CN114572323A - Torsional spring energy storage type eight-connecting-rod micro bouncing robot - Google Patents
Torsional spring energy storage type eight-connecting-rod micro bouncing robot Download PDFInfo
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- CN114572323A CN114572323A CN202210309091.1A CN202210309091A CN114572323A CN 114572323 A CN114572323 A CN 114572323A CN 202210309091 A CN202210309091 A CN 202210309091A CN 114572323 A CN114572323 A CN 114572323A
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- 238000004146 energy storage Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 6
- 230000009191 jumping Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000005381 potential energy Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 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 torsion spring energy storage type eight-connecting-rod micro bouncing robot, which relates to the field of micro bouncing robots and comprises a rack part, a reaction wheel, an angle adjusting device, a transmission device, a motion module and a torsion spring. The motor is installed on the frame portion, compresses torsion spring through transmission drive motion module, and the transmission module includes that 3 drive gears, 2 duplicate gears and an intermittent gear carry out meshing transmission, and the motion module is eight link mechanism. The torsion spring is instantaneously released after being compressed to the limit, the energy required by the upward jump is provided for the robot, and the energy is accumulated for the next jump in the descending process to realize continuous jump. The reaction wheel and angle adjusting module provides reverse torque to adjust the posture and the angle of the robot. The invention solves the problems that the existing hopping robot is difficult to hop continuously, a locking mechanism is necessary and the shape is heavy, and improves the adaptability of the hopping robot to a narrow environment.
Description
Technical Field
The invention belongs to the field of miniature bouncing robots, and relates to a torsion spring energy storage type eight-connecting-rod miniature bouncing robot.
Background
The micro bouncing robot has wide research prospects in the field of robots. Compared with wheel type robots, crawler type robots and other types of land mobile robots, the miniature bouncing robot is smaller and more exquisite and concealed, and is more flexible and quicker to move. Under the scene with more obstacles, the system can more easily and more efficiently complete the work of disaster search and rescue, signal detection and transmission, on-site exploration, information collection and the like.
Among various currently developed bouncing robots, a wheel-leg robot Ollie is released in the Tencent in 2021, and can complete actions such as bouncing, overturning and the like, and a space exploration bouncing robot SpaceBox is being developed at the Suli Federal institute of technology and the Zui applied science university in 2021, but the whole body is large, the contact area with the ground is large, and the robot cannot be applied to the environment with too many obstacles. Existing hopping robot design studies focus primarily on jumping height, flexibility and distance, with air and landing gestures often being overlooked. The bouncing robots mainly have the problems of heavy form, uncontrollable posture, difficulty in continuous jumping and the like.
The torsion spring has stronger capacity of storing energy and can provide larger elastic potential energy by instant release, so that the bouncing robot can obtain larger acceleration in a short time and the bouncing capacity is enhanced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the torsion spring energy storage type eight-connecting-rod micro bouncing robot which can adapt to various different road surfaces, has small volume, strong bouncing capability and long endurance time, and can be used for search and rescue tasks in various complex environments.
In order to achieve the purpose, the technical scheme adopted by the invention for solving the technical problem is as follows: the torsion spring energy storage type eight-connecting-rod micro bouncing robot is characterized by comprising a reaction wheel, a rack part, a torsion spring, a motor, a motion module, a transmission module and a control system.
The reaction wheel is arranged on the frame part, and the motor drives the main shaft to rotate, and the gravity rod generates reverse torque to keep the robot in a balanced standing posture.
The transmission module is fixedly arranged on the frame part and is connected with the motion module through a coupler; the transmission module 8 is composed of 6 gears of different types, and comprises 3 transmission gears, 2 duplicate gears and an intermittent gear for meshing transmission.
The motor is fixed on the frame part and provides power for the transmission module to drive the motion module to jump.
The motion module is an eight-link mechanism, a parallelogram mechanism is formed among the driving rod, the connecting rods and the foot ends and is connected through screws to form a revolute pair, the three connecting rods are connected to the frame part, and the robot can jump up and down through the mutual motion of the rod pieces among the motion modules.
One end of the torsion spring is fixed on the rack, and the other end of the torsion spring is connected with the motion module; the control system regulates and controls the coordination movement of all parts and the posture control of the robot.
Compared with the prior art, the invention has the following beneficial effects:
the invention uses the torsion spring as an energy storage device, releases larger elastic potential energy in a short time, can provide larger instantaneous acceleration of the robot, realizes continuous jumping for many times, solves the problem that the existing jumping robot is difficult to jump continuously, and improves the energy utilization efficiency.
The integral mechanism is made of carbon fiber materials, has a compact structure, is light in weight as much as possible under the condition of ensuring the strength, and is lighter than the traditional bouncing robot.
The invention provides the method for driving by using the intermittent gear, solves the problem that the existing bounce robot needs a locking mechanism, prolongs the service life of the motor and has higher safety.
The invention provides a technical method for realizing the posture and angle adjustment of a robot in a three-dimensional direction by using a reaction wheel and two propellers, and realizes the control of the jumping angle and the real-time posture of the robot by using a speed gyroscope and a PID control algorithm. The whole balance is better, even can also stand steadily at isolated foothold, has increased the practicality of spring robot.
Drawings
Fig. 1 is an overall structural view of the present invention.
FIG. 2 is a schematic diagram of the reaction wheel of the present invention.
FIG. 3 is a schematic diagram of the components of the frame part of the torsion spring energy storage type eight-link micro-bounce robot.
FIG. 4 is an assembly schematic diagram of a motion module of the torsion spring energy storage type eight-connecting-rod micro bouncing robot of the invention.
FIG. 5 is a schematic diagram of the angle adjustment device of the torsion spring energy storage type eight-link micro-bounce robot.
FIG. 6 is a schematic diagram of the transmission device of the torsion spring energy storage type eight-link micro bouncing robot of the invention. FIG. 7 is a schematic diagram showing the components of the torsion spring energy storage type eight-link micro-bounce robot posture fine-tuning device of the present invention.
In fig. 1, reaction wheel, 2, coupling, 3, frame part, 4, torsion spring, 5, motion module, 6, 2204 brushless motor, 7, angle adjusting device, 8, transmission device, 9, fixed shaft, 10, 2216 brushless motor. In FIG. 2, 1-1, 1-2, a gravity bar, and a main shaft. In FIG. 3, 3-1, the front end face, 3-2, the rear end face. In the figure 4, 5-1 parts of connecting rod, 5-2 parts of connecting rod, 5-3 parts of connecting rod, 5-4 parts of connecting rod, 5-5 parts of driving rod, 5-6 parts of connecting rod, 5-7 parts of connecting rod and foot end. In FIG. 5, 7-1, motor base, 7-2, propeller, 7-3, 716 hollow cup motor. In FIG. 6, 8-1, 8-2, 8-3, 8-4, 8-5, 8-6, and 8-6 are duplicate gears.
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.
As shown in fig. 1, the torsion spring energy storage type eight-link bouncing mechanism of the present embodiment mainly includes a reaction wheel 1, a coupling 2, a frame part 3, a torsion spring 4, a motion module 5, a 2204 brushless motor 6, an angle adjusting device 7, a transmission device 8, a 2216 brushless motor 9, and a fixed shaft 10.
The reaction wheel 1 is arranged at the rear of the frame part 3, and the frame part 3 is composed of a front end surface 3-1 and a rear end surface 3-2 and is fixed by a fixing screw and a fixing shaft 9.
In the embodiment, the reaction wheel 1 comprises a main shaft 1-2 and a gravity rod 1-1, as shown in fig. 2, the gravity rod 1-1 is tightly fitted with the main shaft 1-2, and the main shaft 1-2 is fixed with a 2204 brushless motor 5 through a coupling. 2204 the brushless motor 7 rotates to drive the shaft coupling to rotate, provides the force needed by the rotation of the main shaft 1-2, and provides torsional torque to keep balance by utilizing the angular momentum generated by the rotation of the reaction wheel 1.
The angle adjusting device 7 is composed of a motor base 7-1, a propeller 7-2 and a hollow cup 716 motor 7-3, wherein the propeller 7-2 is driven by the hollow cup 716 motor 7-3, and is continuously rotated to provide reverse torque in the bouncing process to achieve fine adjustment of the bouncing angle, as shown in fig. 6.
In this embodiment, as shown in fig. 4, the transmission module 8 is composed of 6 different types of gears, and includes a transmission gear 8-1, a transmission gear 8-2, a transmission gear 8-3, a duplicate gear 8-4, an intermittent gear 8-5, and a duplicate gear 8-6. The transmission gear 8-3 is fixed on the output shaft of the 2216 brushless motor 10 and rotates together with the output shaft. The transmission gear 8-3 is meshed with the duplicate gear 8-4 and used for increasing the torque output by the motor, and the reduction ratio is 3.75. The duplicate gear 8-4 is fixed on the fixed shaft 10, then transmits torque to the duplicate gear 8-6, the reduction ratio is 3.6, and further transmits the torque to the gear 8-2, the reduction ratio is 5, the gear 8-5 and the gear 8-2 are tightly matched on the same shaft together, and the rotating speed and the torque are the same.
In this embodiment, the gear 8-5 is an intermittent gear, in the process of unidirectional rotation, the toothed portion is normally meshed with the transmission gear 8-1 to perform transmission, so as to drive the driving rod 5-5 to rotate, and the transmission is disconnected when the gear 8-5 rotates to the non-toothed portion, so that the driven portion can reversely rotate to release the energy accumulated by the torsion spring.
Specifically, the required rotation angle of the driving rod 5-5 is 60 degrees through calculation, and the number of teeth reserved in the intermittent gear 8-5 can enable the transmission gear 8-1 to rotate 60 degrees, namely 6 teeth.
The motion module 5 comprises a connecting rod 5-1, a connecting rod 5-2, a connecting rod 5-3, a connecting rod 5-4, a driving rod 5-5, a connecting rod 5-6 and a foot end 5-6. The driving rod 5-5 is fixed on the shaft 10 through the coupler 2 and rotates together with the transmission gear 8-1.
The connecting rod 5-4 and the connecting rod 5-5 are connected on the driving rod 5-5 through screws and driven by the driving rod 5-5 to move up and down.
The foot ends 5-7 are connected to the connecting rods 5-4 and the connecting rods 5-5 through screws, and form a parallelogram mechanism together with the driving rod to form a revolute pair, the robot can jump up and down through the mutual motion of rod pieces, and meanwhile, the rod lengths of all parts of the eight-bar mechanism 5 are optimized by taking the motion track of the foot ends 5-7 as a straight line and the minimum required torque as a target function, so that specific numerical values are obtained, and the contact surface of the robot and the ground is ensured to be the bottom surface of the foot ends 5-7.
The connecting rod 5-2 and the connecting rod 5-3 are connected to the connecting rod 5-4 through one end of a screw, and connected to the connecting rod 5-1 through the other end of the screw, staggered with each other, and move relatively together. The connecting rod 5-1 is connected with the fixed shaft 9 through a bearing and can rotate around the fixed shaft 9. The moving track of the foot end 5-7 is ensured to be a straight line through the constraint relation between the connecting rod 5-2 and the connecting rod 5-3, so that the vertical height of the integral bounce is the highest.
In this embodiment, one end of the torsion spring 4 is fixed on the fixed shaft 9 to form a fixed end, and one section is fixed on the active rod 5-5 to form a force application end. The wire diameter of the torsion spring obtained by calculating the capacity required by bouncing is 2 mm. The driving rod 5-5 rotates to compress the torsion spring 4, and the energy storage process is completed. After the transmission gear 8-1 is meshed with the intermittent gear 8-5, the active rod 5-5 is unloaded, the torsion spring 4 is released to push the active rod 5-5 to rotate reversely, the elastic force is transmitted to the foot end 5-7 through the motion module 5, a reverse acting force is formed by the ground to push the whole body to jump upwards, and the highest bounce height obtained through calculation can reach 1 m;
according to the invention, after jumping to the highest point, the torsion spring energy storage type eight-link mechanism begins to fall, the intermittent gear 8-5 begins to be meshed with the transmission gear 8-1 for the next time, the torsion spring 4 is compressed again, elastic potential energy is accumulated for the next jumping, and the elastic potential energy is pushed by the ground reverse acting force again after contacting the ground to perform the next jumping, so that the continuous jumping function is realized.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A torsion spring energy storage type eight-connecting-rod micro bouncing robot is characterized by comprising a reaction wheel 1, a frame part 3, a motion module 5 and a transmission device 8; the reaction wheel 1 and the 2204 brushless motor 6 are fixed on the rear end face 3-2 of the frame through the coupling 2, the angle adjusting device 7 is fixed on the left side and the right side of the front end face 3-1 of the frame part 3 through bolts, and the transmission device 8, the fixed shaft 9 and the 2216 brushless motor 10 are fixed on the frame 3; the power structure comprises a 2204 brushless motor 6 for driving the reaction wheel 1 and a 2216 brushless motor 10 for driving the transmission device 8 and further driving the motion module 5.
2. The torsion spring energy storage type eight-link micro bouncing robot as claimed in claim 1, wherein the energy storage structure adopts the torsion spring 4, which can provide a large elastic potential energy by instant release, so that the bouncing robot can obtain a large acceleration in a short time, and the bouncing capability is enhanced.
3. The torsion spring energy-storage type eight-connecting-rod micro bouncing robot as claimed in claim 1, wherein multi-stage gear transmission is adopted to increase the motor torque, and intermittent gears are utilized to realize the change of two processes of the storage capacity and the energy release of the torsion spring; the transmission device 8 is installed on the rack part 3 through a fixed shaft 9, one end of a 2216 brushless motor 10 is connected with a transmission gear 8-3, the transmission gear 8-3 is meshed with a duplicate gear 8-4, the duplicate gear 8-4 is meshed with a duplicate gear 8-6, the duplicate gear 8-6 is meshed with a transmission gear 8-2, the transmission gear 8-2 is connected with an intermittent gear 8-5 through the fixed shaft 9, and the intermittent gear 8-5 is intermittently meshed with the transmission gear 8-1.
4. One end of the torsion spring 4 is fixed on the fixed shaft 9, the other end of the torsion spring is fixed on the driving rod 5-5, when the transmission gear 8-1 is meshed with the intermittent gear 8-5, the driving rod 5-5 rotates to compress the torsion spring 4, and the robot squats downwards; when the transmission gear 8-1 is meshed with the intermittent gear 8-5, the driving rod 5-5 releases force, the energy of the torsion spring 4 is released, and the robot is pushed to finish the jumping process.
5. The torsion spring energy-storage type eight-connecting-rod micro bouncing robot as claimed in claim 1 or 2, wherein the reaction wheel 1 and the angle adjusting device 7 can control the balance of the robot after jumping, and adjust the posture and the jumping angle of the robot in the air; the reaction wheels 1 and the 2204 brushless motor 6 are fixed on the rear end face 3-2 of the frame through a coupling 2, the motor bases 7-1 are fixed on the left side and the right side of the front end face 3-1 of the frame part 3 through two groups of angle adjusting devices 7 through bolts, and the propellers 7-2 are powered by the 716 hollow cup motor 7-3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210309091.1A CN114572323A (en) | 2022-03-28 | 2022-03-28 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210309091.1A CN114572323A (en) | 2022-03-28 | 2022-03-28 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872808A (en) * | 2022-06-24 | 2022-08-09 | 北京理工大学 | Robot bouncing mechanism and bouncing method |
| CN117357347A (en) * | 2023-10-30 | 2024-01-09 | 武汉科技大学 | Integrated wheelchair capable of automatically ascending and descending stairs |
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| CN202499200U (en) * | 2012-01-09 | 2012-10-24 | 东南大学 | Hopping robot capable of hopping continuously |
| CN105966482A (en) * | 2016-06-12 | 2016-09-28 | 重庆大学 | Multi-connection-rod jumping mechanism |
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| CN208826643U (en) * | 2018-08-01 | 2019-05-07 | 浙江理工大学 | A kind of adjustable bionic hopping device of jumping degree |
| CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
| KR20190121920A (en) * | 2018-04-19 | 2019-10-29 | 건국대학교 산학협력단 | Jumpping flapper robot |
| CN111152861A (en) * | 2020-01-10 | 2020-05-15 | 燕山大学 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
-
2022
- 2022-03-28 CN CN202210309091.1A patent/CN114572323A/en active Pending
Patent Citations (9)
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|---|---|---|---|---|
| US20050133280A1 (en) * | 2001-06-04 | 2005-06-23 | Horchler Andrew D. | Highly mobile robots that run and jump |
| CN102009705A (en) * | 2010-11-11 | 2011-04-13 | 西北工业大学 | Self-reset wheel-leg jumping composite mobile robot |
| CN202499200U (en) * | 2012-01-09 | 2012-10-24 | 东南大学 | Hopping robot capable of hopping continuously |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872808A (en) * | 2022-06-24 | 2022-08-09 | 北京理工大学 | Robot bouncing mechanism and bouncing method |
| CN114872808B (en) * | 2022-06-24 | 2023-03-14 | 北京理工大学 | Robot bouncing mechanism and bouncing method |
| CN117357347A (en) * | 2023-10-30 | 2024-01-09 | 武汉科技大学 | Integrated wheelchair capable of automatically ascending and descending stairs |
| CN117357347B (en) * | 2023-10-30 | 2024-04-26 | 武汉科技大学 | Integrated wheelchair capable of automatically ascending and descending stairs |
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