Hopping robot capable of actively adjusting attitude before falling to ground

Abstract

The invention discloses a hopping robot capable of actively adjusting the attitude before falling to the ground. The hopping robot capable of actively adjusting the attitude before falling to the ground comprises a rack, thighs, auxiliary legs, shanks, a cam, a cam deceleration gear, a cam driving motor, a battery pack module, an induction control module, flywheels, flywheel deceleration gears, a flywheel driving motor and a variable stiffness elastic joint. The lower ends of the thighs and the auxiliary legs are hinged to the shanks, and the middles of the thighs are hinged to the rack. The rack, the thighs, the auxiliary legs and the shanks form a parallelogram structure, the upper ends of the thighs are in tight contact with the cam, the variable stiffness elastic joint is hinged to the upper ends of the auxiliary legs, and the upper ends of the auxiliary legs are connected to the rack. The cam is connected with the cam driving motor through the cam deceleration gear. The flywheels are arranged on the rack, and the flywheels are connected with the flywheel driving motor through the flywheel deceleration gears. The problems that an existing hopping robot is prone to turning over and laterally falling down after hopping, and has no effective attitude adjusting device, and the landing attitude angle cannot be set are solved.

Description

technical field [0001] The invention relates to a robot technology, in particular to a bouncing robot that can actively adjust its posture before landing. Background technique [0002] The movement of robots in complex outdoor environments has always been a research hotspot. Compared with wheeled robots and tracked robots of the same size, bouncing robots have stronger obstacle-surmounting capabilities. Obstacles, or jump into narrow pits for detection tasks, can be used in military reconnaissance, dangerous environment detection, post-disaster search and rescue and other fields. [0003] The bouncing robot is currently unable to achieve a safe and stable landing. After landing, it often overturns and falls sideways. Before the next jump, it needs to be able to achieve self-resetting and other actions, which causes the complexity of the mechanical structure. Patent CN201210003779.3 proposes a single-motor-driven self-resetting, take-off direction and take-off angle adjustme...

AI Technical Summary

Problems solved by technology

[0003] The bouncing robot is currently unable to achieve a safe and stable landing. After landing, it often overturns and falls sideways. Before the next jump, it needs to be able to realize self-resetting and other actions, which causes the complexity of the mechanical structure.

Patent CN201210003779.3 proposes a single-motor-driven self-resetting, take-off direction and take-off angle adjustment mechanism of a bouncing robot; its self-resetting mechanism is based on a folding working method, which is only suitable for flat roads, and in the case of small obstacles such as grass It will fail; its landing angle is closely related to the robot's own load and the ground conditions, which may easily cause the key parts of the robot to hit the ground and be damaged

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