CN107161236B - Sector gear type hopping robot - Google Patents
Sector gear type hopping robot Download PDFInfo
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- CN107161236B CN107161236B CN201710504316.8A CN201710504316A CN107161236B CN 107161236 B CN107161236 B CN 107161236B CN 201710504316 A CN201710504316 A CN 201710504316A CN 107161236 B CN107161236 B CN 107161236B
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- 210000001364 upper extremity Anatomy 0.000 claims abstract description 129
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 230000009191 jumping Effects 0.000 claims abstract description 28
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 14
- 239000010959 steel Substances 0.000 claims abstract description 14
- 238000005096 rolling process Methods 0.000 claims abstract description 5
- 238000004146 energy storage Methods 0.000 claims description 63
- 238000000034 method Methods 0.000 claims description 2
- 210000002414 leg Anatomy 0.000 description 87
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 241000289581 Macropus sp. Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000238814 Orthoptera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a sector gear type hopping robot. The existing hopping robot has more power sources, low effective power density, larger weight and smaller hopping height and distance. The invention comprises a frame, a front leg jumping mechanism, a rear leg jumping mechanism and a transmission mechanism. The front leg jumping mechanism comprises a front leg shaft, a front leg power rod, a front leg small spring, a front leg connecting rod, a front leg large spring and a front leg sole rod. The rear leg jumping mechanism comprises a rear leg shaft, a rear leg power rod, a rear leg small spring, a rear leg connecting rod, a rear leg large spring and a rear leg sole rod; the transmission mechanism comprises a driving piece, a rolling wheel, a spring, a gear set, a second driven shaft, a first driven shaft, a power rod set and a steel cable. The gear set includes a first sector gear, a second sector gear, a first spur gear, and a second spur gear. The invention can stably and continuously advance in a jumping way by the cooperative operation of the front leg jumping mechanism and the rear leg jumping mechanism.
Description
Technical Field
The invention belongs to the field of bionic robots, and particularly relates to a sector gear type hopping robot.
Background
Human beings have been studied more deeply mainly in terms of animal movement, but many problems remain in the field of biomimetics and are worthy of research by scientists.
In 1980, the first robot capable of jumping with one leg all over the world was studied by the teaching rabbert of the massachusetts institute of technology, and then the leg model of the two-dimensional jump similar to the jump of kangaroo was studied by the teaching rabbert, and then a three-dimensional jump mechanism was developed by the teaching rabbert.
Bionic robots were also studied by Case Western Reserve University in the united states, and mechanical crickets powered by artificial tendons were invented in 1992. The thigh of the robot is made of artificial ribs which are woven by high molecular fibers, when the robot is used, the artificial ribs are tightened and contracted only by inflating a compressor, so that the robot has bouncing capability, the power of the robot is compressed air, and a sensor called a micro angle is used for obtaining external information.
Fumitaka Kikuchi in Japan researches a robot which is driven by a cylinder in 2003 and takes the cylinder as power to realize jumping and walking of the robot, and the characteristics of the robot are that the power of each leg is originated from the cylinder. The four-bar mechanism realizes movement, and the jumping capability and the stable buffering capability of the robot during landing are proved through experiments.
The existing hopping robot has more power sources, low effective power density, larger weight and smaller hopping height and distance. Therefore, it is important to design a jumping robot which is driven by a single power source, has light weight and long jumping distance and can continuously and stably jump.
Disclosure of Invention
The invention aims to provide a sector gear type hopping robot capable of hopping forward, aiming at the defects of the prior art.
The leg jumping mechanism comprises a frame, a front leg jumping mechanism, a rear leg jumping mechanism and a transmission mechanism. The front leg jumping mechanism comprises a front leg shaft, a front leg power rod, a front leg small spring, a front leg connecting rod, a front leg large spring and a front leg sole rod. The front leg shaft is supported on the frame. Two ends of the front leg shaft are respectively fixed with the inner ends of the two front leg power rods; the middle parts of the two front leg power rods are respectively hinged with one ends of the two front leg connecting rods. The other ends of the two front leg connecting rods are respectively hinged with the middle parts of the two front leg sole rods. One end of each of the front leg small spring and the front leg large spring is fixed with the front leg power rod, and the other end of each of the front leg small spring and the front leg large spring is fixed with the front leg sole rod.
The rear leg jumping mechanism comprises a rear leg shaft, a rear leg power rod, a rear leg small spring, a rear leg connecting rod, a rear leg large spring and a rear leg sole rod; the rear leg shaft is supported on the frame. Two ends of the rear leg shaft are respectively fixed with the inner ends of the two rear leg power rods; the middle parts of the two rear leg power rods are respectively hinged with one ends of the two rear leg connecting rods. The other ends of the two rear leg connecting rods are respectively hinged with the middle parts of the two rear leg sole rods. One end of each of the small rear leg spring and the large rear leg spring is fixed with the rear leg power rod, and the other end of each of the small rear leg spring and the large rear leg spring is fixed with the rear leg sole rod.
The transmission mechanism comprises a driving piece, a rolling wheel, a spring, a gear set, a second driven shaft, a first driven shaft, a power rod set and a steel cable. The first driven shaft and the second driven shaft are arranged in parallel and are supported on the rack. The gear set comprises a first sector gear, a second sector gear, a first cylindrical gear and a second cylindrical gear. The first sector gear and the second sector gear are both fixed on the first driven shaft. The first driven shaft is driven by the driving part. And the first cylindrical gear and the second cylindrical gear are both fixed on the second driven shaft. The sum of central angles corresponding to the first sector gear and the second sector gear is less than or equal to 300 degrees. The projection of the central angle corresponding to the first sector gear on the end face of the first sector gear is a first projection angle; the projection of the central angle corresponding to the second sector gear on the end face of the first sector gear is a second projection angle; the first projection angle coincides with a ray of the second projection angle. The first cylindrical gear is meshed with the first sector gear, or the second cylindrical gear is meshed with the second sector gear, or the first cylindrical gear is not meshed with the first sector gear and the second cylindrical gear is not meshed with the second sector gear. The coil drawing wheel is fixed on a second driven shaft. The power rod group comprises a first energy storage rod, a second energy storage rod, a third energy storage rod, a fourth energy storage rod, a front leg transmission rod, a rear leg rocker and a front leg rocker. One end of the third energy storage rod, one end of the fourth energy storage rod, one end of the front leg transmission rod and one end of the rear leg transmission rod are hinged through energy storage hinge shafts. The end of the third energy storage rod far away from the energy storage articulated shaft is articulated with one end of the first energy storage rod through the first articulated shaft. The other end of the first energy storage rod is hinged with the frame. The end of the fourth energy storage rod, which is far away from the energy storage hinge shaft, is hinged with one end of the second energy storage rod through the second hinge shaft. The other end of the second energy storage rod is hinged with the frame. The first articulated shaft is connected with the second articulated shaft through an energy storage spring. The end of the front leg transmission rod far away from the energy storage articulated shaft is articulated with one end of the front leg rocker. The other end of the front leg rocker is fixed with the front leg shaft. The end of the rear leg transmission rod far away from the energy storage articulated shaft is articulated with one end of the rear leg rocker. The other end of the rear leg rocker is fixed with the rear leg shaft. One end of the steel cable is fixed with the reel, and the other end of the steel cable is fixed with the energy storage articulated shaft.
The stiffness coefficients of the front leg small spring and the front leg large spring are equal, and the free length of the front leg small spring is smaller than that of the front leg large spring. The front leg small spring is arranged on one side of the front leg connecting rod close to the inner end of the front leg power rod. The big spring of the front leg is arranged on one side of the front leg connecting rod close to the outer end of the front leg power rod.
The stiffness coefficients of the small rear leg spring and the large rear leg spring are equal, and the free length of the small rear leg spring is smaller than that of the large rear leg spring. The small rear leg spring is arranged on one side of the rear leg connecting rod close to the inner end of the rear leg power rod. The big spring of back leg sets up in one side of back leg connecting rod back leg power pole outer end.
The driving piece comprises a motor, a driving gear and a driven gear; the motor is fixed on the frame; the driving gear is fixed with an output shaft of the motor; the driven gear is fixed with the first driven shaft. The driving gear is meshed with the driven gear.
The central angles of the first sector gear and the second sector gear are 120 degrees.
A fixed pulley is supported on the frame; the steel cable is wound around the fixed pulley.
And a storage battery connected with the driving part is fixed on the frame.
And 1.5 times of the number of the second cylindrical gear teeth is less than that of the first cylindrical gear teeth.
The number of the first sector gears is two; the two first sector gears are respectively arranged at two ends of the second sector gear. The projections of the two first sector gears on the end face of the second sector gear coincide. The number of the first cylindrical gears is two; the two first cylindrical gears are respectively arranged at two ends of the second cylindrical gear. The two first sector gears are respectively meshed with the two first cylindrical gears.
The invention has the beneficial effects that:
1. the invention can stably and continuously advance in a jumping way by the cooperative operation of the front leg jumping mechanism and the rear leg jumping mechanism.
2. The invention can complete jumping only by the rotation output by one driving element, and has compact structure, stability and reliability.
3. Two groups of gears are arranged on the two driven shafts, and the two driven shafts sequentially have three states of large transmission ratio transmission, small transmission ratio transmission and independent movement of the two driven shafts through the matching of the sector gears, so that the jumping function is realized.
4. The invention is driven by the connecting rod, has smaller overall weight and meets the microminiature characteristic.
Drawings
FIG. 1 is a perspective view of the overall construction of the present invention;
FIG. 2 is a schematic view of a front leg jumping mechanism of the present invention;
FIG. 3 is a schematic view of a rear leg jumping mechanism of the present invention;
FIG. 4 is a schematic view of the transmission mechanism of the present invention;
FIG. 5 is a schematic illustration of a gear set of the present invention;
fig. 6 is a schematic view of a power lever set of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the sector gear type hopping robot comprises a frame, a front leg hopping mechanism, a rear leg hopping mechanism and a transmission mechanism. The front leg jumping mechanism comprises a front leg shaft 1, a front leg power rod 2, a front leg small spring 3, a front leg connecting rod 4, a front leg large spring 5 and a front leg sole rod 6. The front leg shaft 1 is supported on the frame. Two ends of the front leg shaft 1 are respectively fixed with the inner ends of the two front leg power rods 2; the middle parts of the two front leg power rods 2 are respectively hinged with one ends of the two front leg connecting rods 4. The other ends of the two front leg connecting rods 4 are respectively hinged with the middle parts of the two front leg sole rods 6. One ends of the front leg small spring 3 and the front leg large spring 5 are both fixed with the front leg power rod 2, and the other ends are both fixed with the front leg sole rod 6. The stiffness coefficients of the front leg small spring 3 and the front leg large spring 5 are equal, and the free length of the front leg small spring 3 is smaller than that of the front leg large spring 5. The front leg small spring 3 is arranged on one side of the front leg connecting rod 4 close to the inner end of the front leg power rod 2. The front leg big spring 5 is arranged on one side of the front leg connecting rod 4 close to the outer end of the front leg power rod 2. Under the non-working state, the bottom surface of the front leg sole rod 6 is flush with the bottom surface of the frame.
As shown in fig. 1 and 3, the rear leg jumping mechanism includes a rear leg shaft 7, a rear leg power rod 8, a rear leg small spring 9, a rear leg connecting rod 10, a rear leg large spring 11 and a rear leg sole rod 12; the rear leg shaft 7 is supported on the frame. Two ends of the rear leg shaft 7 are respectively fixed with the inner ends of the two rear leg power rods 8; the middle parts of the two rear leg power rods 8 are respectively hinged with one ends of the two rear leg connecting rods 10. The other ends of the two rear leg connecting rods 10 are respectively hinged with the middle parts of the two rear leg sole rods 12. One end of each of the small rear leg spring 9 and the large rear leg spring 11 is fixed with the rear leg power rod 8, and the other end of each of the small rear leg spring and the large rear leg spring is fixed with the rear leg sole rod 12. The stiffness coefficients of the small rear leg spring 9 and the large rear leg spring 11 are equal, and the free length of the small rear leg spring 9 is smaller than that of the large rear leg spring 11. The rear leg small spring 9 is arranged on one side of the rear leg connecting rod 10 close to the inner end of the rear leg power rod 8. The big rear leg spring 11 is arranged on one side of the outer end of the rear leg power rod 8 of the rear leg connecting rod 10. In the non-working state, the bottom surface of the rear leg sole rod 12 is flush with the bottom surface of the frame.
As shown in fig. 1, 4, 5 and 6, the transmission mechanism includes a battery fixing plate 13, a motor 14, a winding wheel 15, an energy storage spring 16, a fixed pulley 17, a gear set, a second driven shaft 23, a first driven shaft 24, a second fixed shaft 25, a first fixed shaft 26, a power lever set and a cable 36. The first fixing shaft 26 and the second fixing shaft 25 are arranged in parallel and fixed on the frame. The battery fixing plate 13 is fixed on the frame. The motor 14 and the storage battery are fixed on the battery fixing plate 13; the motor 14 is connected with a storage battery; the first driven shaft 24 and the second driven shaft 23 are arranged in parallel and are supported on the frame. The gear set includes a drive gear 18, a driven gear 19, a first sector gear 20, a second sector gear 21, a first cylindrical gear 22, and a second cylindrical gear 35. The drive gear 18 is fixed to the output shaft of the motor 14. The driven gear 19, the second sector gear 21 and the two first sector gears 20 are all fixed on a first driven shaft 24. Two first sector gears 20 are respectively provided at both ends of the second sector gear 21. The projections of the two first sector gears 20 onto the end faces of the second sector gear 21 coincide. The second cylindrical gear 35 and the two first cylindrical gears 22 are fixed on the second driven shaft 23. The two first cylindrical gears 22 are respectively provided at both ends of the second cylindrical gear 35. The projections of the two first cylindrical gears 22 on the end face of the second cylindrical gear 35 coincide. The driving gear 18 meshes with the driven gear 19. The first sector gear 20 and the second sector gear 21 each have a central angle of 120 °. The projection of the central angle corresponding to the first sector gear 20 on the end face of the first sector gear 20 is a first projection angle; projections of central angles corresponding to the two second sector gears 21 on the end face of the first sector gear 20 are second projection angles; the first projection angle coincides with a ray of the second projection angle. The first cylindrical gear 22 is meshed with the first sector gear 20, or the two second cylindrical gears 35 are respectively meshed with the two second sector gears 21, or the first cylindrical gear 22 is not meshed with the first sector gear 20 and the second cylindrical gear 35 is not meshed with the second sector gear 21. The number of teeth of the second cylindrical gear 35 is 1.5 times smaller than that of the first cylindrical gear 22. The drawing and rolling wheel 15 is fixed on a second driven shaft 23. The power lever group comprises a first energy storage lever 27, a second energy storage lever 28, a third energy storage lever 29, a fourth energy storage lever 30, a front leg transmission lever 31, a rear leg transmission lever 32, a rear leg rocker 33 and a front leg rocker 34. One ends of the third energy storage rod 29, the fourth energy storage rod 30, the front leg transmission rod 31 and the rear leg transmission rod 32 are hinged through energy storage hinge shafts. The end of the third energy storage rod 29 remote from the energy storage hinge shaft is hinged to the end of the first energy storage rod 27 via the first hinge shaft. The other end of the first energy storage rod 27 and the first fixed shaft 26 form a rotation pair. The end of the fourth energy storage rod 30 remote from the energy storage hinge shaft is hinged to the end of the second energy storage rod 28 via the second hinge shaft. The other end of the second energy storage rod 28 and the second fixed shaft 25 form a rotation pair. The first hinge shaft and the second hinge shaft are connected through an energy storage spring 16. The end of the front leg transmission rod 31 far away from the energy storage articulated shaft is articulated with one end of the front leg rocker 34. The other end of the front leg rocker 34 is fixed to the front leg shaft 1. The end of the rear leg transmission rod 32 far away from the energy storage articulated shaft is articulated with one end of a rear leg rocker 33. The other end of the rear leg rocker 33 is fixed to the rear leg shaft 7. One end of the steel cable 36 is fixed with the drawing and rolling wheel 15, and the other end is fixed with the energy storage articulated shaft. The fixed pulley 17 is supported on the frame; the wire rope 36 passes around the fixed pulley 17.
The working principle of the invention is as follows:
step one, the motor 14 rotates, and the driving gear 18 drives the driven gear 19 to rotate. At this time, the second spur gear 35 meshes with the second sector gear 21, so that the second sector gear 21 rotates the second driven shaft 23. The reel 15 on the second driven shaft 23 pulls the steel cable 36 in the rotation process, and the energy storage articulated shaft moves towards the fixed pulley 17 under the pulling of the steel cable 36, so that the energy storage spring is deformed. Under the pulling of the energy storage articulated shaft, the front leg rocker 34 drives the front leg shaft 1 to rotate, and the rear leg rocker 33 drives the rear leg shaft 7 to rotate, so that the front leg power rod 2 and the rear leg power rod 8 are both turned upwards. After the second sector gear 21 and the second cylindrical gear 35 are engaged, the two first sector gears 20 and the two first cylindrical gears 22 start to be engaged respectively. Since the transmission ratio of the first sector gear 20 to the first cylindrical gear 22 is smaller than the transmission ratio of the second sector gear 21 to the second cylindrical gear 35, the rotation speed of the second driven shaft 23 is reduced. With the increase of the deformation length of the energy storage spring, the tensile force transmitted by the steel cable 36 is increased, and under the condition that the rotating speed of the second driven shaft 23 is not changed, the power required to be output by the motor is increased; at this time, the rotating speed of the second driven shaft 23 is reduced, so that the moving speed of the steel cable 36 can be reduced, the power required to be output by the motor 14 is reduced, and the relative stability of the required output power of the motor 14 is ensured.
And step two, after the second sector gear 21 and the second cylindrical gear 35 are meshed, the front leg power rod 2 and the rear leg power rod 8 are both rapidly turned downwards under the action of the energy storage spring, the front leg sole rod 6 and the rear leg sole rod 12 impact the ground to provide a bouncing force for the rack, and the rack jumps forwards. The second driven shaft 23 is also rotated to the initial state by the charging spring.
And step three, the rack falls to the ground, and after the second cylindrical gear 35 and the second sector gear 21 are meshed again, the step one and the step two are repeated.
Claims (7)
1. The sector gear type hopping robot comprises a rack, a front leg hopping mechanism, a rear leg hopping mechanism and a transmission mechanism; the method is characterized in that: the front leg jumping mechanism comprises a front leg shaft (1), a front leg power rod (2), a front leg small spring (3), a front leg connecting rod (4), a front leg large spring (5) and a front leg sole rod (6); the front leg shaft (1) is supported on the frame; two ends of the front leg shaft (1) are respectively fixed with the inner ends of the two front leg power rods (2); the middle parts of the two front leg power rods (2) are respectively hinged with one ends of the two front leg connecting rods (4); the other ends of the two front leg connecting rods (4) are respectively hinged with the middle parts of the two front leg sole rods (6); one end of each of the front leg small spring (3) and the front leg large spring (5) is fixed with the front leg power rod (2), and the other end of each of the front leg small spring and the front leg large spring is fixed with the front leg sole rod (6);
the rear leg jumping mechanism comprises a rear leg shaft (7), a rear leg power rod (8), a rear leg small spring (9), a rear leg connecting rod (10), a rear leg large spring (11) and a rear leg sole rod (12); the rear leg shaft (7) is supported on the frame; two ends of the rear leg shaft (7) are respectively fixed with the inner ends of the two rear leg power rods (8); the middle parts of the two rear leg power rods (8) are respectively hinged with one ends of the two rear leg connecting rods (10); the other ends of the two rear leg connecting rods (10) are respectively hinged with the middle parts of the two rear leg sole rods (12); one end of each of the small rear leg spring (9) and the large rear leg spring (11) is fixed with the rear leg power rod (8), and the other end of each of the small rear leg spring and the large rear leg spring is fixed with the rear leg sole rod (12);
the transmission mechanism comprises a driving piece, a rolling wheel (15), a spring (16), a gear set, a second driven shaft (23), a first driven shaft (24), a power rod set and a steel cable (36); the first driven shaft (24) and the second driven shaft (23) are arranged in parallel and are supported on the frame; the gear set comprises a first sector gear (20), a second sector gear (21), a first cylindrical gear (22) and a second cylindrical gear (35); the first sector gear (20) and the second sector gear (21) are both fixed on a first driven shaft (24); the first driven shaft (24) is driven by a driving piece; the first cylindrical gear (22) and the second cylindrical gear (35) are fixed on the second driven shaft (23); the sum of central angles corresponding to the first sector gear (20) and the second sector gear (21) is less than or equal to 300 degrees; the projection of the central angle corresponding to the first sector gear (20) on the end face of the first sector gear (20) is a first projection angle; the projection of the central angle corresponding to the second sector gear (21) on the end face of the first sector gear (20) is a second projection angle; a ray of the first projection angle and a ray of the second projection angle are coincident; the first cylindrical gear (22) is meshed with the first sector gear (20), or the second cylindrical gear (35) is meshed with the second sector gear (21), or the first cylindrical gear (22) is not meshed with the first sector gear (20) and the second cylindrical gear (35) is not meshed with the second sector gear (21); the coil drawing wheel (15) is fixed on a second driven shaft (23); the power rod group comprises a first energy storage rod (27), a second energy storage rod (28), a third energy storage rod (29), a fourth energy storage rod (30), a front leg transmission rod (31), a rear leg transmission rod (32), a rear leg rocker (33) and a front leg rocker (34); one end of the third energy storage rod (29), one end of the fourth energy storage rod (30), one end of the front leg transmission rod (31) and one end of the rear leg transmission rod (32) are hinged through an energy storage hinge shaft; the end of the third energy storage rod (29) far away from the energy storage articulated shaft is articulated with one end of the first energy storage rod (27) through the first articulated shaft; the other end of the first energy storage rod (27) is hinged with the frame; the end of the fourth energy storage rod (30) far away from the energy storage articulated shaft is articulated with one end of the second energy storage rod (28) through a second articulated shaft; the other end of the second energy storage rod (28) is hinged with the frame; the first articulated shaft is connected with the second articulated shaft through an energy storage spring (16); the end of the front leg transmission rod (31) far away from the energy storage articulated shaft is articulated with one end of a front leg rocker (34); the other end of the front leg rocker (34) is fixed with the front leg shaft (1); the end of the rear leg transmission rod (32) far away from the energy storage articulated shaft is articulated with one end of a rear leg rocker (33); the other end of the rear leg rocker (33) is fixed with the rear leg shaft (7); one end of the steel cable (36) is fixed with the reel (15), and the other end of the steel cable is fixed with the energy storage articulated shaft;
the stiffness coefficients of the front leg small spring (3) and the front leg large spring (5) are equal, and the free length of the front leg small spring (3) is smaller than that of the front leg large spring (5); the front leg small spring (3) is arranged on one side of the front leg connecting rod (4) close to the inner end of the front leg power rod (2); the front leg large spring (5) is arranged on one side of the front leg connecting rod (4) close to the outer end of the front leg power rod (2);
the stiffness coefficients of the small rear leg spring (9) and the large rear leg spring (11) are equal, and the free length of the small rear leg spring (9) is smaller than that of the large rear leg spring (11); the rear leg small spring (9) is arranged on one side of the rear leg connecting rod (10) close to the inner end of the rear leg power rod (8); the big rear leg spring (11) is arranged on one side of the outer end of the rear leg power rod (8) of the rear leg connecting rod (10).
2. The sector-gear hopping robot of claim 1, wherein: the driving piece comprises a motor (14), a driving gear (18) and a driven gear (19); the motor (14) is fixed on the frame; the driving gear (18) is fixed with an output shaft of the motor (14); the driven gear (19) is fixed with the first driven shaft (24); the drive gear (18) is meshed with the driven gear (19).
3. The sector-gear hopping robot of claim 1, wherein: the central angles of the first sector gear (20) and the second sector gear (21) are both 120 degrees.
4. The sector-gear hopping robot of claim 1, wherein: a fixed pulley (17) is supported on the frame; the steel cable (36) passes around the fixed pulley (17).
5. The sector-gear hopping robot of claim 1, wherein: and a storage battery connected with the driving part is fixed on the frame.
6. The sector-gear hopping robot of claim 1, wherein: the number of teeth of the second cylindrical gear (35) is 1.5 times smaller than that of the first cylindrical gear (22).
7. The sector-gear hopping robot of claim 1, wherein: the number of the first sector gears (20) is two; the two first sector gears (20) are respectively arranged at two ends of the second sector gear (21); the projections of the two first sector gears (20) on the end face of the second sector gear (21) are overlapped; the number of the first cylindrical gears (22) is two; the two first cylindrical gears (22) are respectively arranged at two ends of the second cylindrical gear (35); the two first sector gears (20) are respectively meshed with the two first cylindrical gears (22).
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| CN201710504316.8A CN107161236B (en) | 2017-06-28 | 2017-06-28 | Sector gear type hopping robot |
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| CN201710504316.8A CN107161236B (en) | 2017-06-28 | 2017-06-28 | Sector gear type hopping robot |
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| CN107161236B true CN107161236B (en) | 2023-03-31 |
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| CN111497960A (en) * | 2020-05-12 | 2020-08-07 | 中国科学院沈阳自动化研究所 | Wheel step self-adaptive variable-configuration mobile robot |
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|---|---|---|---|---|
| CN101797937A (en) * | 2010-04-12 | 2010-08-11 | 北京航空航天大学 | Bionic galloping robot based on connecting rod mechanism |
| CN102806951A (en) * | 2012-08-07 | 2012-12-05 | 北方工业大学 | Frog-inspired biomimetic jumping robot |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| CN105059412A (en) * | 2015-08-14 | 2015-11-18 | 西北工业大学 | Bionic hopping robot driven by internal combustion engine |
| CN105292291A (en) * | 2015-11-24 | 2016-02-03 | 刘阳 | Bionic frog electric robot |
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