Bionic jumping and walking mechanism

Abstract

The invention discloses a bionic jumping and walking mechanism. Existing robot can only move on the flat terrain and can not be adapted to the complicated terrain environment in the natural world. According to the bionic jumping and walking mechanism, the jumping mechanism is driven and locked or unlocked through a spring locking and unlocking mechanism, a main motor drives a fourth straight gear, an input shaft is supported by a gearbox through a bearing, the fourth straight gear, a ratchet wheel and a clutch fixed block are all fixed to the input shaft, the ratchet wheel is meshed with a pawl, a clutch movable block is connected with an output shaft through a spline, the clutch movable block and the clutch fixed block are embedded together, a base of a shifting fork driving motor is fixed to the gearbox, a second crank is fixedly connected to an output shaft of the shifting fork driving motor, the two ends of a second connecting rod are hinged to the second crank and the end of a shifting fork respectively, the middle of the shifting fork is hinged to a supporting shaft of a motor supporting frame, and a U-shaped fork body of the shifting fork is embedded in an annular groove of the clutch movable block. According to the bionic jumping and walking mechanism, jumping angle adjustment, jumping height adjustment, continuous jumping, automatic resetting and walking can be achieved so that the bionic jumping and walking mechanism can be adapted to the complicated environment.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a bionic robot, in particular to a bionic bouncing and walking mechanism, which can be used as a leg mechanism of a bionic robot. Background technique [0002] Bounce is a very common way of movement in nature, like frogs, kangaroos, and praying mantises. Compared with walking, bounce has the characteristics of wide range of motion, high moving efficiency, and strong explosive power. As a mobile platform, the bouncing robot has good flexibility. It can not only adapt to rough terrain, but also easily cross over obstacles or ravines. Especially in the low-gravity environment of outer space, its moving space is much larger than that of wheeled or legged robot. [0003] Abroad, Professor Raibert of the United States designed the world's single-legged robot that moves in a bouncing manner. Its legs are equipped with a cylinder equivalent to a spring and can only move in one plane. HRL...

AI Technical Summary

Problems solved by technology

[0005] However, the above-mentioned robots can only achieve a single movement or bounce action. At present, they can only move or bounce on very flat terrain, and they are far from being able to adapt to the complex terrain environment in nature.

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