Hopping robot with wheel movement function

Abstract

The invention discloses a hopping robot with a wheel movement function. The hopping robot with the wheel movement function comprises a robot body which is horizontally arranged, a wheel movement mechanism and a hopping mechanism, wherein the wheel movement mechanism is mounted in the robot body, and the hopping mechanism is mounted at an opening end of the robot body. A design of a front-back symmetric structure is used, and thus the fact that after the robot is landed, no matter the front face or the back face touches the ground, the robot can hop again is benefited, and the influence of landing turning to secondary hop is reduced; through the arc-shaped through hole structure design of protrusions with arc-shaped supporting holes arranged on the horizontal edges of the robot body, synchronous movement and asynchronous movement of two rolling wheels under the drive of a single electric motor are achieved; and by using wheel-type movement and the hopping function, the robot has multiple kinds of movement modes, by using the structure that a teeth-missing gear is meshed with a gear, instant unconstrained release of an energy storage component is achieved, and thus improvement of the hopping performance of the energy storage component is benefited. The hopping robot with the wheel movement function is taken as a moving carrier of an airborne instrument, after an airborne sensor is added to the hopping robot with the wheel movement function, the hopping robot with the wheel movement function can be used in the fields of environmental monitoring, urban counterterrorism, military reconnaissance, earthquake relief, science adventure and the like.

Description

technical field [0001] The invention relates to a bouncing robot, in particular to a bouncing robot with a wheeling function which can realize the functions of wheeling and jumping, and can continue to move after the front and back sides land on the ground. technical background [0002] With the increase of interstellar exploration activities, traditional robots and their motion forms can no longer adapt to the increasingly complex working environment in interstellar exploration. Since many planets in planetary exploration have the characteristics of low gravitational acceleration, the use of jumping motion is beneficial to improve the ability to overcome obstacles. Therefore, the jumping robot has become a research hotspot of extensive attention as a locomotion device in an unstructured environment. In addition, jumping robots also have extensive practical significance in environmental monitoring, urban anti-terrorism, and earthquake relief. [0003] There have been some ...

AI Technical Summary

Problems solved by technology

For example: the single-leg jumping robot developed by Raibert et al. of Carnegie-Mellon University is driven by two cylinders, and the cylinder controls the expansion and contraction of the legs to achieve three-dimensional jumping motion; the "Hinge" invented by Fredkin is driven by joints and can perform attitude control. and adjustment; the bow leg hopping robot developed by Carmegie Mellon University in the United States uses a motor to pull a rope to drive a bow-shaped elastic leg to store energy to achieve jumping; the jumping function has been realized in the laboratory, but the robot in this type of design has static instability and a large number of external devices, etc. However, NASA has developed three generations of jumping robots, of which the first generation is a spherical robot that can realize the jumping function, but its take-off direction adjustment system is not robust enough, and the take-off angle cannot be adjusted; the second-generation frog-shaped jumping robot The robot, on the basis of the jumping function, adds the posture adjustment function after landing, but its energy utilization rate is not high enough, and the movement form is single; the third-generation wheeled jumping robot can realize two forms of movement, wheel movement and jumping, but the landing There are problems with rear vibration damping and rollover

The Minerva developed by Japan for the MUSES-C program and the Grillo series robots developed by Italy all have problems such as single movement form and inability to continue to move after being flipped on the ground.

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