Bionic jumping mechanism with adjustable jumping degree

Abstract

The invention discloses a bionic jumping mechanism with an adjustable jumping degree. In the mechanism, a mode that a five-rod closed chain is arranged on a variable transmission gear is adopted, and the mechanism comprises a posture adjustment and energy storage mechanism, a jumping degree adjustment mechanism, a sole turning mechanism, a gear locking-releasing mechanism and a crus locking mechanism. The bionic jumping mechanism can realize adjustment control of a jumping height and a jumping length according to the characteristic of the jumping mechanism; by the bionic jumping mechanism, a jumping robot can turn around; and the jumping degree of the bionic jumping mechanism can be adjusted. By changing a transmission ratio of a gear pair in the mechanism, the mechanism can obtain different jumping traces, so that aims of controlling the jumping height and the jumping length of the mechanism can be fulfilled; when the transmission ratio is equal to 1, the mechanism can cross a higherobstacle; when the transmission ratio is equal to 6, the mechanism can cross a farther obstacle; and when the transmission ratio is 1 to 6, the mechanism can cross obstacles lower than the higher obstacle and obstacles nearer than the farther obstacle.

Description

technical field [0001] The invention relates to a robot bouncing mechanism, in particular to a bionic bouncing mechanism with adjustable jumping degree. It belongs to the field of mechanical engineering and automation and robotics. Background technique [0002] According to the different modes of movement, robots can be divided into four categories: 1. Wheeled robots, which have the advantage of high speed and high efficiency, can reach the destination in a short time, but wheeled robots have little ability to overcome obstacles. Two, the legged robot, its advantage is that the ability to overcome obstacles is good, but the speed and efficiency of the legged robot are all very low, and the control is more complicated. Third, crawler robots have the advantages of strong adaptability and compact design, but their weight and energy consumption are large. Fourth, the bouncing robot, compared with the other three robots, its advantages are mainly in the following aspects: (1) I...

AI Technical Summary

Problems solved by technology

[0002] According to the different modes of movement, robots can be divided into four categories: 1. Wheeled robots, which have the advantages of high speed and high efficiency, and can reach the destination in a short time, but the wheeled robots have little ability to overcome obstacles.

2. Legged robots have the advantage of good obstacle-crossing ability, but the speed and efficiency of legged robots are very low, and the control is more complicated

3. Crawler robots have the advantages of strong adaptability and compact design, but their weight and energy consumption are large

3) Chinese patent CN101058036 discloses a bionic locust jumping robot with a support shock-absorbing mechanism on its front legs and a jumping mechanism on its rear legs, but the robot cannot realize the steering function and the adjustable jumping degree

4) The star detection bionic bouncing robot developed by Northwestern Polytechnical University is a closed-chain mechanism based on a gear-five-bar mechanism. Obtain the bionic foot jumping motion form and bouncing dynamic characteristics, so as to realize bouncing, but the robot cannot realize the adjustment of the jumping degree, and has no steering function

At present, most of the jumping robots mainly use the wheel differential steering to realize the change of the jumping degree by adjusting the take-off angle. The adjustment range is limited, and the control of the jumping height and jumping distance is not realized from the characteristics of the jumping mechanism.

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