Bouncing device of robot and bouncing method thereof

The technology of a bouncing device and robot, which is applied in the field of robots, can solve the problems of no bouncing mechanism suitable for rolling robots, limited energy storage, unfavorable volume, etc., and achieves the effect of increasing the limit of energy storage, increasing the maximum, and facilitating miniaturization.

Inactive Publication Date: 2012-10-24
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The problem to be solved by the present invention is: the bouncing mechanism of existing robots has problems such as limited energy storage, flutter, and unfavorable miniaturization of the volume, especially there is no bouncing mechanism suitable for rolling robots

Method used

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  • Bouncing device of robot and bouncing method thereof
  • Bouncing device of robot and bouncing method thereof
  • Bouncing device of robot and bouncing method thereof

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specific Embodiment approach

[0031] see figure 1 , 2 , 3, 4 and 5, the bouncing device of the present invention includes a bouncing drive mechanism and a bouncing mechanism, which is installed on the robot body, figure 1 It is a specific embodiment, a rolling and bouncing compound mobile robot formed together with a rolling mechanism.

[0032] see Figure 6 As shown, the bouncing driving mechanism of the present invention includes a miniature reduction motor 1, a motor frame 2, a reduction gear group 3 and a gear transmission shaft group 8, a fixed frame group 7, a power storage transmission gear 4, a power storage transmission shaft 5 and a steel wire rope 6. The miniature reduction motor 1 is fixed on the robot body through the motor frame 2, the gear transmission shaft group 8 and the power storage transmission shaft 5 are arranged on the fixed frame group 7, and the gears of the reduction gear group 3 are sleeved on the transmission of the gear transmission shaft group 8. On the shaft, the power st...

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Abstract

The invention relates to a bouncing device of a robot and a bouncing method of the robot. The bouncing device comprises a bouncing drive mechanism, a bouncing mechanism and a machine body. The bouncing drive mechanism comprises a micro reducing motor, a motor frame, a reducing gear set and a transmission shaft set, a fixed frame set, a pinion, a transmission shaft and a steel wire rope. The bouncing mechanism comprises an upper symmetrical gear and a fixed piece, a lower symmetrical gear and a fixed piece, a bouncing upper rod, a bouncing lower rod, a tension spring and/or a torsional spring and a bouncing bottom plate. According to the bouncing device of the robot provided by the invention, an improved six-rod bouncing structure additionally provided with the tension spring and the torsional spring is adopted, and energy storage of multiple levels can be realized by adjusting the number of the tension spring and the torsional spring, thereby solving the problem that a large space is needed in a six-rod spring energy storage mechanism in the conventional six-rod bouncing structure dependent on an extension spring. Therefore, the robot is miniaturized, and the bouncing device stores more energy under same vertical movement displacement of the mechanism and has a higher energy utilization ratio.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to a bouncing structure of a robot with a bouncing function, and relates to a robot bouncing device and a bouncing method thereof. Background technique [0002] At present, in the kinematic mechanism of traditional mobile robots, wheel-type, crawler-type and leg-type mechanisms are generally used. The above-mentioned mobile robot may overturn due to encountering unpredictable obstacles during the movement, so that the robot loses its ability to move. [0003] The tumbling and bouncing compound mobile robot adopts a combination of tumbling and bouncing, and adjusts its own center of gravity to achieve tumbling motion. There is no overturning problem that is difficult for traditional mobile robots to solve, and it has better obstacle-surmounting ability and can adapt to more Complicated terrain environment has broad application prospects. At present, there are few studies on the rolling an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 宋光明孙洪涛殷砚君张婧怡徐美娇邵安成张哲
Owner SOUTHEAST UNIV
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