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Bionic hopping robot with two degrees of freedom

A technology of robot and degree of freedom, applied in motor vehicles, transportation and packaging, etc., can solve problems such as unsatisfactory stability of the fuselage and inability to adjust the take-off angle

Inactive Publication Date: 2013-04-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a two-degree-of-freedom bionic bouncing robot aiming at the problems in the prior art that the bouncing robot cannot adjust the take-off angle and maintain the stability of the fuselage during the jumping process.

Method used

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  • Bionic hopping robot with two degrees of freedom
  • Bionic hopping robot with two degrees of freedom
  • Bionic hopping robot with two degrees of freedom

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Embodiment Construction

[0026] figure 1 The structure of the two-degree-of-freedom bionic bouncing robot of the present invention is shown, which includes a fuselage device, a leg device and a sole device.

[0027] Described fuselage device is made up of fuselage 6, fuselage support 37 and fuselage attitude adjustment mechanism; It is connected with the fuselage device, and the bottom end is connected with the sole device; the sole device is composed of a sole plate 1 and a sole support 2 fixed on the rear end of the sole plate 1 .

[0028] Such as figure 2 As shown, the leg device adopts a gear five-bar structure with variable rod length, including a thigh rod 9, a calf rod 10, an auxiliary rod 3, a screw nut mechanism, a leg posture adjustment mechanism, a spring 14 and five thin rods. Long and smooth joint axes, five of which are hip joint axis 15, knee joint axis 19, ankle joint axis 11, auxiliary ankle joint axis 12 and auxiliary knee joint axis 13. Such as Figure 6 , Figure 7 and Figu...

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Abstract

The invention discloses a bionic hopping robot with two degrees of freedom, comprising a robot body device, a leg device and a sole device. With respect to the robot body device, the horizontal state of the robot body during whole hopping procedure is maintained by using a robot body gesture adjusting mechanism to adjust an included angle between the robot body device and a thigh rod. The leg device moves a nut with a shaft by using a screw nut mechanism during the gesture adjusting procedure according to a structural deformation construction principle so as to extend and shorten a spring, and uses a leg gesture adjusting motor as a drive to complete a hopping preparing gesture of the screw nut mechanism and the thigh rod; during the energy storing procedure, the stretching of the spring is completed by a screw driving motor with a relatively small power by using the relatively big transmission ratio of the screw nut mechanism, so as to realize the storing of energy; and different preparing gestures of the leg device before taking off are adjusted according to different positions of the nut on the screw when the energy storing procedure is completed, so that the adjustment of a taking off angle of the hopping robot is realized. The structure of the bionic hopping robot is simple and reliable, and the bionic hopping robot is suitable for multiple uses such as planetary exploration and the like.

Description

technical field [0001] The invention relates to a miniature bouncing robot suitable for planetary exploration, in particular to a two-degree-of-freedom bionic bouncing robot. Background technique [0002] The Massachusetts Institute of Technology has disclosed a miniature bouncing robot "MICROBOTS" for asteroid surface detection. Its bouncing mechanism is a symmetrical four-bar linkage mechanism driven by insulating artificial rubber "muscles". Since the symmetrical four-bar linkage mechanism has only one degree of freedom, the bouncing robot is only a simple ejection device, and the robot cannot maintain stability during the bouncing process. [0003] US patent specification US 7 168 513 B2 discloses a bouncing robot for planetary surface exploration. The bouncing mechanism of the bouncing robot involved is a symmetrical gear six-bar bouncing mechanism composed of four equal-length connecting rods plus two pairs of gears connected to each other, driven by an additional spr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D51/00
Inventor 葛文杰张铭陈晓红杨方柏龙
Owner NORTHWESTERN POLYTECHNICAL UNIV
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