsion; Second gear 17, unilateral bearing 21, partial gear 22 and click 23 are installed on the input shaft 19; Second gear 17 is given second output shaft, 20 transfer torques through gear-gear transmission structure, and it is whole that click 23, partial gear 22 and unilateral bearing 21 are formed a job, transmits torque to first output shaft 16 through partial gear-gear mechanism; Input shaft 19, first output shaft 16 and second output shaft 20 pass through bearing installation on hind leg driver train adapter plate 8; First output shaft 16 is installed one first gear 15 and is meshed with partial gear 22, and two ends install respectively to roll up on second reel, 13, the second reels 13 has rope; In the middle of second output shaft 20 gear being installed is meshed with second gear 17 of input shaft; The both sides of axle are installed on the adapter plate through the bearing 14 and first sleeve 18; Output gear 24 is installed at two ends, is meshed with hind leg input gear 25 on the hip joint axle 28 of hind leg actuating unit; In concrete implementation; Hind leg drive motor 7 is just changeing, and unilateral bearing 21 pins, and input shaft torque is delivered to first output shaft 16 through partial gear-gear mechanism; First output shaft 16 drives second reel 13 and rotates retraction cables, for the energy storage of hind leg executive device spring provides energy; When motor was just forwarding partial gear 22 previous teeth to, spring 12 stored energys were maximum, and locking under the control of click 23, and when needs jumped, tooth of motor main story was that gears in mesh loses constraint, spring 12 energy abrupt releases originally;
As shown in Figure 3, the hind leg actuating unit:
The hind leg actuating unit is four rod spring mechanisms; Hind leg input gear 25 is installed on its hip joint axle 28; Hind leg input gear 25 is meshed with output gear 24 on hind leg driver train second output shaft 20; One end of hip joint axle 28 is installed on the adapter plate through second bearing 26 and second sleeve 27, and the other end connects thigh bar 9 through flat key, through the bearing installation connecting rod; The other end of thigh bar 9 links to each other with shank bar 10 with nut through knee axis 29, bearing; The other end of shank bar is connected with the middle part of nut with sole bar 11 through ankle-joint axle 32 bearings; The upper end of sole bar 11 links to each other with connecting rod with nut through pitman shaft 31, bearing, and toe supporting 33 is installed in the lower end of sole bar 11; Spring 12 is installed pad 30 through spring and is installed on pitman shaft 31 and the knee axis 29, in frog mechanism jump process through the hind leg driver train in the rotating band running rope rope of reel 13 shrink and make spring 12 energy storage, the power of jump is provided
As shown in Figure 1, trunk:
Trunk is forelimb and the hind leg that a trunk adapter plate 6 connects that putting out to graze leapfrogs and jump robot mechanism, in order to alleviate the weight of trunk, on the adapter plate of trunk, is processed with the hole of loss of weight effect;
Robot forelimb driver train:
The mechanism of robot forelimb driver train and hind leg driver train is basic identical; The forelimb drive motor is installed on the forelimb drive installation plate; Mouth is installed gear; Give input shaft through gear-gear transmission moment of torsion, first gear, unilateral bearing, partial gear and click are installed on the input shaft, first gear is given the second output shaft transfer torque through going out wheel-gear; It is whole that click, partial gear and unilateral bearing are formed a job, transmits torque to first output shaft through partial gear-gear mechanism; Input shaft, first output shaft and second output shaft pass through bearing installation on adapter plate; First output shaft is installed a gear and is meshed with partial gear, and reel is installed at two ends respectively, and volume has rope on the reel; One gear is installed in the middle of second output shaft is meshed with the gear of input shaft, the both sides of axle are installed on the adapter plate through bearing and sleeve, and installation output gear in two ends is meshed with input gear on the shoulder joint nodal axisn of forelimb actuating unit; In the course of the work, the motor positive and inverse independent drive is realized through ratchet and click.
As shown in Figure 4, the forelimb actuating unit:
The forelimb actuating unit is two connecting rod mechanisms; Its shoulder joint axle mounting forelimb input gear 36 is meshed with output gear on the forelimb driver train output shaft; One end of shoulder joint nodal axisn 37 holds the 34 and the 3rd sleeve 35 through third axle and is installed on the forelimb driver train adapter plate 2, and the other end of shoulder joint nodal axisn 37 is installed big armed lever 4 through flat key; The other end of big armed lever 4 is installed in a side of elbow joint axle 38 through bearing and nut; The opposite side of elbow joint axle 38 is installed forearm bar 5 through bearing and nut; Torsion spring is installed on the elbow joint, and two ends are fixed on big arm and the forearm, unfettered be that elbow joint automatically restores to initial angle; the foot pad is installed in the lower end of forearm bar 5, improves the stability of landing; In the course of the work, forelimb driver train motor is just changeing and drives first reel 13 through gear transmission and rotate, and retraction cables reduces the elbow joint angle; The motor counter-rotating can be regulated the shoulder joint angle through gear transmission, adjusts suitable take off angle.
In sum, imitative frog hopping robot of the present invention has solved that bouncing mechanism is complicated, spring efficient is not high, flooring stability is relatively poor, the rigid shock when can not good alleviation landing, and does not meet problems such as bionics principle.Of the present invention reasonable in design, easy for operation, steerability is good.
The above; Be merely the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technical personnel of being familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (1)
1. imitative frog hopping robot; It is characterized in that; Comprise trunk; Said trunk comprises adapter plate (6); The front and rear of said trunk adapter plate (6) is equipped with forelimb driver train adapter plate (2) and hind leg driver train adapter plate (8) respectively, and said forelimb driver train adapter plate (2) and hind leg driver train adapter plate (8) are equipped with forelimb driver train and hind leg driver train respectively, and said forelimb driver train and hind leg driver train are connected with forelimb actuating unit and hind leg actuating unit respectively;
Said forelimb driver train and hind leg driver train comprise input shaft (19) respectively; Second gear (17), unilateral bearing (21), partial gear (22) and click (23) are housed on the said input shaft (19); To second output shaft (20), said partial gear (22) passes through gear transmission to first output shaft (16) to said second gear (17) through gear transmission;
Said input shaft (19), first output shaft (16) and second output shaft (20) are installed on said forelimb driver train adapter plate (2) or the hind leg driver train adapter plate (8) through clutch shaft bearing (14);
Second reel (13) is equipped with at the two ends of said first output shaft (16) respectively, and said second reel (13) is gone up volume has rope, and output gear (24) is equipped with at the two ends of said second output shaft (20) respectively;
Said hind leg driver train also comprises the hind leg drive motor (7) that is installed on the hind leg driver train adapter plate (8), and the mouth of hind leg drive motor (7) is through the input shaft (19) of gear transmission to said hind leg driver train;
Said hind leg actuating unit comprises hip joint axle (28); Hind leg input gear (25) is housed on the said hip joint axle (28), and the output gear (24) on second output shaft (20) of said hind leg input gear (25) and said hind leg driver train is meshed;
One end of said hip joint axle (28) is installed on the said hind leg driver train adapter plate (8) through second bearing (26) and second sleeve (27), and the other end connects thigh bar (9) and passes through bearing installation connecting rod (40) through flat key;
The other end of said thigh bar (9) links to each other with shank bar (10) through knee axis (29);
The other end of said shank bar (10) is connected through the middle part of ankle-joint axle (32) with sole bar (11), and the rope on second reel (13) on first output shaft (16) of said ankle-joint axle (32) and said hind leg driver train is connected;
The upper end of said sole bar (11) links to each other with said connecting rod (40) through pitman shaft (31), and toe supporting (33) is installed in the lower end of sole bar (11);
Be connected with spring (12) between said pitman shaft (31) and the knee axis (29);
Said forelimb driver train also comprises the forelimb drive motor (1) that is installed on the forelimb driver train adapter plate (2), and the mouth of said forelimb drive motor (1) is through the input shaft (19) of gear transmission to said forelimb driver train;
Said forelimb actuating unit comprises shoulder joint nodal axisn (37), and said shoulder joint nodal axisn (37) is equipped with forelimb input gear (36), and the output gear (24) on second output shaft (20) of the said forelimb driver train of said forelimb input gear (36) is meshed;
One end of said shoulder joint nodal axisn (37) holds (34) through third axle and the 3rd sleeve (35) is installed on the forelimb driver train adapter plate (2), and the other end of said shoulder joint nodal axisn (37) is equipped with big armed lever (4) through flat key;
The other end of said big armed lever (4) is equipped with torsion spring (39) through elbow joint axle (38) and little armed lever (5) on the said elbow joint 38, two limbs of said torsion spring (39) are pressed in respectively on said big armed lever (4) and the little armed lever (5);
Rope on second reel (13) on first output shaft (16) of the front end of said little armed lever (5) and said forelimb driver train is connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210279364.9A CN102806951B (en) | 2012-08-07 | 2012-08-07 | Imitative frog hopping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210279364.9A CN102806951B (en) | 2012-08-07 | 2012-08-07 | Imitative frog hopping robot |
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| CN102806951A true CN102806951A (en) | 2012-12-05 |
| CN102806951B CN102806951B (en) | 2015-08-12 |
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| CN201210279364.9A Expired - Fee Related CN102806951B (en) | 2012-08-07 | 2012-08-07 | Imitative frog hopping robot |
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| CN103010327A (en) * | 2012-12-21 | 2013-04-03 | 东南大学 | Single-motor driven climbing jumping robot |
| CN103465989A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Mechanism for simulating jumping of frog rear legs |
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