Movement posture adjusting device for hopping robots

Abstract

The invention discloses a movement posture adjusting device for hopping robots. The movement posture adjusting device comprises a thigh, a thigh assistance leg and a shank, the thigh is hinged to a first position of the shank, and the thigh assistance leg is hinged to a second position of the shank. The movement posture adjusting device is characterized by further comprising a lead screw driving mechanism and a rod leg, wherein the lead screw driving mechanism is used for adjusting the included angle between the thigh and the thigh assistance leg or adjusting the first position and the second position on the shank synchronously, and the rod leg is connected to the second position of the shank, swings in the plane perpendicular to the plane where the thigh and the thigh assistance leg are located and is used for resetting. The movement posture adjusting device comprises an expanded self-resetting and continuous course adjusting mechanism and a hopping height and distance adjusting mechanism based on structure parameters. Through cooperation of the mechanisms, the practicality of the micro hopping robots can be remarkably improved.

Description

technical field [0001] The invention relates to mechanics, robot technology and bouncing robots, in particular to a motion adjustment mechanism of a miniature bouncing robot adapting to motion in complex environments. Background technique [0002] The movement of robots in complex outdoor environments has always been a research hotspot. Compared with wheeled robots and crawler robots of the same size, miniature bouncing robots have stronger obstacle-surmounting capabilities, and can be used as wireless sensor network nodes to climb higher than themselves. Multiple obstacles, or jump into narrow pits for detection tasks, can be used in military investigation, dangerous environment detection, post-disaster search and rescue and other fields. [0003] The bouncing robot that can bounce several times higher than itself cannot achieve a stable landing at present. After landing, it is often in a falling posture. Before the next jump, it needs to be able to realize self-resetting, ...

AI Technical Summary

Problems solved by technology

[0003] The bouncing robot that can bounce several times higher than itself cannot achieve a stable landing at present. After landing, it is often in a falling posture. Before the next jump, it needs to be able to realize self-resetting, heading adjustment, and bounce height and distance adjustment. obstacle

Patent CN201210003779.3 proposes a single-motor-driven self-resetting, take-off direction and take-off angle adjustment mechanism of a miniature bouncing robot; its self-resetting mechanism is based on a folding working method, which is only suitable for flat roads and grasslands with small obstacles The take-off direction adjustment adopts a discrete adjustment method, which is also only suitable for flat and smooth roads. Small obstacles may cause the robot to fall again, and the take-off direction is step-by-step discrete adjustment, which means that its direction adjustment is not enough. Fine; the take-off angle adjustment adopts the center of mass adjustment method, which can realize the adjustment of the jumping height and distance of the robot, but the adjustment range is not large, and the adjustment effect is limited

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