Single-degree-of-freedom energy storage and release integrated bionic jumping mechanism

Abstract

The invention discloses a single-degree-of-freedom energy storage and release integrating bionic jumping mechanism. The mechanism includes a rack, a driving motor, a first crank and rocker mechanism,a second crank and rocker mechanism, a first elastic torsion assembly, a second elastic torsion assembly, a first gear rod, a second gear rod and a base; the driving motor correspondingly drives cranks of the first crank and rocker mechanism and the second crank and rocker mechanism to rotate in opposite directions through the first elastic torsion assembly and the second elastic torsion assemblyrespectively; one end of a rocker of the first crank and rocker mechanism extends to be hinged to the rack, and the other end of the rocker is hinged to the first gear rod; one end of a rocker of thesecond crank and rocker mechanism extends to be hinged to the rack, and the other end of the rocker is hinged to the second gear rod; an elastic stretching piece is connected between the first gear rod and the second gear rod, and gears of the first gear rod and the second gear rod can rotate and are installed on the base and meshed with each other. According to the jumping mechanism, driving canbe achieved through unidirectional continuous rotation of the motor, storage and instant release of elastic energy are achieved integrally, and the jumping mechanism has the advantages that there arefew driving components, the structure is compact, the utilization rate of the energy is high, and the mechanism is easy to control.

Description

technical field [0001] The invention relates to the field of jumping robots, in particular to a single-degree-of-freedom energy storage and release integrated bionic jumping mechanism. Background technique [0002] Traditional legged robots can adapt to general road conditions, but they are helpless if they encounter unexpected situations and excessive obstacles. Jumping robots can solve this problem. [0003] At present, many jumping robots have appeared, but such robots in the prior art generally use mechanisms such as screw screws to compress springs, and can complete simple jumps. The supporting mechanism of the jumping mechanism generally adopts mechanisms such as four-bar linkages. The contact time between the support part and the ground is short, if you want to jump to a higher height, this requires the energy storage mechanism to have a relatively large explosive force. In addition, when the existing jumping robot completes the jumping action, its energy storage an...

AI Technical Summary

Problems solved by technology

[0003] At present, many jumping robots have appeared, but such robots in the prior art generally use mechanisms such as screw screws to compress springs, and can complete simple jumps. The supporting mechanism of the jumping mechanism generally adopts mechanisms such as four-bar linkages. The contact time between the support part and the ground is short, if you want to jump to a relatively high height, this requires a relatively large explosive power of the energy storage mechanism

In addition, when the existing jumping robot completes the jumping action, its energy storage and release are separately driven by different mechanisms. This type of jumping mechanism generally uses anti-return mechanisms such as ratchets and pawls to prevent the spring from rebounding when energy is stored. When jumping, a separate trigger device is used to release the non-return function of the non-return mechanism to complete the jumping action. Therefore, the existing jumping device has the disadvantages of complex structure, low efficiency, heavy weight, and lack of practicability

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