CN103192896B - The bouncing mechanism of the wheeled hopping robot that take-off angle is adjustable - Google Patents
The bouncing mechanism of the wheeled hopping robot that take-off angle is adjustable Download PDFInfo
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- CN103192896B CN103192896B CN201310125686.2A CN201310125686A CN103192896B CN 103192896 B CN103192896 B CN 103192896B CN 201310125686 A CN201310125686 A CN 201310125686A CN 103192896 B CN103192896 B CN 103192896B
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Abstract
The bouncing mechanism of the wheeled hopping robot that take-off angle is adjustable, belongs to robotics.Its inside includes two cylinder fixed frames, fixed frame outer panel is fixedly connected with by fixed frame optical axis with fixed frame interior plate, double-acting cylinder is fixed between fixed frame interior plate and fixed frame outer panel by tight locking button, and cylinder piston rod bottom is provided with cylinder foot pad; Formation movable frame is fixedly connected with by movable frame optical axis between movable frame interior plate and movable frame outer panel; Movable frame by the running band actuating miniature screw turns of corresponding control motor, and then regulate the lightweight be connected with movable frame take turns between spacing.Miniature steering wheel, steering wheel crank, drive link and double-acting cylinder form double rocker mechanism, cylinder can under the control of steering wheel the take-off angle of adjusting mechanism, coordinate post-decompression high pressure gas under the control of electromagnetic valve, realize the efficient spring of cylinder.
Description
Technical field:
What the present invention relates to is the bouncing mechanism of the adjustable wheeled hopping robot of a kind of take-off angle, belongs to robotics.
Background technology:
Along with the continuous expansion of robot application scope, the environment that robot faces is also more and more severe, and such as archaeological detect, space exploration, military surveillance and counterterrorist activity etc. all require that robot should have very strong autokinetic movement ability and viability.Wheeled hopping robot can jump over several times even several times in the obstacle of own dimensions, has larger action radius.The emergentness of bounce motion and burst contribute to robot escape from danger, make it have very strong viability.
Bouncing mechanism is the key determining hopping robot's performance, so can design efficiently feasible bouncing mechanism be the key that small-sized two-wheel hopping robot designs success or failure.To the evaluation of desirable bouncing mechanism, four requirements that Japanese Scientists proposes: (1) improves mechanism's anti-pumping performance as far as possible, and what mechanism was jumped is higher farther; (2) direction and the angle of spring can be adjusted; (3) the aerial attitude of bouncing mechanism can be controlled; (4) can steadily land by control mechanism.
Still be in conceptual phase abroad for wheeled hopping robot at present, domestic research is owing to starting late, and therefore achievement is relatively less, and this type of robot belongs to specialized robot simultaneously, and involved gordian technique confidentiality is very strong, therefore open source information is less.
Number of patent application is 200820040672.5 patent applications being called " bouncing mechanism of hopping robot ", disclose the bouncing mechanism of a kind of hopping robot, be made up of elastic parts, elastic parts comprises the downside of elastic steel sheet, fixation kit comprises transmission device, guide pulley mechanism, steel rope and shell, transmission device comprises steering wheel, intermeshing partial gear and gear, transmission shaft and capstan winch, steering wheel is fixed on inside shell by steering wheel adapter plate, partial gear is fixed on the output revolving shaft of steering wheel, gear is fixed on transmission shaft, capstan winch is fixed on transmission shaft by clamp nut and is positioned at the side of gear, guide pulley mechanism comprises pulley, axle, adapter plate, circlip, guide pulley mechanism is fixed on the inner side of shell by its adapter plate, the axial location of pulley is fixed by the shaft shoulder of axle and circlip, one end of described steel rope is connected with capstan winch, the other end is connected with elastic steel sheet, and steel rope is positioned among the race of pulley.
There is following shortcoming in the program:
(1) cannot continuous bounce, because the bouncing mechanism of this programme is operated by servo driving gear, this device completely needs the longer energy of reserve time to spring next time by bouncing, and therefore causes this device to realize continuous bounce.
(2) layup is more weak, because its spring propulsion source is steel disc, and the more difficult control of the deformation of steel disc and largest deformation is very limited, cause its layup not enough, jumping height is limited.
(3) the more difficult control of direction of take off, because the installation site of steel disc is relatively fixing, therefore its spring direction cannot be regulated by associated mechanisms, greatly limit the motion of robot.
(4) structure is comparatively complicated, due to the particularity of hopping robot, hopping robot needs to have good impact resistance, and this robot mainly realizes spring by the engagement running between gear, physical construction relative complex, therefore its anti-pumping performance cannot be ensured.
Summary of the invention:
The problems such as hopping robot's bouncing mechanism is complicated, spring efficiency is not high in order to solve, very flexible, the invention provides a kind of bouncing mechanism with advantages such as structure are simple, spring efficiency is high, adaptable, controllability is good.
The technical solution adopted for the present invention to solve the technical problems is:
The bouncing mechanism of the wheeled hopping robot that a kind of take-off angle is adjustable, it includes two cylinder fixed frames, in cylinder fixed frame, fixed frame outer panel is fixedly connected with fixed frame interior plate, double-acting cylinder top is fixed between fixed frame interior plate and fixed frame outer panel by tight locking button, and the bottom of cylinder piston rod is provided with cylinder foot pad; Two cylinder fixed frames all have fixed frame optical axis to pass; Two cylinder fixed frames are all connected with fixed frame optical axis, and two fixed frame interior plates are relative, and two fixed frame outer panels are all positioned at outside.
The miniature steering wheel of side, double-acting cylinder top is fixed on fixed frame outer panel, the mouth of miniature steering wheel is through circular hole on fixed frame outer panel, and be flexibly connected with drive link by the steering wheel crank carried, the other end of drive link is connected to the tight locking button of cylinder bottom; Double-acting cylinder is fixed by the pin of two ends precession by the tight locking button on double-acting cylinder top, and the fixed orifice of fixed frame interior plate, fixed frame outer panel is inserted at the two ends of pin respectively, and the top of double-acting cylinder is fixed; Double-acting cylinder bottom is fixed by the pin at the tight locking button two ends of double-acting cylinder bottom, the two ends of pin are inserted into the arc groove of bottom of fixed frame interior plate, fixed frame outer panel respectively, pin on double-acting cylinder tight locking button arcuately groove slides, the take-off angle of adjustment double-acting cylinder.
Steel cylinder for holding gas to be fixed on the fixed frame optical axis of fixed frame side by steel cylinder clip, pressure regulating valve precession steel cylinder mouth, the interface of pressure regulating valve is connected with 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.
Optical axis between two cylinder fixed frames is provided with motor fixing plate, motor fixing plate is fixed with miniature motor, on the mouth of miniature motor, cover has small pulley, small pulley carries out transmission by belt conveyor and large belt wheel, large belt wheel is consistent with small pulley level attitude, the center of large belt wheel is fixed with miniature leading screw, pin is through the two ends of the miniature leading screw of circular hole on the fixed frame interior plate of both sides also respectively described in precession, whole miniature leading screw is fixed on the fixed frame interior plate of both sides, and freely can rotates on fixed frame interior plate circular hole; Two movable frame interior plates are connected between two fixed frame interior plates, the arranged outside of two fixed frame outer panels has movable frame outer panel, is fixedly connected with formation movable frame between the movable frame interior plate of every side and movable frame outer panel respectively by movable frame optical axis; The centre hole of miniature leading screw precession two movable frame interior plates, by making movable frame interior plate sway to the control of miniature leading screw hand of rotation, and then drives two movable frames to center or to two end motions.
The inner side of movable frame outer panel is provided with worm and gear motor, and the mouth of motor is through movable frame outer panel centre hole and cover has coupler, and to be taken turns with lightweight by motor bearings and be connected.
Four fixed frame optical axises are each passed through the circular hole on the corner of fixed frame interior plate, and fixed frame optical axis two ends are individually fixed on fixed frame outer panel, thus form overall fixed frame.Whole fixed frame is symmetrical, and the fixed frame interior plate of both sides is consistent in design with fixed frame outer panel, makes structure comparatively succinct, its beneficial effect is the reduction of difficulty of processing, be convenient to assemble with the installation of other parts and fix, alleviating weight simultaneously, optimize anti-pumping performance.
Miniature steering wheel, steering wheel crank, drive link and double-acting cylinder form double rocker mechanism, drive link is equivalent to driving lever, cylinder is equivalent to passive rocking bar, cylinder can under the control of steering wheel with the attachment point on fixed frame for the center of circle, swing along cylinder fixed frame arc groove.Its beneficial effect is the spring angle can being carried out adjusting cylinders by the size of the rotational angle controlling steering wheel, thus expands the mass activity scope of hopping robot, improves the adaptive capacity of robot.Double-acting cylinder is as the execution part of bouncing mechanism, and the cylinder that the present invention adopts is the double-acting cylinder of little cylinder diameter, Long travel, and its beneficial effect makes bouncing mechanism light more flexibly, optimizes overall anti-pumping performance simultaneously.
Steel cylinder inner high voltage gas is liquid carbon dioxide, gas pressure intensity can be made to be reduced to 0.5MPa-0.7MPa by the decompression of the miniature pressure regulating valve of the aculeus type of correspondence, post-decompression gas is connected to the admission port of two five-way electromagnetic valves by flexible pipe, this electromagnetic valve has an admission port four air extractor ducts, four air extractor ducts control admission port and the air extractor duct of two cylinders respectively, solenoid control, when giving vent to anger in cylinder top air inlet bottom, promotes cylinder piston and moves downward, realize the spring of robot.Its beneficial effect uses carbon dioxide to make spring comparatively environmental protection for drive source, and two cylinder acts on simultaneously and improves pop effect, by controlling two cylinders springs the switching time adjusting electromagnetic valve, improves harmony and the controllability of spring.The miniature pressure regulating valve of aculeus type is corresponding with steel cylinder interface type, and can screw steel cylinder mouth, thus realizes complete connection.Its beneficial effect be reduce gas leakage error on the impact of spring, realize the optimization to anti-pumping performance.
Miniature leading screw is contrary with the hand of spiral on the two ends that two movable frame interior plates connect, and is designed with screw thread and consistent with the screw thread on miniature leading screw in movable frame interior plate centre hole; The running of miniature motor drives the rotation of small pulley, and realized the rotation of the large belt wheel be fixed on miniature leading screw by the transmission of belt conveyor, movable frame interior plate can realize whole movable frame sway under the driving of miniature leading screw.Its beneficial effect by controlling the position that telescope motor regulates movable frame on fixed frame, thus can regulate the state of kinematic motion of robot, makes whole mechanism adapt to the requirement of different road conditions.Can, by the aerial statue regulating the size of wheel spacing to assist adjustment robot, it be made to land more steady when robot is positioned at aerial.And then improve comformability and the stability of whole mechanism.
Lightweight is taken turns by inner side wheel hub, between outside wheel hub and wheel between the two, filled and process three part is formed.Its beneficial effect makes integrated model compacter, alleviates the quality of whole mechanism, and ensure certain mechanical strength, and between simultaneously outstanding wheel, weighting material can play the effect of buffering, ensure that the persistence of spring.
During work of the present invention, detailed process is as follows:
Hopping robot moves and mainly relies on wheel type movement, when the sensor that robot carries detects obstacle, the Signal transmissions detected is realized the spring of robot to controller.
Take-off Stage: controller is by Signal transmissions to bouncing mechanism, and the miniature steering wheel on the one hand by being installed on cylinder side rotates the adjustment that the state driving drive link to adjust cylinder realizes take-off angle.High-pressure carbon dioxide gas is also converted into suitable pressure by another aspect aculeus type pressure regulating valve precession carbon dioxide steel cylinder, 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 is connected to the air inlet/outlet up and down of two cylinders respectively between two, when giving vent to anger in cylinder top air inlet bottom, cylinder interior piston can be promoted move downward, by adjusting cooperation control switching time two cylinder bounce status and the jumping height of miniature electromagnetic valve, realize the spring of robot.
Aerial statue regulates: when robot entirety is positioned at aerial, miniature electromagnetic valve makes the air inlet top, bottom of cylinder give vent to anger by commutation, realize the contraction of cylinder piston, respective sensor simultaneously by installing carrys out the aerial pose of robot measurement, assist by adjusting knurl spacing and the size that controls corresponding wheel turns speed the aerial statue adjusting robot.
Land pose adjustment: when robot lands, because whole interior structure is comparatively concentrated, therefore robot can rely on two larger wheels to land completely, the outstanding and resistance to punching press of filled and process between the wheel now between wheel, the effect of certain buffering can be played, realize comparatively pulsation-free and land.Simultaneously due to deflection bottoms, weight installation site such as steel cylinders, make the center of gravity of whole robot be positioned at the bottom of robot, thus make robot can realize state of kinematic motion recovery after landing very soon, and can be completely achieved continuous bounce.
The beneficial effect of entirety of the present invention:
(1) the present invention adopts Long travel double-acting cylinder to be that new type power mechanism bounces, the advantages such as structure is simple, speed of response is fast, pop effect is good that it has, and overall performance is better than other spring propulsions source, can realize continuously completely, efficiently bounce;
(2) the present invention adopts novel liquid carbon dioxide as driving source of the gas, efficient and environmental protection, has abandoned the mobile inconvenient shortcoming being drive source with large-scale air pump of traditional, pneumatic element simultaneously, has achieved spring that is small and exquisite, lighting;
(3) hopping robot's take-off angle of the present invention is controlled, enhances alerting ability and the comformability of robot, expands the action radius of robot;
(4) physical construction unit design of the present invention is simple, practical, decreases driving device unnecessary between all parts, has accomplished overall simplifying and lightweight.
Accompanying drawing illustrates:
Fig. 1 is outer frame structure schematic diagram of the present invention;
Fig. 2 is inner structure schematic diagram of the present invention;
Fig. 3 is movable frame interior plate of the present invention (figure is left) and movable frame outer panel (figure is right) structural representation;
Fig. 4 is cylinder fixed frame medial and lateral of the present invention plate structure schematic diagrams;
Fig. 5 is cylinder angular adjustment figure of the present invention;
Fig. 6 is integral structure schematic diagram of the present invention;
In figure, 1-worm and gear motor, 2-motor bearings, 3-motor coupler, 4-movable frame outer panel, 5-movable frame optical axis, 6-steering wheel crank, 7-drive link, the miniature steering wheel of 8-, 9-double-acting cylinder, 10-tight locking button, 11-fixed frame outer panel, 12-fixed frame interior plate, 13-movable frame interior plate, 14-fixed frame optical axis, 15-motor fixing plate, 16-miniature motor, 17-small pulley, the large belt wheel of 18-, the miniature leading screw of 19-, wheel hub inside 20-, filled and process between 21-wheel, wheel hub outside 22-, 23-cylinder foot pad, 24-steel cylinder, 25-pressure regulating valve, 26-steel cylinder clip, 27-fixed platform, 28-attachment point, 29-leading screw fixed orifice, 30-arc groove.
Detailed description of the invention:
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
With reference to Fig. 1,2, the bouncing mechanism of the wheeled hopping robot that take-off angle is adjustable, there are two cylinder fixed frames its inside, in fixed frame, fixed frame outer panel 11 is fixedly connected with fixed frame interior plate 12, double-acting cylinder 9 top is fixed between fixed frame interior plate 12 and fixed frame outer panel 11 by tight locking button 10, and the bottom of cylinder piston rod is provided with cylinder foot pad 23; Two cylinder fixed frames all have fixed frame optical axis to pass; And be all connected with fixed frame optical axis 14, and two fixed frame interior plates 12 are relative, two fixed frame outer panels 11 are all positioned at outside; Four fixed frame optical axises 14 are each passed through the circular hole on the corner of fixed frame interior plate 12, and fixed frame optical axis 14 two ends are individually fixed on fixed frame outer panel 11, thus form overall fixed frame.
The miniature steering wheel 8 of side, double-acting cylinder 9 top is fixed on fixed frame outer panel 11, the mouth of miniature steering wheel 8 is through circular hole on fixed frame outer panel, and be flexibly connected with drive link 7 by the steering wheel crank 6 carried, the other end of drive link 7 is connected to the tight locking button 10 of cylinder bottom; Double-acting cylinder 9 is fixed by the pin of two ends precession by the tight locking button 10 on double-acting cylinder top, and the fixed orifice of fixed frame interior plate 12, fixed frame outer panel 11 is inserted at the two ends of pin respectively, and the top of double-acting cylinder 9 is fixed; Double-acting cylinder 9 bottom is fixed by the pin at tight locking button 10 two ends of double-acting cylinder bottom, the two ends of pin are inserted into the arc groove 30 of 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 arcuately groove 30 slides, the take-off angle of adjustment double-acting cylinder 9.
Steel cylinder 24 for holding gas to be fixed on the fixed frame optical axis 14 of fixed frame side by steel cylinder clip 26, pressure regulating valve 25 precession steel cylinder mouth, the interface of pressure regulating valve 25 is connected with 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; Steel cylinder 24 is built with high-pressure carbon dioxide gas, gas pressure intensity can be made to be reduced to 0.5MPa-0.7MPa by the decompression of the miniature pressure regulating valve 25 of correspondence, miniature electromagnetic valve adopts two five-way electromagnetic valves, this electromagnetic valve has an admission port four air extractor ducts, four air extractor ducts control admission port and the air extractor duct of two cylinders 9 respectively, solenoid control, when giving vent to anger in cylinder top air inlet bottom, promotes cylinder piston and moves downward realization spring.
Optical axis between two cylinder fixed frames is provided with motor fixing plate 15, motor fixing plate 15 is fixed with miniature motor 16, on the mouth of miniature motor 16, cover has small pulley 17, small pulley 17 carries out transmission by belt conveyor and large belt wheel 18, large belt wheel 18 is consistent with small pulley 17 level attitude, the center of large belt wheel 18 is fixed with miniature leading screw 19, by the two ends of pin through the miniature leading screw of circular hole also respectively described in precession on described fixed frame interior plate, whole leading screw is made to be fixed on the fixed frame interior plate 12 of both sides, and freely can rotate on fixed frame interior plate circular hole, the movable frame interior plate 13 of two movable frames is connected with between described two fixed frame interior plates 12, the arranged outside of two fixed frame outer panels 11 has movable frame outer panel 4, is fixedly connected with formation movable frame between the movable frame interior plate 13 of every side and movable frame outer panel 4 respectively by movable frame optical axis 5, the centre hole of miniature leading screw 19 precession two movable frame interior plates 13, miniature leading screw 19 is contrary with the hand of spiral on the two ends that two movable frame interior plates 13 connect, and is designed with screw thread and consistent with the screw thread on miniature leading screw in movable frame interior plate centre hole, the rotation of miniature motor 16 drives the rotation of small pulley 17, and realize by the transmission of belt conveyor the rotation being fixed on the large belt wheel 18 of on miniature leading screw 19, movable frame interior plate 13 can realize whole movable frame sway under the driving of leading screw.
The inner side of movable frame outer panel 4 is provided with worm and gear motor 1, and the mouth of motor is through movable frame outer panel centre hole and cover has coupler 3, and to be taken turns with lightweight by motor bearings 2 and be connected.Lightweight is taken turns by inner side wheel hub 20, between outside wheel hub 22 and wheel, filled and process 21 3 part is formed.
With reference to Fig. 3, the interior plate 13 of the bouncing mechanism of the wheeled hopping robot that take-off angle is adjustable, movable frame outer panel 4 is represented by left and right two figure respectively, both are respectively designed with the circular hole installing corresponding optical axis in corner, wherein be designed with screw thread in movable frame interior plate 13 centre hole, and it is consistent with the screw thread on miniature leading screw 19, be aided with the large belt wheel be fixed on miniature leading screw, the rotation of small pulley 17 is driven by miniature motor 16, and the transmission of belt conveyor realizes the rotation being fixed on the large belt wheel 18 of on miniature leading screw 19, movable frame interior plate 13 can realize whole movable frame sway under the driving of leading screw.Thus by driving the rotation of miniature leading screw 19 to the control of telescope motor 16, the slip of movable frame on fixed frame can be realized.Movable frame outer panel 4 Center has projection and mounting hole to be convenient to the installation of worm and gear motor 1 and lightweight scroll wheel.
All circular hole is designed with, for installing corresponding fixed optical axis with reference to corner on Fig. 4, fixed frame interior plate 12 and fixed frame outer panel 11.Upper position installs in respect of fixed orifice, double-acting cylinder 9 is locked by the pin of two ends precession by the cylinder locking button 10 on double-acting cylinder 9 top, the fixed orifice of fixed frame interior plate 12, fixed frame outer panel 11 is inserted at pin two ends, and the top of double-acting cylinder is fixed; Bottom is designed with an arc groove 30, double-acting cylinder 9 is locked by the pin at two ends by the cylinder locking button 10 of double-acting cylinder 9 bottom, the two ends of pin are inserted into the arc groove 30 of bottom of fixed frame interior plate 12, fixed frame outer panel 11, can be slided in inside grooves in its underpart.The bottom of arc groove 30 is designed with leading screw fixed orifice 29, by pin one end through the miniature leading screw 19 of this hole precession, realizes fixing miniature leading screw 19.
With reference to Fig. 5, the miniature steering wheel 8 of side, double-acting cylinder 9 top is fixed on fixed frame outer panel 11, the mouth of miniature steering wheel 8 is through circular hole on fixed frame outer panel, and be flexibly connected with drive link 7 by the steering wheel crank 6 carried, the other end of drive link 7 is connected to the tight locking button 10 of cylinder bottom; Double-acting cylinder 9 is locked by the pin of two ends precession by the cylinder locking button 10 on double-acting cylinder 9 top, and the fixed orifice of fixed frame interior plate 12, fixed frame outer panel 11 is inserted at pin two ends, and the top of double-acting cylinder is fixed; Double-acting cylinder 9 is locked by the pin at two ends by the cylinder locking button 10 of double-acting cylinder 9 bottom, and the two ends of pin are inserted into arc groove 30 position of 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 form double rocker mechanism, drive link 7 is equivalent to driving lever, cylinder 9 is equivalent to passive rocking bar, cylinder 9 can under the control of steering wheel with the attachment point 28 on fixed frame for the center of circle, slide along fixed frame arc groove 30, realize the adjustment of angle.Controller, by can realize the adjustment of-15-15 degree, corresponding cylinder to the control of steering wheel, expands the action radius of robot.Cylinder carbon dioxide be the driving of propulsion source under, cylinder piston runs range downwards can reach 100mm, can realize completely robot high efficiency spring.After robot is adjusted to required spring angle, controller passes through conducting and the closing period of Controlling solenoid valve, can realize the control to jumping height.
With reference to the bounce structure of Fig. 6, wheeled hopping robot that take-off angle is adjustable various piece by rational assembling and fixing after overall construction drawing.Wherein the upper design of fixed frame and movable frame has fixed platform 27, is convenient to being installed on of relevant control device fixing, makes structure more attractive in appearance, reasonable.Whole mechanism makes the double-acting cylinder 9 of bounce structure in vertical state by the installation of related device and counterweight, is convenient to the regulation and control of robot take-off.
Claims (6)
1. the bouncing mechanism of the wheeled hopping robot that take-off angle is adjustable, it is characterized in that: its inside includes two cylinder fixed frames, in cylinder fixed frame, fixed frame outer panel (11) is fixedly connected with fixed frame interior plate (12), double-acting cylinder (9) top is fixed between fixed frame interior plate (12) and fixed frame outer panel (11) by tight locking button (10), and the bottom of cylinder piston rod is provided with cylinder foot pad (23); Two described cylinder fixed frames all have fixed frame optical axis to pass; And described cylinder fixed frame is all connected with fixed frame optical axis (14), two fixed frame interior plates (12) are relative, and two fixed frame outer panels (11) are all positioned at outside;
The miniature steering wheel (8) of double-acting cylinder (9) side, top is fixed on fixed frame outer panel (11), the mouth of miniature steering wheel (8) is through circular hole on fixed frame outer panel, and be flexibly connected with drive link (7) by the steering wheel crank (6) carried, the other end of drive link (7) is connected to the tight locking button (10) of cylinder bottom; Double-acting cylinder (9) is locked by the pin of two ends precession by the tight locking button (10) on double-acting cylinder (9) top, the fixed orifice on fixed frame interior plate (12), fixed frame outer panel (11) is inserted at pin two ends respectively, and the top of double-acting cylinder is fixed; Double-acting cylinder (9) is locked by the pin of two ends precession by the tight locking button (10) of double-acting cylinder (9) bottom, the two ends of pin are inserted into the arc groove (30) of bottom of fixed frame interior plate (12), fixed frame outer panel (11) respectively, described pin slides along described arc groove (30), thus the take-off angle of adjustment double-acting cylinder;
Steel cylinder (24) for holding gas to be fixed on the fixed frame optical axis (14) of fixed frame side by steel cylinder clip (26), pressure regulating valve (25) precession steel cylinder mouth, the interface of pressure regulating valve (25) is connected with 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 provided with motor fixing plate (15), motor fixing plate (15) is fixed with miniature motor (16), on the mouth of miniature motor (16), cover has small pulley (17), small pulley (17) carries out transmission by belt conveyor and large belt wheel (18), large belt wheel (18) is consistent with small pulley (17) level attitude, the center of large belt wheel (18) is fixed with miniature leading screw (19), by the two ends of pin through the miniature leading screw (19) of circular hole also respectively described in precession on the fixed frame interior plate of both sides, whole miniature leading screw (19) is made to be fixed on the fixed frame interior plate (12) of both sides, and freely rotate on fixed frame interior plate circular hole, two movable frame interior plates (13) are connected between described two fixed frame interior plates (12), there is movable frame outer panel (4) in the arranged outside of described two fixed frame outer panels (11), between the movable frame interior plate (13) of every side and movable frame outer panel (4), be fixedly connected with formation movable frame respectively by movable frame optical axis (5), the centre hole of described two movable frame interior plates (13) described in miniature leading screw (19) precession, by making movable frame interior plate sway to the control of miniature leading screw (19) hand of rotation, and then drive two movable frames to center or to two end motions, the two ends of described movable frame optical axis (5) are fixed on described fixed frame outer panel (11) and fixed frame interior plate (12),
The inner side of movable frame outer panel (4) is provided with motor (1), the mouth cover of worm and gear motor has coupler (3) through the centre hole of movable frame outer panel, and is taken turns with lightweight be connected by motor bearings (2).
2. the bouncing mechanism of the wheeled hopping robot that take-off angle according to claim 1 is adjustable, it is characterized in that: the quantity of described fixed frame optical axis (14) is four, four fixed frame optical axises (14) are each passed through the circular hole on the corner of fixed frame interior plate (12), fixed frame optical axis (14) two ends are individually fixed on fixed frame outer panel (11), thus form complete intra fixed frame.
3. the bouncing mechanism of the wheeled hopping robot that take-off angle according to claim 1 is adjustable, it is characterized in that: miniature steering wheel (8), steering wheel crank (6), drive link (7) and double-acting cylinder (9) form double rocker mechanism, drive link (7) is equivalent to driving lever, cylinder (9) is equivalent to passive rocking bar, cylinder (9) under the control of miniature steering wheel (8) with the attachment point (28) on fixed frame for the center of circle, slide along fixed frame arc groove (30).
4. the bouncing mechanism of the wheeled hopping robot that take-off angle according to claim 1 is adjustable, it is characterized in that: steel cylinder (24) is built with high pressure gas, gas pressure intensity is made to be reduced to 0.5MPa-0.7MPa by the decompression of the miniature pressure regulating valve (25) of correspondence, 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 control admission port and the air extractor duct of two cylinders (9) respectively, time giving vent to anger in solenoid control cylinder top air inlet bottom, promote cylinder piston and move downward realization spring.
5. the bouncing mechanism of the wheeled hopping robot that take-off angle according to claim 1 is adjustable, it is characterized in that: miniature leading screw (19) is contrary with the hand of spiral on the two ends that two movable frame interior plates (13) connect, be designed with screw thread in movable frame interior plate centre hole and consistent with the screw thread on miniature leading screw; The running of miniature motor (16) drives the rotation of small pulley (17), the rotation being fixed on the large belt wheel (18) of (19) on miniature leading screw is realized by the transmission of belt conveyor, movable frame interior plate (13) realizes whole movable frame to center or to two end motions under the driving of leading screw, so regulate the lightweight that is connected with movable frame take turns between spacing.
6. the bouncing mechanism of the wheeled hopping robot that take-off angle according to claim 1 is adjustable, is characterized in that: described lightweight is taken turns by inner side wheel hub (20), between outside wheel hub (22) and wheel, filled and process (21) three part is formed.
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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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| 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 |
| 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 |
| CN113428259B (en) * | 2021-08-09 | 2022-08-09 | 哈尔滨工业大学 | Wheeled mobile robot of high adaptability |
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| CN200985053Y (en) * | 2006-12-21 | 2007-12-05 | 浙江大学 | Wheel legs bouncing composite moving robot based on group working |
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| CN102343951A (en) * | 2011-09-30 | 2012-02-08 | 浙江理工大学 | Multi-locomotion state mechanism for realizing continuous hopping of spherical robot |
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