Continuous jumping and steering mechanism

Abstract

The invention discloses a continuous jumping and steering mechanism. The continuous jumping and steering mechanism comprises an inclining mechanism body, wherein a horizontal plane at the top end of the inclining mechanism body is provided with a revolute pair connected with small center hole of a connecting plate at the top of four supporting feet; the inclining mechanism body is provided with a chute, and a sliding block is installed in the chute; a driven shaft is fixed on the sliding block, a cam is installed on the driven shaft to form a cam mechanism, and a first motor is installed on a motor base plate at the bottom of the sliding block; the output shaft of the motor and the driven shaft are transmitted through a synchronous belt; a second motor is vertically fixed on the motor base plate above the supporting feet, the output shaft of the second motor passes through a small hole of the motor base plate and is connected with a coupling, and the other end of the coupling is connected with a small perpendicular shaft of the inclining mechanism body penetrating through the small center hole of the connecting plate at the top of the supporting feet; one end of a compression spring is fixed on the inclining mechanism body, and the other end of the compression spring is fixed on the sliding block; the first motor is used for driving the cam and storing and quickly releasing the elastic potential energy of the compression spring so as to realize jumping; and the rotation of the second motor is used for changing the inclining direction of the inclining mechanism body and changing the position of a mass center so as to change the jumping direction.

Description

technical field [0001] The invention relates to a quadruped supporting robot movement mechanism, in particular to a continuous jumping and turning movement mechanism. technical background [0002] When moving in an unstructured or quasi-structured environment, wheel-track and crawling robots generally have to avoid obstacles that are larger than their own size, and their applications are limited in many occasions. Robots with bouncing performance have wide application prospects because they can cross obstacles, walls and ditches, and have attracted great attention from research institutions in various countries in recent years. The jumping robot requires a small footing area to adapt to complex terrain and environments; it can jump several times or even dozens of times its own height, and has a large obstacle-surmounting ability and range of activities; the suddenness and explosiveness of the bouncing movement also helps the robot Avoid danger quickly; while its structural ...

AI Technical Summary

Problems solved by technology

The jumping robot requires a small footing area to adapt to complex terrain and environments; it can jump several times or even dozens of times its own height, and has a large obstacle-surmounting ability and range of activities; the suddenness and explosiveness of the bouncing movement also helps the robot Quickly avoid danger; while its structure may have few degrees of freedom, but its movement degrees of freedom are not many, so its movement flexibility is high, its structure and control are simple, and it is easy to miniaturize

During the movement of the jumping robot, it is also difficult to achieve continuous jumping and control the direction of jumping.

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