CN114275073B - Jumping robot - Google Patents
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- CN114275073B CN114275073B CN202210085774.3A CN202210085774A CN114275073B CN 114275073 B CN114275073 B CN 114275073B CN 202210085774 A CN202210085774 A CN 202210085774A CN 114275073 B CN114275073 B CN 114275073B
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a jumping robot. The hopping robot adopts a planetary gear train mechanism with two driven wheels, wherein the planetary gear train mechanism is provided with a driving wheel, a movable transmission gear and two driven wheels. One driven wheel is used for controlling the jumping direction, the other driven wheel is used for controlling the jumping action, the transmission gear is respectively meshed with the two driven wheels through the clockwise rotation or the anticlockwise rotation of the driving wheel, and the rotation of the transmission gear is respectively controlled, so that the under-actuated function of controlling two outputs through one power input is realized. The jumping robot has the advantages of adjustable jumping direction, compact and light structure, good flexibility, high energy utilization rate and the like by adopting an under-actuated design.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a jumping robot.
Background
With the continuous development of science and technology, robots play a very important role in human life, and various robots are researched and developed. One type of robots imitating the biological leap of the nature can climb over obstacles with the length being several times of the body by means of short-time energy outbreak, have important citations in interstellar exploration, disaster rescue and military reconnaissance and are widely concerned.
Jumping motion is a form of motion that many creatures have, but different creatures are completely different in jumping height, jumping distance, stability of jumping, and combination of jumping motion and other motions. However, although research on a jumping robot has been focused on the realization of a jumping mechanism, i.e., the realization of jumping motion, the research on jumping height, jumping distance, stability of jumping, and the like is relatively rare. To achieve higher and more distant jumps, it is critical to control the weight of the robot. The steering engine and the power supply are the heaviest parts in the jumping robot, so that the reduction of the use of the steering engine is the core of weight reduction of the robot under the condition of ensuring the movement of the robot. In the prior art, the Chinese patent application with the patent application number of CN202010025516.7 and the invention name of 'an eight-connecting-rod structure jumping robot with adjustable air posture' discloses a jumping robot structure, and the working principle of the jumping robot structure is that a wire is tightened by rotating a wire winding wheel through a motor, the tension of the wire compresses a leg torsion spring, then the wire winding wheel is quickly disconnected with the motor by using a planet wheel clutch, the elasticity of the leg torsion spring is released, and the robot is driven to jump. The leg part uses eight-link structure to guarantee that the jumping robot can realize straight line jumping. The eight-connecting-rod mechanism has the disadvantages of complex structure, high processing difficulty of jumping the leg part to meet the requirement of a preset track, and low moving reliability. Meanwhile, the robot can only realize jumping vertically upwards and does not have the capability of moving in the horizontal direction.
Disclosure of Invention
The invention aims to provide a jumping robot, which integrates the jumping energy storage and the jumping direction adjustment through a clutch device and the same driver, and has important application in designing a jumping robot with stronger jumping capacity.
The invention provides a hopping robot which comprises a controller, a power supply, a first steering engine, a second steering engine, a right side transmission system, a right side plate, a left side transmission system and a left side plate; the controller is sequentially connected with the power supply, the first steering engine and the second steering engine through signal lines; the right side transmission system is connected with the power output wheel of the second steering engine through a right side plate, and the left side transmission system is connected with the power output wheel of the first steering engine through a left side plate.
Optionally, the right side drive train comprises a right side drive mechanism and a right side skip mechanism; the right side transmission mechanism comprises a right power input wheel, a right driven wheel and a right traction rope, and the right side jumping mechanism comprises a right thigh, a right shank and a front arm; the right power input wheel is connected with the power output wheel of the second steering engine, the right power input wheel is linked with the right driven wheel through a right transmission planet wheel, and the right driven wheel drives the front arm to swing through a right transmission rod; one end of the right thigh is hinged with one end of the right shank, a right shank torsion spring is arranged at the hinged position, the other end of the right thigh is fixed opposite to the right side plate, and the other end of the right shank is linked with the right wire winding wheel through the right traction rope.
The hopping robot further comprises a right locking planet wheel, the right locking planet wheel and the right transmission planet wheel are relatively fixed through a support of the right transmission planet wheel, and when the right transmission planet wheel is disengaged from the right driven wheel, the right locking planet wheel is engaged with the right driven wheel.
Optionally, the left side transmission system comprises a left side transmission mechanism and a left side jumping mechanism, the left side transmission mechanism comprises a left power input wheel, a left transmission planet wheel, a left wire wrapping wheel and a left traction rope, and the left side jumping mechanism comprises a left thigh and a left shank; the left power input wheel is connected with the power output wheel of the first steering engine and is linked with the left wire winding wheel through a left transmission planet wheel; one end of the left thigh is hinged with one end of the left shank, the other end of the left thigh is fixed relative to the left side plate, and the other end of the left shank is linked with the left wire winding wheel through a left traction rope.
Compared with the existing robot, the jumping robot provided by the embodiment of the invention has the characteristics that the jumping direction can be adjusted, the jumping drop point on a two-dimensional plane can be controlled, the mechanical structure of the leg is simpler, and the reliability is higher. The invention realizes the control of the jumping angle by adding the telescopic forearm connecting rod mechanism.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic structural diagram of a hopping robot according to an embodiment of the present invention.
Fig. 2 is a front view of a right side plate of the hopping robot according to one embodiment of the present invention.
Fig. 3 is a front view of a left side plate of the hopping robot according to an embodiment of the present invention.
In fig. 1-3, 1 is a controller, 2 is a power supply, 3 is a left thigh, 4 is a right thigh, 5 is a right calf, 6 is a left calf, 7 is a right hauling rope, 8 is a left hauling rope, 9 is a front arm, 10 is a right side plate, 11 is a palm, 12 is a first steering gear, 13 is a left side plate, 14 is a second steering gear, 15 is a right leg torsion spring, 16 is a left leg torsion spring, 17 is a right power input wheel, 18 is a right locking planet wheel, 19 is a right transmission planet wheel, 20 is a right driven wheel, 21 is a right transmission rod, 22 is a right winding wheel, 23 is a right positioning column, 24 is an upper right positioning column, 25 is a support for the right transmission planet wheel, 26 is a left winding wheel, 27 is a left positioning column, 28 is a left power input wheel, 29 is a left transmission planet wheel, and 30 is a support for the left transmission planet wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the directions or positional relationships indicated by the terms "left", "right", "first", "second", etc. are based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
A hopping robot according to an embodiment of the present invention is described below with reference to the drawings.
Fig. 1 shows a hopping robot according to an embodiment of the present invention, which includes a controller 1, a power supply 2, a first steering engine 12, a second steering engine 14, a right side transmission system, a right side plate 10, a left side transmission system, and a left side plate 13; the controller 1 is sequentially connected with a power supply 2, a first steering engine 12 and a second steering engine 14 through signal lines; the right side transmission system is connected with a power output wheel of the second steering engine 14 through a right side plate 10, the left side transmission system is connected with the power output wheel of the first steering engine 12 through a left side plate 13, and the power supply 2 is used for supplying electric energy to the first steering engine 12 and the second steering engine 14.
In an embodiment of the present invention, the right side transmission system is shown in fig. 2 and comprises a right side transmission mechanism and a right side jumping mechanism; the right side transmission mechanism comprises a right power input wheel 17, a right driven wheel 20 and a right traction rope 7, and the right side jumping mechanism comprises a right thigh 4, a right shank 5 and a front arm 9; the right power input wheel 17 is connected with the power output wheel of the second steering engine 14, the right power input wheel 17 is linked with a right driven wheel 20 through a right transmission planet wheel 19, and the right driven wheel 20 drives the front arm 9 to swing through a right transmission rod 21; one end of the right thigh 4 is hinged with one end of the right shank 5, a right shank torsion spring 15 is arranged at the hinged position, the other end of the right thigh 4 is fixed relative to the right side plate 10, the other end of the right shank 5 is linked with the right winding wheel 22 through the right traction rope 7, and the end part of the front arm 9 is provided with a palm 11 to ensure that the robot cannot roll.
In the embodiment of the invention, the hopping robot further comprises a right locking planet wheel 18, the right locking planet wheel 18 and the right transmission planet wheel 19 are relatively fixed through a support of the right transmission planet wheel, and when the right transmission planet wheel 19 is disengaged from the right driven wheel 20, the right locking planet wheel 18 is engaged with the right driven wheel 20.
According to the embodiment of the invention, the left side transmission system is shown in fig. 3 and comprises a left side transmission mechanism and a left side jumping mechanism, the left side transmission mechanism comprises a left power input wheel 27, a left transmission planet wheel 28, a left winding wheel 25 and a left traction rope 8, and the left side jumping mechanism comprises a left thigh 3 and a left shank 6; the left power input wheel 27 is connected with the power output wheel of the first steering engine 12, and the left power input wheel 27 is linked with the left wire winding wheel 25 through a left transmission planet wheel 28; one end of the left thigh 3 is hinged with one end of the left leg 6, the other end of the left thigh 3 is fixed relative to the left side plate 13, and the other end of the left leg 6 is linked with the left winding wheel 25 through the left hauling rope 8.
The hopping robot of the embodiment of the invention adopts a planetary gear train mechanism with two driven wheels, wherein the planetary gear train mechanism is provided with a driving wheel, a movable transmission gear and two driven wheels. One driven wheel is used for controlling the jumping direction, the other driven wheel is used for controlling the jumping action, the transmission gear is respectively meshed with the two driven wheels through the clockwise rotation or the anticlockwise rotation of the driving wheel, and the rotation of the transmission gear is respectively controlled, so that the under-actuated function of controlling two outputs through one power input is realized.
According to the first steering engine and the second steering engine in the hopping robot, clockwise rotation can be achieved through the swing driving gear of the swing gear, so that the control direction of the hopping robot can be adjusted, anticlockwise rotation of the steering engines can be achieved through the swing gear to drive the gear of the gear, and therefore contraction of the traction rope and energy storage through compression of the torsion spring are achieved. Therefore, the jumping robot has the advantages of adjustable jumping direction, compact and light structure, good flexibility, high energy utilization rate and the like by adopting an under-actuated design.
The working principle and the working process of the jumping robot in one embodiment of the present invention are described in detail below with reference to the accompanying drawings:
adjusting the jumping direction:
the controller 1 sends a signal to adjust the jump direction. The second steering engine 14 receives the signal and then drives the right power input wheel 17 to rotate clockwise, the right transmission planet wheel 19 is driven by the right power input wheel 17 to rotate (revolve) clockwise around the right power input wheel 17 until being meshed with the right driven wheel 20, at this time, the support 25 of the right transmission planet wheel 19 contacts with the upper right positioning column 24 to limit the right transmission planet wheel 19 to continue revolving, so that the right transmission planet wheel 19 is kept meshed with the driven wheel 20, and the driven wheel 20 is driven to rotate by the right transmission planet wheel 19 at this time. The right driven wheel 20 rotates to drive a right transmission rod 21 connected with the right driven wheel to rotate, and the rotation of the right transmission rod 21 drives the front arm 9 to do limited reciprocating up and down telescopic motion. Because the whole robot is supported by only three points, namely the tail end of the right lower leg 5, the tail end of the left lower leg 6 and the tail end of the front arm 9, the pitching angle of the robot can be adjusted by the stretching of the front arm 9, and the pitching angle is directly related to the jumping direction, so that the jumping direction is adjusted.
Preservation of jump direction:
when the jumping direction of the jumping robot reaches a predetermined position, the controller 1 sends a signal to end the adjustment of the jumping direction. The second steering engine 14 receives the signal and drives the right power input wheel 17 to rotate anticlockwise, and the right transmission planet wheel 19 is driven by the right power input wheel 17 to rotate (revolve) anticlockwise around the right power input wheel 17 until the right transmission planet wheel is disengaged from the right driven wheel 20. And the right locking planet wheel 18 is fixed with the bracket 25 of the right transmission planet wheel 19, when the right transmission planet wheel 19 is driven to rotate around the right power input wheel 17 anticlockwise and is disengaged from the right driven wheel 20, the right locking planet wheel 18 also rotates around the right power input wheel 17 anticlockwise and is engaged with the right driven wheel 20. Since the right locking planet wheel 18 can not rotate, the rotation of the right driven wheel 20 can be locked, so that the telescopic length of the front arm 9 controlled by the right driven wheel 20 is not changed, and the jumping direction of the jumping robot is maintained.
Jumping and storing power:
when the controller 1 sends a jumping power accumulation signal, the second steering engine 14 and the first steering engine 12 receive the signal and move simultaneously.
The second steering engine 14 drives the right power input wheel 17 to continue to rotate anticlockwise after receiving the signal. The right transmission planet wheel 19 is driven by the right power input wheel 17 to rotate (revolve) around the right power input wheel 17 anticlockwise until being meshed with the right winding wheel 22, at the moment, the support of the right transmission planet wheel 19 can be in contact with the right positioning column 23 to limit the right transmission planet wheel 19 to continuously revolve, so that the right transmission planet wheel 19 is kept meshed with the right winding wheel 22, and the right winding wheel 22 is driven to rotate by the right transmission planet wheel 19 at the moment. The rotation of the right wire winding wheel 22 can tighten the right traction rope 7, and after the right traction rope 7 is tightened, the included angle between the right shank 5 and the right thigh 4 is reduced, and the right leg torsion spring 15 is compressed to realize force storage.
The first steering engine 12 receives the signal and drives the left power input wheel 28 to rotate anticlockwise. The left transmission planetary wheel 29 is driven by the left power input wheel 28 to rotate (revolve) around the left power input wheel 28 anticlockwise until being meshed with the left winding wheel 26, at the moment, a support 30 of the left transmission planetary wheel 29 can be contacted with the left positioning column 26 to limit the left transmission planetary wheel 29 to continuously revolve, so that the meshing of the left transmission planetary wheel 29 and the left winding wheel 26 is kept, and the left winding wheel 26 is driven by the left transmission planetary wheel 29 to rotate at the moment. The rotation of the left wire winding wheel 26 can tighten the left traction rope 8, and after the left traction rope 8 is tightened, the included angle between the left shank 6 and the left thigh 3 is reduced, and the left leg torsion spring 16 is compressed to realize force storage.
Jumping and storing force release:
when the jumping power accumulation reaches a preset value, the controller 1 sends a signal for finishing adjusting the jumping power accumulation. The second steering engine 14 and the first steering engine 12 receive signals and move simultaneously.
The second steering engine 14 is connected with a signal to drive the right power input wheel 17 to rotate clockwise, and the right transmission planet wheel 19 is driven by the right power input wheel 17 to rotate (revolve) clockwise around the right power input wheel 17 until being disengaged from the right winding wheel 22. At the moment, the right wire winding wheel 22 is in a free rotation state, tension cannot be provided for the right traction rope 7, the jumping stored force of the right leg torsion spring 15 is freely released, and the right lower leg 5 is driven to rapidly and vigorously swing, so that the jumping robot jumps forwards.
The first steering engine 12 receives the signal and then drives the left power input wheel 28 to rotate clockwise, and the left transmission planet wheel 29 is driven by the left power input wheel 28 to rotate (revolve) clockwise around the left power input wheel 28 until the left power input wheel is disengaged from the left winding wheel 26. At the moment, the left wire winding wheel 26 is in a free rotation state, and does not provide pulling force for the left traction rope 8, so that the jumping stored force of the left leg torsion spring 16 is released freely, the left leg 6 is driven to swing rapidly and vigorously, and the jumping robot jumps forwards.
In one embodiment of the invention, the steering engine used is manufactured by Shanshi Limited electronic technology Co., ltd, and is a PDI-HV5523MG 360-degree digital steering engine. The controller manufacturer who uses is Arduino company of Italy, and the product model is Arduino nano singlechip.
The foregoing is illustrative of the embodiments of the present invention and can be understood and effected by those skilled in the art without any inventive step. It should be noted that modifications and adaptations can be made by those skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (3)
1. A hopping robot is characterized by comprising a controller, a power supply, a first steering engine, a second steering engine, a right side transmission system, a right side plate, a left side transmission system and a left side plate; the controller is sequentially connected with the power supply, the first steering engine and the second steering engine through signal lines; the right side transmission system is connected with a power output wheel of the second steering engine through a right side plate, and the left side transmission system is connected with a power output wheel of the first steering engine through a left side plate;
the right side transmission system comprises a right side transmission mechanism and a right side jumping mechanism; the right side transmission mechanism comprises a right power input wheel, a right driven wheel and a right traction rope, and the right side jumping mechanism comprises a right thigh, a right shank and a front arm; the right power input wheel is connected with the power output wheel of the second steering engine, the right power input wheel is linked with the right driven wheel through a right transmission planet wheel, and the right driven wheel drives the front arm to swing through a right transmission rod; one end of the right thigh is hinged with one end of the right shank, a right leg torsion spring is arranged at the hinged position, the other end of the right thigh is fixed relative to the right side plate, and the other end of the right shank is linked with the right wire winding wheel through the right traction rope.
2. The hopping robot of claim 1, further comprising a right locking planet, the right locking planet being relatively fixed to the right drive planet by a carrier of the right drive planet, the right locking planet engaging the right driven wheel when the right drive planet disengages from the right driven wheel.
3. The hopping robot of claim 1 or 2, wherein the left side drive train comprises a left side drive mechanism and a left side hopping mechanism, the left side drive mechanism comprises a left power input wheel, a left drive planet wheel, a left wire wrapping wheel and a left traction rope, and the left side hopping mechanism comprises a left thigh and a left shank; the left power input wheel is connected with the power output wheel of the first steering engine and is linked with the left wire winding wheel through a left transmission planet wheel; one end of the left thigh is hinged with one end of the left shank, the other end of the left thigh is fixed relative to the left side plate, and the other end of the left shank is linked with the left wire winding wheel through a left traction rope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210085774.3A CN114275073B (en) | 2022-01-25 | 2022-01-25 | Jumping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210085774.3A CN114275073B (en) | 2022-01-25 | 2022-01-25 | Jumping robot |
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| CN114275073A CN114275073A (en) | 2022-04-05 |
| CN114275073B true CN114275073B (en) | 2023-01-20 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110000852A (en) * | 2009-06-29 | 2011-01-06 | 서울과학기술대학교 산학협력단 | The jumping robot of jumping mechanism |
| 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 |
| CN107600210A (en) * | 2017-08-11 | 2018-01-19 | 南京航空航天大学 | Vertical jump in succession bio-robot and its skip philosophy |
| CN111152861A (en) * | 2020-01-10 | 2020-05-15 | 燕山大学 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
| CN113120106A (en) * | 2021-05-17 | 2021-07-16 | 哈尔滨工业大学 | Combustion and explosion driven rigid-flexible coupling frog-imitating robot |
-
2022
- 2022-01-25 CN CN202210085774.3A patent/CN114275073B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110000852A (en) * | 2009-06-29 | 2011-01-06 | 서울과학기술대학교 산학협력단 | The jumping robot of jumping mechanism |
| 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 |
| CN107600210A (en) * | 2017-08-11 | 2018-01-19 | 南京航空航天大学 | Vertical jump in succession bio-robot and its skip philosophy |
| CN111152861A (en) * | 2020-01-10 | 2020-05-15 | 燕山大学 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
| CN113120106A (en) * | 2021-05-17 | 2021-07-16 | 哈尔滨工业大学 | Combustion and explosion driven rigid-flexible coupling frog-imitating robot |
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| CN114275073A (en) | 2022-04-05 |
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