Self-adaptive multifunctional landing jumping robot

Abstract

The invention discloses a self-adaptive multifunctional landing jumping robot. Two front legs with the same structure are arranged at a transverse edge at the front end of a robot body; transmission mechanisms are arranged at two sides of the robot body; a take-off angle locking mechanism is arranged in a rectangular hole in one side of the robot body, near the rear end; and take-off legs are backwards arranged at the rear end of the robot body. The robot has a plurality of motion forms due to the adoption of two functions, i.e., wheeled moving and jumping; any landing surface can be taken off again after landing due to the adoption of a positive and negative symmetric structure, therefore, additionally providing a superfluous attitude adjusting mechanism is avoided, and the influence of overturning while landing to secondary take-off is reduced; the front legs are of two-stage vibration absorption structures, therefore, universal guide wheels of the front legs are prevented from being damaged by impact; and a guide slot cam structure is adopted so that instant unconstrained release of an energy storage member is realized, and the jumping performance of the mechanism is improved. Because of small size, light weight and good concealment, the self-adaptive multifunctional landing jumping robot can be applied to the fields such as urban anti-terrorism wars, earthquake disaster relief, environment monitoring, aerospace military and the like through additionally providing a sensor.

Description

technical field [0001] The invention relates to a jumping robot, in particular to a floor-adaptive multifunctional jumping robot. Background technique [0002] Due to the advantages of small size, light weight, and good concealment, small robots are increasingly widely used in urban anti-terrorism, military information reconnaissance, and environmental monitoring. As the size of the body decreases, the originally flat ground becomes rough for small robots. Using the jumping gait with the characteristics of large step length as its optimal movement mode can reduce the damage caused by excessive ground contact. loss. [0003] The Swiss Federal Institute of Technology in Lausanne has developed a grasshopper-like miniature jumping robot with a height of 5cm and a weight of 7g, but it cannot return to the initial jumping state after landing and rolling, which affects the jumping again. In response to this problem, Professor Mirko Kovac et al. added carbon rods to the original m...

AI Technical Summary

Problems solved by technology

The first-generation jumping robot developed by NASA adopts a spherical structure design, uses gravity to return to the initial state of take-off after landing, adjusts the position of the center of gravity through camera movement, and indirectly adjusts the direction of take-off. The control reliability of its landing state and take-off angle is not high. The angle cannot be adjusted. The second-generation jumping robot uses the gear transmission structure design to precisely control the take-off direction. By adding auxiliary components, the body that has landed and flipped can return to the initial state of take-off, but the take-off angle is still not adjustable.

The third-generation robot has multiple functions of wheeled movement and jumping. The take-off direction can be adjusted through wheeled movement, but the direction control is not good during the jumping process. The take-off angle is continuously adjustable from 0-85°, but the problem of landing and flipping cannot be solved. And the energy utilization rate is only about 20%

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