Asymmetrical gear six-rod bionic bouncing mechanism

An asymmetric and gear technology, applied in the field of miniature bouncing robots, can solve the problems of different gear parameters, unstable take-off action, unreasonable structure and force characteristics of the bouncing mechanism, etc., and achieve the effect of simple structure and control, and flexible movement

Inactive Publication Date: 2011-01-12
南通恒力重工机械有限公司 +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the unreasonable structure and force characteristics of the bouncing mechanism in the prior art, and the insufficient stability of the take-off action, the present invention proposes an asymmetric gear six-rod bionic bouncing with unequal lengths of connecting rods and different gear parameters. mechanism

Method used

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  • Asymmetrical gear six-rod bionic bouncing mechanism
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  • Asymmetrical gear six-rod bionic bouncing mechanism

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Embodiment Construction

[0023] The asymmetric gear six-bar bionic bouncing mechanism includes a fuselage 5, a leg mechanism, a sole plate 1 and an energy storage and release device.

[0024] Such as figure 1 Shown, fuselage 5 is equivalent to the health of kangaroo, is the cuboid housing that does not have lower bottom cover that is made up of five sheet parts; is located below the fuselage, its top is connected with the fuselage, and its bottom is connected with the sole plate support 27; the sole plate 1 is a thin plate, which is equivalent to the sole of a kangaroo; the energy storage and release device is located in the fuselage 5, through The sprocket chain drives the leg mechanism.

[0025] Such as figure 2 with image 3 As shown, the leg mechanism includes a thigh bar 10, a calf bar 11, a long auxiliary bar 4, a short auxiliary bar 3, a spring 15 and a joint connection shaft. Wherein the thigh bar 10, the calf bar 11, the long auxiliary bar 4 and the short auxiliary bar 3 are connecting r...

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Abstract

The invention discloses an asymmetrical gear six-rod bionic bouncing mechanism. The asymmetrical gear six-rod mechanism with unequal connecting rod length and different gear parameters is developed according to the bionics principle. The mechanism comprises a foot plate, a leg mechanism, a fuselage and an energy storage and release device, wherein the length of each connecting rod of the leg mechanism conforms to the reasonable jumping lime structural ratio of a kangaroo. The parameters of two pairs of gears are selected according to the jumping attitude and the jumping force mechanism of the kangaroo, the whole mechanism is a closed-loop parallel mechanism, and the simulation of the smooth takeoff process of the kangaroo with feet together can be well realized with only one degree of freedom. The mechanism has the characteristics of simple structure and control and free movement, can be applicable to complex geographic and geomorphic conditions and is especially applicable to cruise exploration in small gravity environment on the surface of a planet, particularly a minor planet.

Description

technical field [0001] The invention relates to the field of miniature bouncing robots used for cruising and detecting planetary surfaces in deep space exploration, in particular to a bouncing mechanism which adopts an asymmetrical gear six-bar mechanism and can provide intermittent jumping motions. Background technique [0002] US patent specification US 7168513B2 discloses a bouncing robot for planetary surface detection. The bouncing robot mechanism involved is a symmetrical gear six-rod bouncing mechanism composed of four connecting rods with equal lengths and two pairs of gears connected to each other, and a tension spring is installed in the horizontal direction of the mechanism as an energy storage element. It compresses the jumping mechanism through the motor and the screw drive mechanism in the vertical direction to stretch the spring to store elastic energy, and triggers and releases the elastic energy instantaneously through the locking / releasing device to make th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 葛文杰柏龙陈晓红杨方张铭
Owner 南通恒力重工机械有限公司
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