CN103192896A - Jumping mechanism with adjustable jump-up angle for wheeled hopping robot - Google Patents
Jumping mechanism with adjustable jump-up angle for wheeled hopping robot Download PDFInfo
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Abstract
The invention discloses a jumping mechanism with an adjustable jump-up angle for a wheeled hopping robot, and belongs to the technical field of robots. The jumping mechanism internally comprises two cylinder fixed frames; fixed frame outer side plates are fixedly connected with fixed frame inner side plates by fixed frame plain shafts, double-acting cylinders are fixedly fastened among the fixed frame inner side plates and the fixed frame outer side plates by locks, and cylinder foot pads are mounted on lower portions of cylinder piston rods; movable frame inner side plates and movable frame outer side plates are fixedly connected with one another by movable frame plain shafts to form movable frames; and a corresponding control motor runs, so that the movable frames can drive miniature lead screws to rotate, and distances among light wheels connected with the movable frames can be adjusted. The jumping mechanism has the advantages that miniature actuators, actuator cranks, transmission rods and the double-acting cylinders form double-rocker mechanisms, the jump-up angle of the mechanism can be adjusted by the cylinders under the control of the actuators, and the cylinders are matched with decompressed high-pressure air, so that efficient jumping effects of the cylinders under the control of electromagnetic valves are realized.
Description
Technical field:
What the present invention relates to is the adjustable wheeled hopping robot's of a kind of take-off angle bouncing mechanism, belongs to the Robotics field.
Background technology:
Along with the continuous expansion of robot application scope, the environment that robot faces is also more and more abominable, all requires robot should have very strong autokinetic movement ability and viability such as archaeology detection, space exploration, military surveillance and counterterrorist activity etc.Can jump over several times even number of wheeled hopping robot decuples the obstacle of self size, and bigger action radius is arranged.The emergentness of bounce motion and burst help robot to hide danger, make it have very strong viability.
Can bouncing mechanism be the key that determines hopping robot's performance, be that the small-sized two-wheel hopping robot designs key of success so design efficient feasible bouncing mechanism.To the evaluation of desirable bouncing mechanism, four requirements that Japanese scientist has proposed: (1) improves mechanism's anti-pumping performance as far as possible, makes higher farther that mechanism jumps; (2) can adjust direction and the angle of spring; (3) can control the aerial attitude of bouncing mechanism; (4) can steadily land by control mechanism.
Still be in conceptual phase abroad for wheeled hopping robot at present, domestic research is owing to start late, so achievement is less relatively, and this robotlike belongs to specialized robot simultaneously, and involved gordian technique confidentiality is very strong, so open source information is less.
Number of patent application is 200820040672.5 and is called the patent application of " bouncing mechanism of spring robot ", a kind of hopping robot's bouncing mechanism is disclosed, formed by elastic parts, elastic parts comprises the downside of elastic steel sheet, fixation kit comprises transmission device, leading sheave mechanism, steel rope and shell, transmission device comprises steering wheel, intermeshing partial gear and gear, transmission shaft and capstan winch, steering wheel is fixed in the shell inboard by the steering wheel adapter plate, partial gear is fixed on the output revolving shaft of steering wheel, gear is fixed on the transmission shaft, capstan winch is fixed in transmission shaft by clamp nut and is positioned at a side of gear, leading sheave mechanism comprises pulley, axle, adapter plate, circlip, the inboard of shell is fixed in leading sheave mechanism by its adapter plate, the axial location of pulley is fixed by the shaft shoulder and the circlip of axle, one end of described steel rope links to each other with capstan winch, and the other end links to each other with elastic steel sheet, and steel rope is positioned among the race of pulley.
There is following shortcoming in this scheme:
(1) can't bounce continuously, because the bouncing mechanism of this programme is turned round by the steering wheel driven wheel, this device is finished by spring needs the long energy of reserve time to spring next time, therefore causes this device can't realize continuous spring.
(2) layup a little less than because its spring propulsion source is steel disc, and the difficult control of the deformation of steel disc and largest deformation are very limited, cause its layup deficiency, jumping height is limited.
(3) the difficult control of direction of take off is because the installation site relative fixed of steel disc so its spring direction can't be regulated by associated mechanisms, has limited the motion of robot to a great extent.
(4) structure is comparatively complicated, because hopping robot's particularity, the hopping robot need have impact resistance preferably, and this robot mainly turns round to realize spring by the engagement between gear, and the physical construction relative complex is so can't ensure its anti-pumping performance.
Summary of the invention:
In order to solve problems such as hopping robot's bouncing mechanism complexity, not high, the very flexible of spring efficient, the invention provides the bouncing mechanism of advantages such as a kind ofly having simple in structure, spring efficient height, adaptive capacity is strong, controllability is good.
The technical solution adopted for the present invention to solve the technical problems is:
The wheeled hopping robot's that a kind of take-off angle is adjustable bouncing mechanism, it includes two cylinder fixed frames, the fixed frame outer panel is captiveed joint with the fixed frame interior plate in the cylinder fixed frame, double-acting cylinder top is fixed between fixed frame interior plate and the fixed frame outer panel by tight locking button, and the bottom of cylinder piston rod is equipped with the cylinder foot pad; Two cylinder fixed frames all have the fixed frame optical axis to pass; Two cylinder fixed frames all are connected with the fixed frame optical axis, and two fixed frame interior plates are relative, and two fixed frame outer panels all are positioned at the outside.
The miniature steering wheel of double-acting cylinder top one side is fixed on the fixed frame outer panel, the mouth of miniature steering wheel passes circular hole on the fixed frame outer panel, and steering wheel crank and drive link flexible connection by carrying, the other end of drive link is connected to the tight locking button of cylinder bottom; The tight locking button on double-acting cylinder top is fixed double-acting cylinder by the pin of two ends precession, and the fixed orifice of fixed frame interior plate, fixed frame outer panel is inserted at the two ends of pin respectively, makes the top of double-acting cylinder fix; The pin at the tight locking button two ends of double-acting cylinder bottom is fixed the double-acting cylinder bottom, the two ends of pin are inserted into the arc groove of the bottom of fixed frame interior plate, fixed frame outer panel respectively, pin on the double-acting cylinder tight locking button slides along arc groove, adjusts the take-off angle of double-acting cylinder.
Be fixed on the fixed frame optical axis of fixed frame one side by the steel cylinder clip for the steel cylinder that holds gas, pressure regulating valve precession steel cylinder mouth, the interface of pressure regulating valve is connected with the miniature electromagnetic valve admission port by flexible pipe, and the air extractor duct of miniature electromagnetic valve is connected with air extractor duct with the admission port of double-acting cylinder respectively by flexible pipe.
On the optical axis between two cylinder fixed frames motor fixing plate is installed, miniature motor is fixedly arranged on the motor fixing plate, be with small pulley on the mouth of miniature motor, small pulley carries out transmission by belt conveyor and big belt wheel, big belt wheel is consistent with the small pulley level attitude, fixedly there is miniature screw mandrel the center of big belt wheel, pin passes circular hole on the fixed frame interior plate of both sides and the two ends of the described miniature leading screw of precession respectively, whole leading screw is fixed on the fixed frame interior plate of both sides, and can on fixed frame interior plate circular hole, freely rotates; Be connected with two mobile framework interior plates between two fixed frame interior plates respectively, the arranged outside of two fixed frame outer panels has mobile framework outer panel, constitutes a mobile framework by mobile framework optical axis captive joint respectively between the mobile framework interior plate of each side and the mobile framework outer panel; The centre hole of two mobile framework interior plates of miniature leading screw precession makes mobile framework interior plate sway by the control to the leading screw hand of rotation, and then drives two mobile frameworks to the center or to two end motions.
The installed inside of mobile framework outer panel has the worm and gear motor, and the mouth of motor passes mobile framework outer panel centre hole and is with coupler, and is connected with the lightweight wheel by motor bearings.
Four fixed frame optical axises pass the circular hole on four jiaos of fixed frame interior plate respectively, and fixed frame optical axis two ends are individually fixed on the fixed frame outer panel, thereby form the overall fixed framework.Whole fixed frame left-right symmetric, the fixed frame interior plate of both sides is consistent in design with the fixed frame outer panel, makes structure comparatively succinct, its beneficial effect is to have reduced difficulty of processing, be convenient to assemble and the installation of other parts and fixing, alleviated weight simultaneously, optimized anti-pumping performance.
Miniature steering wheel, steering wheel crank, drive link and double-acting cylinder constitute double rocker mechanism, drive link is equivalent to driving lever, cylinder is equivalent to passive rocking bar, and cylinder can be under the control of steering wheel is the center of circle with the attachment point on the fixed frame, swings along cylinder fixed frame arc groove.Its beneficial effect is to regulate the spring angle of cylinder by the size of rotational angle of control steering wheel, thereby has enlarged hopping robot's mass activity scope, has improved the adaptive capacity of robot.Double-acting cylinder is as the operating part of bouncing mechanism, and the cylinder that the present invention adopts is the double-acting cylinder of little cylinder diameter, long stroke, and its beneficial effect is to make bouncing mechanism light more flexibly, has optimized whole anti-pumping performance simultaneously.
Steel cylinder inner high voltage gas is liquid carbon dioxide, the decompression of the miniature pressure regulating valve of aculeus type by correspondence can make gas pressure intensity be reduced to 0.5MPa-0.7MPa, post-decompression gas is connected to the admission port of two five-way electromagnetic valves by flexible pipe, this electromagnetic valve has four air extractor ducts of an admission port, four air extractor ducts are controlled admission port and the air extractor duct of two cylinders respectively, when solenoid control is given vent to anger when air inlet bottom, cylinder top, promote cylinder piston and move downward, realize the spring of robot.It is that drive source makes the comparatively environmental protection of bouncing that its beneficial effect is to use carbon dioxide, and two cylinders act on simultaneously and improved pop effect, by controlling two cylinder springs the switching time of adjusting electromagnetic valve, has improved harmony and the controllability of spring.The miniature pressure regulating valve of aculeus type is corresponding with the steel cylinder interface type, and can screw the steel cylinder mouth, thereby realizes complete connection.Its beneficial effect is to have reduced the error of gas leakage to the influence of spring, realizes the optimization to anti-pumping performance.
Miniature leading screw is opposite with hand of spiral on the two ends that two mobile framework interior plates connect, and design has screw thread and consistent with the screw thread on the miniature screw mandrel in the mobile framework interior plate centre hole; The running of miniature motor drives the rotation of small pulley, realizes being fixed on the rotation of the big belt wheel on the miniature leading screw by the transmission of belt conveyor, and mobile framework interior plate can be realized whole mobile framework sway under the driving of leading screw.Its beneficial effect is to regulate the position of mobile framework on fixed frame by controlling flexible motor, thereby regulates the state of kinematic motion of robot, makes entire mechanism adapt to the requirement of different road conditions.When robot is positioned at the aerial statue that can assist the adjustment robot when aerial by the size of regulating the wheel spacing, it is more steady that it is landed.And then comformability and the stability of raising entire mechanism.
The lightweight wheel is made of filled and process three parts between inboard wheel hub, outside wheel hub and wheel between the two.Its beneficial effect is to make whole mechanism compacter, has alleviated the quality of entire mechanism, and guarantees that certain mechanical strength is arranged, and weighting material can play the effect of buffering between Tu Chu wheel simultaneously, has guaranteed the persistence of bouncing.
During work of the present invention, detailed process is as follows:
The hopping robot moves the wheeled motion of main dependence, when the sensor that carries when robot detects obstacle, detected signal is transferred to the spring that controller is realized robot.
Take-off Stage: controller is transferred to bouncing mechanism with signal, rotates by the miniature steering wheel that is installed on cylinder one side on the one hand and drives the adjusting that drive link is adjusted the state realization take-off angle of cylinder.Aculeus type pressure regulating valve precession carbon dioxide steel cylinder and high-pressure carbon dioxide gas is converted into suitable pressure on the other hand, post-decompression gas is connected to the admission port of two five-way electromagnetic valves by flexible pipe, gas passes through miniature electromagnetic valve by the conducting of miniature electromagnetic valve, the miniature electromagnetic valve other end has four interfaces, one group of air inlet/outlet up and down that is connected to two cylinders respectively in twos, when giving vent to anger in air inlet bottom, cylinder top, can promote the cylinder interior piston moves downward, by coordinating to control two cylinder bounce status and jumping height the switching time of adjusting miniature electromagnetic valve, realize the spring of robot.
Aerial statue is regulated: when robot integral body is positioned at when aerial, miniature electromagnetic valve can give vent to anger the air inlet top, bottom of cylinder by commutation, realize the contraction of cylinder piston, can come simultaneously the aerial pose of robot measurement by the respective sensor of installing, assist the aerial statue of adjustment robot by adjusting knurl spacing and the size of controlling corresponding wheel turns speed.
Land the attitude adjustment: when robot lands, because the whole interior structure is comparatively concentrated, so robot can rely on two bigger wheels to land fully, the outstanding and anti-punching press of filled and process between the wheel between this moment wheel, can play the effect of certain buffering, realize that comparatively pulsation-free lands.Because the bottom is partial in weight installation sites such as steel cylinder, make entire machine people's center of gravity be positioned at the bottom of robot simultaneously, thereby robot can be recovered by very fast realization state of kinematic motion after landing, and can be completely achieved continuous spring.
The beneficial effect of integral body of the present invention:
(1) the present invention adopts long stroke double-acting cylinder to bounce for new type power mechanism, and it has advantages such as simple in structure, that speed of response is fast, pop effect is good, and overall performance is better than other spring propulsions source, can realize fully continuously, efficiently bounce;
(2) the present invention adopts novel liquid carbon dioxide as the driving source of the gas, efficient and environmental protection, and what abandoned the traditional, pneumatic element simultaneously is the shortcoming of the mobile inconvenience of drive source with large-scale air pump, has realized spring small and exquisite, lighting;
(3) hopping robot's take-off angle of the present invention is controlled, has strengthened alerting ability and the comformability of robot, has enlarged the action radius of robot;
(4) physical construction unit design of the present invention is simple, practical, has reduced unnecessary driving device between each parts, has accomplished whole simplifying and lightweight.
Description of drawings:
Fig. 1 is external frame structural representation of the present invention;
Fig. 2 is inner structure scheme drawing of the present invention;
Fig. 3 is that the present invention moves framework interior plate (a figure left side) and mobile framework outer panel (figure is right) structural representation;
Fig. 4 is cylinder fixed frame of the present invention medial and lateral plate structure scheme drawings;
Fig. 5 is cylinder angular adjustment figure of the present invention;
Fig. 6 is integral structure scheme drawing of the present invention;
Among the figure, 1-worm and gear motor, the 2-motor bearings, the 3-motor coupler, 4-moves the framework outer panel, 5-moves the framework optical axis, 6-steering wheel crank, the 7-drive link, the miniature steering wheel of 8-, the 9-double-acting cylinder, the 10-tight locking button, 11-fixed frame outer panel, 12-fixed frame interior plate, 13-moves the framework interior plate, 14-fixed frame optical axis, the 15-motor fixing plate, the 16-miniature motor, the 17-small pulley, the big belt wheel of 18-, the miniature leading screw of 19-, the inboard wheel hub of 20-, filled and process between the 21-wheel, 22-outside wheel hub, 23-cylinder foot pad, the 24-steel cylinder, the 25-pressure regulating valve, 26-steel cylinder clip, the 27-fixed platform.
The specific embodiment:
The present invention will be further described below in conjunction with the drawings and specific embodiments.
With reference to Fig. 1,2, the wheeled hopping robot's that take-off angle is adjustable bouncing mechanism, there are two cylinder fixed frames its inside, fixed frame outer panel 11 is captiveed joint with fixed frame interior plate 12 in fixed frame, double-acting cylinder 9 tops are fixed between fixed frame interior plate 12 and the fixed frame outer panel 11 by tight locking button 10, and the bottom of cylinder piston rod is equipped with cylinder foot pad 23; Two cylinder fixed frames all have the fixed frame optical axis to pass; And all be connected with fixed frame optical axis 14, and two fixed frame interior plates 12 are relative, and two fixed frame outer panels 11 all are positioned at the outside; Four fixed frame optical axises 14 pass the circular hole on four jiaos of fixed frame interior plate 12 respectively, and fixed frame optical axis 14 two ends are individually fixed on the fixed frame outer panel 11, thereby form the overall fixed framework.
The miniature steering wheel 8 of double-acting cylinder 9 tops one side is fixed on the fixed frame outer panel 11, the mouth of miniature steering wheel 8 passes circular hole on the fixed frame outer panel, and steering wheel crank 6 and drive link 7 flexible connections by carrying, the other end of drive link 7 is connected to the tight locking button 10 of cylinder bottom; The tight locking button 10 on double-acting cylinder top is fixing with double-acting cylinder 9 by the pin of two ends precession, and the fixed orifice of fixed frame interior plate 12, fixed frame outer panel 11 is inserted at the two ends of pin respectively, makes the top of double-acting cylinder 9 fix; The pin at tight locking button 10 two ends of double-acting cylinder bottom is fixed double-acting cylinder 9 bottoms, the two ends of pin are inserted into the arc groove of the bottom of fixed frame interior plate 12, fixed frame outer panel 11 respectively, pin on the tight locking button 10 of double-acting cylinder bottom slides along arc groove, adjusts the take-off angle of double-acting cylinder 9.
Be fixed on the fixed frame optical axis 14 of fixed frame one side by steel cylinder clip 26 for the steel cylinder 24 that holds gas, pressure regulating valve 25 precession steel cylinder mouths, the interface of pressure regulating valve 25 is connected with the miniature electromagnetic valve admission port by flexible pipe, and the air extractor duct of miniature electromagnetic valve is connected with air extractor duct with the admission port of double-acting cylinder 9 respectively by flexible pipe; High-pressure carbon dioxide gas is housed in the steel cylinder 24, the decompression of the miniature pressure regulating valve 25 by correspondence can make gas pressure intensity be reduced to 0.5MPa-0.7MPa, miniature electromagnetic valve adopts two five-way electromagnetic valves, this electromagnetic valve has four air extractor ducts of an admission port, four air extractor ducts are controlled admission port and the air extractor duct of two cylinders 9 respectively, when solenoid control is given vent to anger when air inlet bottom, cylinder top, promote cylinder piston and move downward the realization spring.
On the optical axis between two cylinder fixed frames motor fixing plate 15 is installed, miniature motor 16 is fixedly arranged on the motor fixing plate 15, be with small pulley 17 on the mouth of miniature motor 16, small pulley 17 carries out transmission by belt conveyor and big belt wheel 18, big belt wheel 18 is consistent with small pulley 17 level attitudes, fixedly there is miniature screw mandrel 19 center of big belt wheel 18, pass circular hole on the described fixed frame interior plate and the two ends of the described miniature leading screw of precession respectively by pin, whole leading screw is fixed on the fixed frame interior plate 12 of both sides, and can on fixed frame interior plate circular hole, freely rotates; Between described two fixed frame interior plates 12, be connected with the mobile framework interior plate 13 of two mobile frameworks, the arranged outside of two fixed frame outer panels 11 has mobile framework outer panel 4, constitutes a mobile framework by mobile framework optical axis 5 captive joints respectively between the mobile framework interior plate 13 of each side and the mobile framework outer panel 4; The centre hole of two mobile framework interior plates 13 of miniature leading screw 19 precessions, miniature leading screw 19 is opposite with hand of spiral on the two ends that two mobile framework interior plates 13 connect, and design has screw thread and consistent with the screw thread on the miniature screw mandrel in the mobile framework interior plate centre hole; The rotation of miniature motor 16 drives the rotation of small pulley 17, and the transmission by belt conveyor realizes being fixed on the miniature leading screw rotation of 19 big belt wheel 18, and mobile framework interior plate 13 can be realized whole mobile framework sway under the driving of leading screw.
The installed inside of mobile framework outer panel 4 has worm and gear motor 1, and the mouth of motor passes mobile framework outer panel centre hole and is with coupler 3, and is connected with the lightweight wheel by motor bearings 2.The lightweight wheel is made of filled and process 21 3 parts between inboard wheel hub 20, outside wheel hub 22 and wheel.
With reference to Fig. 3, the interior plate 13 of the wheeled hopping robot's that take-off angle is adjustable bouncing mechanism, mobile framework outer 4 respectively by about two figure represent, both have the circular hole that corresponding optical axis is installed at four jiaos of each designs, wherein design has screw thread in mobile framework interior plate 13 centre holes, and it is consistent with the screw thread on the miniature leading screw 19, be aided with the big belt wheel that is fixed on the miniature leading screw, drive the rotation of small pulley 17 by miniature motor 16, and the transmission of belt conveyor realizes being fixed on the miniature leading screw rotation of 19 big belt wheel 18, and mobile framework interior plate 13 can be realized whole mobile framework sway under the driving of leading screw.Thereby can drive the rotation of miniature screw mandrel 19 by the control to flexible motor 16, realize the slip of mobile framework on fixed frame.The design of mobile framework outer panel 4 centers has projection and mounting hole to be convenient to the installation of worm and gear motor 1 and lightweight scroll wheel.
With reference on Fig. 4, fixed frame interior plate 12 and the fixed frame outer panel 11 four jiaos all designed circular hole, corresponding fixed optical axis be used for to be installed.The middle and upper part Position Design has fixed orifice, the cylinder tight locking button 10 on double-acting cylinder 9 tops is locked double-acting cylinder 9 by the pin of two ends precession, the fixed orifice of fixed frame interior plate 12, fixed frame outer panel 11 is inserted at the pin two ends, makes the top of double-acting cylinder fix; The bottom design has an arc groove, the cylinder tight locking button 10 of double-acting cylinder 9 bottoms is locked double-acting cylinder 9 by the pin at two ends, the two ends of pin are inserted into the arc groove of the bottom of fixed frame interior plate 12, fixed frame outer panel 11, can be slided in inside grooves in its underpart.The bottom design of arc groove has the leading screw fixed orifice, can pass an end of the miniature leading screw 19 of this hole precession by pin, realizes fixing miniature leading screw 19.
With reference to Fig. 5, the miniature steering wheel 8 of double-acting cylinder 9 tops one side is fixed on the fixed frame outer panel 11, the mouth of miniature steering wheel 8 passes circular hole on the fixed frame outer panel, and steering wheel crank 6 and drive link 7 flexible connections by carrying, the other end of drive link 7 is connected to the tight locking button 10 of cylinder bottom; The cylinder tight locking button 10 on double-acting cylinder 9 tops is locked double-acting cylinder 9 by the pin of two ends precession, and the fixed orifice of fixed frame interior plate 12, fixed frame outer panel 11 is inserted at the pin two ends, makes the top of double-acting cylinder fix; The cylinder tight locking button 10 of double-acting cylinder 9 bottoms is locked double-acting cylinder 9 by the pin at two ends, and the two ends of pin are inserted into the arc groove position of the bottom of fixed frame interior plate 12, fixed frame outer panel 11; Steering wheel crank 6, drive link 7, miniature steering wheel 8 and double-acting cylinder 9 constitute double rocker mechanism, drive link 7 is equivalent to driving lever, cylinder 9 is equivalent to passive rocking bar, cylinder 9 can be under the control of steering wheel is the center of circle with the attachment point on the fixed frame, slide along the fixed frame arc groove, realize the adjusting of angle.Controller can be realized the adjusting that corresponding cylinder-15-15 is spent by the control to steering wheel, has enlarged the action radius of robot.Cylinder is under the driving of propulsion source carbon dioxide, and cylinder piston moves range downwards can reach 100mm, can realize the high efficiency spring of robot fully.After robot was adjusted to required spring angle, controller can be realized the control to jumping height by conducting and the closing period of control electromagnetic valve.
With reference to the various piece of Fig. 6, wheeled hopping robot's that take-off angle is adjustable spring structure by rational assembling and fixing after overall construction drawing.Wherein the upper design of fixed frame and mobile framework has fixed platform 27, and it is fixing to be convenient to being installed on of CCU spare, makes structure more attractive in appearance, reasonable.Entire mechanism can make the double-acting cylinder 9 of spring structure be vertical state by installation and the counterweight of related device, is convenient to adjusting and the control of robot take-off.
Claims (6)
1. the adjustable wheeled hopping robot's of take-off angle bouncing mechanism, it is characterized in that: its inside includes two cylinder fixed frames, fixed frame outer panel (11) is captiveed joint with fixed frame interior plate (12) in the cylinder fixed frame, double-acting cylinder (9) top is fixed between fixed frame interior plate (12) and the fixed frame outer panel (11) by tight locking button (10), and the bottom of cylinder piston rod is equipped with cylinder foot pad (23); Described two cylinder fixed frames all have the fixed frame optical axis to pass; And described cylinder fixed frame all is connected with fixed frame optical axis (14), and two fixed frame interior plates (12) are relative, and two fixed frame outer panels (11) all are positioned at the outside;
The miniature steering wheel (8) of double-acting cylinder (9) top one side is fixed on the fixed frame outer panel (11), the mouth of miniature steering wheel (8) passes circular hole on the fixed frame outer panel, and steering wheel crank (6) and drive link (7) flexible connection by carrying, the other end of drive link (7) is connected to the tight locking button (10) of cylinder bottom; The tight locking button (10) on double-acting cylinder (9) top is locked double-acting cylinder (9) by the pin of two ends precession, the fixed orifice on fixed frame interior plate (12), the fixed frame outer panel (11) is inserted at the pin two ends respectively, makes the top of double-acting cylinder fix; The tight locking button (10) of double-acting cylinder (9) bottom is locked double-acting cylinder (9) by the pin of two ends precession, the two ends of pin are inserted into the arc groove of the bottom of fixed frame interior plate (12), fixed frame outer panel (11) respectively, described pin slides along described arc groove, thereby adjusts the take-off angle of double-acting cylinder;
Be fixed on the fixed frame optical axis (14) of fixed frame one side by steel cylinder clip (26) for the steel cylinder (24) that holds gas, pressure regulating valve (25) precession steel cylinder mouth, the interface of pressure regulating valve (25) is connected with the miniature electromagnetic valve admission port by flexible pipe, and the air extractor duct of miniature electromagnetic valve is connected with air extractor duct with the admission port of double-acting cylinder (9) respectively by flexible pipe;
Optical axis between described two cylinder fixed frames is equipped with motor fixing plate (15), motor fixing plate (15) is gone up fixedly miniature motor (16), be with small pulley (17) on the mouth of miniature motor (16), small pulley (17) carries out transmission by belt conveyor and big belt wheel (18), big belt wheel (18) is consistent with small pulley (17) level attitude, fixedly there is miniature screw mandrel (19) center of big belt wheel (18), pass on the fixed frame interior plate of both sides circular hole and the two ends of the described miniature leading screw of precession respectively by pin, whole leading screw is fixed on the fixed frame interior plate (12) of both sides, and can on fixed frame interior plate circular hole, freely rotates; Between described two fixed frame interior plates (12), be connected with two mobile framework interior plates (13) respectively, arranged outside at described two fixed frame outer panels (11) has mobile framework outer panel (4), constitutes a mobile framework by mobile framework optical axis (5) captive joint respectively between the mobile framework interior plate (13) of each side and the mobile framework outer panel (4); The centre hole of described two the mobile framework interior plates of described miniature leading screw (19) precession (13) makes mobile framework interior plate sway by the control to the leading screw hand of rotation, and then drives two mobile frameworks to the center or to two end motions; The two ends of described mobile framework optical axis (5) are fixed on described fixed frame outer panel (11) and the fixed frame interior plate (12);
The installed inside of mobile framework outer panel (4) has motor (1), and the mouth of worm and gear motor is with the centre hole that coupler (3) passes mobile framework outer panel, and is connected with the lightweight wheel by motor bearings (2).
2. the adjustable wheeled hopping robot's of take-off angle according to claim 1 bouncing mechanism, it is characterized in that: the quantity of described fixed frame optical axis (14) is four, four fixed frame optical axises (14) pass the circular hole on four jiaos of fixed frame interior plate (12) respectively, fixed frame optical axis (14) two ends are individually fixed on the fixed frame outer panel (11), thereby form complete internal fixation framework.
3. the adjustable wheeled hopping robot's of take-off angle according to claim 1 bouncing mechanism, it is characterized in that: miniature steering wheel (8), steering wheel crank (6), drive link (7) and double-acting cylinder (9) constitute double rocker mechanism, drive link (7) is equivalent to driving lever, cylinder (9) is equivalent to passive rocking bar, cylinder (9) can be under the control of miniature steering wheel (8) is the center of circle with the attachment point on the fixed frame, slides along the fixed frame arc groove.
4. the adjustable wheeled hopping robot's of take-off angle according to claim 1 bouncing mechanism, it is characterized in that: steel cylinder is equipped with high pressure gas in (24), the decompression of the miniature pressure regulating valve (25) by correspondence can make gas pressure intensity be reduced to 0.5MPa-0.7MPa, miniature electromagnetic valve adopts two five-way electromagnetic valves, this electromagnetic valve has an admission port and four air extractor ducts, four air extractor ducts are controlled admission port and the air extractor duct of two cylinders (9) respectively, when give vent to anger in air inlet bottom, solenoid control cylinder top, promote cylinder piston and move downward the realization spring.
5. the adjustable wheeled hopping robot's of take-off angle according to claim 1 bouncing mechanism, it is characterized in that: the hand of spiral on the two ends that miniature leading screw (19) and two mobile framework interior plates (13) connect is opposite, and design has screw thread and consistent with the screw thread on the miniature screw mandrel in the mobile framework interior plate centre hole; The running of miniature motor (16) drives the rotation of small pulley (17), be fixed on the rotation of the big belt wheel (18) of (19) on the miniature leading screw by the transmission realization of belt conveyor, mobile framework interior plate (13) can be realized whole mobile framework to the center or to two end motions under the driving of leading screw, and then the spacing between the lightweight wheel that is connected with mobile framework of adjusting.
6. the adjustable wheeled hopping robot's of take-off angle according to claim 1 bouncing mechanism, it is characterized in that: described lightweight wheel is made of filled and process (21) three parts between inboard wheel hub (20), outside wheel hub (22) and wheel.
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| CN201310125686.2A CN103192896B (en) | 2013-04-11 | 2013-04-11 | The bouncing mechanism of the wheeled hopping robot that take-off angle is adjustable |
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Cited By (5)
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| CN103407512A (en) * | 2013-08-18 | 2013-11-27 | 北京工业大学 | Polymorphic spherical hopping robot |
| CN107933721A (en) * | 2016-10-13 | 2018-04-20 | 龙华科技大学 | Remote-controlled wheel-type and hopping robot |
| CN112140907A (en) * | 2020-09-28 | 2020-12-29 | 厦门安科科技有限公司 | Electric power construction site safety supervision and management equipment |
| CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
| CN113428259A (en) * | 2021-08-09 | 2021-09-24 | 哈尔滨工业大学 | Wheeled mobile robot of high adaptability |
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| CN103407512B (en) * | 2013-08-18 | 2016-04-27 | 北京工业大学 | Polymorphic spherical jumping robot |
| CN107933721A (en) * | 2016-10-13 | 2018-04-20 | 龙华科技大学 | Remote-controlled wheel-type and hopping robot |
| CN112140907A (en) * | 2020-09-28 | 2020-12-29 | 厦门安科科技有限公司 | Electric power construction site safety supervision and management equipment |
| CN112140907B (en) * | 2020-09-28 | 2021-10-22 | 厦门安科科技有限公司 | Electric power construction site safety supervision and management equipment |
| CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
| CN113428259A (en) * | 2021-08-09 | 2021-09-24 | 哈尔滨工业大学 | Wheeled mobile robot of high adaptability |
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