Variable-step-length continuous hopping and steering movement mechanism

Abstract

The invention relates to a variable-step-length continuous hopping and steering movement mechanism, which comprises a body and four supporting legs. A short convex shaft arranged at the top end of the body is in revolute pair connection with a small hole of the top center of each supporting leg, a camshaft is mounted in a sliding box which is mounted in a sliding groove of the body, a cam is mounted on the camshaft to form a cam mechanism, a cam motor is mounted on a motor seat plate at the bottom of the sliding groove of the body, a rotating shaft on the motor and the camshaft are driven by a synchronous belt, a steering engine is erectly fixed onto a steering engine seat plate above the supporting legs, a rotating shaft of the steering engine downward penetrates through a small hole of the steering engine seat plate to be connected with a coupler, and the other end of the coupler penetrates through the small hole of the top center of each supporting leg to be connected with the short convex shaft of the body. The variable-step-length continuous hopping and steering movement mechanism is simple, high in hopping efficiency, capable of realizing continuous hopping and easily changeable in hopping step lengths and hopping directions.

Description

technical field [0001] The invention relates to a quadruped supporting robot motion mechanism, in particular to a continuous jumping and turning motion mechanism with variable step length. 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...

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 it is difficult to control the jumping step length and jumping direction.

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