Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot

A robot and driver technology, applied in the field of bouncing robots, can solve the problems of low obstacle crossing efficiency and insurmountable movement form, and achieve the effects of high movement reliability, improved obstacle crossing ability and range of activities, and simple structure design.

Inactive Publication Date: 2011-06-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +1
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the current robot's movement mode is mainly multi-wheel drive and bionic walking or crawling. For some relatively large o

Method used

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  • Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot
  • Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot
  • Dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of robot

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Embodiment Construction

[0021] Below in conjunction with accompanying drawing, the present invention will be further described:

[0022] A vertical bounce mechanism of a robot, comprising a dielectric type EAP driver 7, a central cylindrical cam 24, a pawl ratchet mechanism, a reverse stop pawl component (including a stop pawl 17, two first small cylindrical pins 18, Support plate 19, spring wire 22), six-bar mechanism (including upper cover plate 1, base 13, upper inclined rod 10, lower inclined rod 12), central guide post 14, four side guide posts 15, cross bar 28, pull Stretch spring 25. Electrodes 4 are coated on the front and rear sides of the dielectric type EAP driver 7 . The upper end of central cylinder cam 24 is made with ratchet structure. The crossbars 28 are fixedly installed on the four side guide posts 15, and the middle of the two crossbars 28 are respectively processed with protruding rods, and the protruding rods on the crossbars 28 cooperate with the grooves of the central cylind...

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Abstract

The invention discloses a dielectric electroactive polymer (EAP) driver-based vertical jumping mechanism of a robot, which belongs to the technical field of jumping robots. The mechanism comprises a base (13), an upper cover plate (1), an EAP driver assembly, a central guide pillar (14), a central cylindrical cam (24), two bulged rods and two rod folding mechanisms, wherein the central cylindrical cam (24) is provided with a ratchet structure and a groove structure; the ratchet structure is matched with a pawl in the EAP driver assembly; the two bulged rods are symmetrically fixed on guide pillars (15) on corresponding sides and are matched with grooves of the central cylindrical cam (24); and the two rod folding mechanisms are hinged between the upper cover plate (1) and the base (13). In the mechanism, a dielectric EAP driver drives the central cylindrical cam to rotate unidirectionally through pawl and ratchet mechanisms, and the spiral grooves on the outer surface of the central cylindrical cam can simultaneously move downwards under the action of external force during the rotation of the central cylindrical cam, so that a six-rod mechanism is driven to deform and the center of gravity of the mechanism moves down; simultaneously, a spring is stretched to produce internal stress, so that the robot jumps; and the vertical jumping mechanism has a simple structural design and high movement reliability.

Description

technical field [0001] The invention relates to a bouncing robot, in particular to a vertical bouncing robot. Background technique [0002] At present, mobile robots are widely used, especially in more dangerous or difficult-to-reach environments, such as the detection of tombs in archaeology, the exploration of alien planets, military reconnaissance, and anti-terrorism activities. The above-mentioned occasions generally have complex terrain, and there may be various obstacles, which requires the robot to have a strong autonomous movement ability to overcome these obstacles. And the motion mode of current robot is mainly multi-wheel drive and bionic walking or crawling, for some higher obstacles, the motion form of above-mentioned robot is difficult to surmount or the efficiency of obstacle surmounting is low. [0003] Dielectric EAP is a new type of intelligent material. Compared with other intelligent materials and traditional electromagnetic technology, it has many advan...

Claims

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Application Information

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IPC IPC(8): B62D57/04
Inventor 闫华赵东标
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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