Jumping robot based on tripping energy-storing-releasing mechanism

Abstract

The invention relates to a jumping robot based on the tripping energy-storing-releasing mechanism. The jumping robot comprises a horizontal supporting plate. A bouncing leg is arranged in the center of the supporting plate. The upper portion of a pedal foot of the bouncing leg is connected with a spring guiding column and a tripping rod. A power spring is arranged outside the spring guiding column in a sleeved mode. The lower end of the power spring presses the pedal foot, and the upper end of the power spring abuts against the supporting plate. A tripping contact is arranged at the upper end of the tripping rod. A horizontal hook is arranged at the upper end of the spring guiding column. A stand plate is arranged above the supporting plate. The stand plate is hinged to a cam, an L-shaped connecting rod, a tilting rod and a tripping piece. The upper end of the pedal foot is hinged to two connecting rods. The upper ends of the two connecting rods are connected with the end of a parallelogram connecting rod mechanism through a rotating pair. The parallelogram connecting rod mechanism is fixedly connected with a horizontal rack which is meshed with a gear to form a gear-rack transmission mechanism. The upper ends of the two connecting rods are connected with a vertical pushing rod through a rotating pair. The pushing rod is connected with the supporting plate. The upper end of the pushing rod is hinged to the connecting rod which is hinged to a dead point pushing rod. The dead point pushing rod is arranged in a vertical dead point pushing rod guiding sleeve in a hollow-sleeve mode.

Description

technical field [0001] The invention relates to a jumping robot, specifically, a jumping robot based on a tripping energy storage and release mechanism, and belongs to the technical field of jumping robots. Background technique [0002] With the increasingly wide range of applications of modern robots and the increasingly harsh working environment of robots. Tasks such as archaeological exploration, interstellar exploration, military reconnaissance, and anti-terrorism activities also put forward higher requirements for the performance of robots, which themselves should have strong terrain adaptability and autonomous movement capabilities. Compared with mobile robots that use crawling or crawler motion, jumping robots can easily jump over obstacles or ditches that are several times larger than their own size. Ideal for working in complex and unpredictable environments. During the entire movement process of the jumping robot, the bouncing mechanism is the most important and ...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, a jumping robot that uses energy storage springs as the jumping power, the schematic diagram of its jumping power mechanism is as follows: Figure 4 As shown, this kind of mechanism adopts a parallelogram connecting rod mechanism and a horizontally arranged tension spring. When the tension spring stretches, it stores energy and releases energy when it shrinks. This kind of jumping power mechanism has low utilization rate of spring energy and low efficiency. High, limited jumping height

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