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Robot capable of imitating cat jump

A robot and DC motor technology, applied in the field of bionic robots, can solve the problems of insufficient jumping ability, energy waste and impact of bionic quadruped robots, and achieve the effect of improving high jump and long jump performance and improving utilization efficiency

Active Publication Date: 2018-09-21
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the invention is to provide a cat-like jumping robot in order to overcome the problems of insufficient jumping ability, energy waste, and severe impact in the prior art.

Method used

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  • Robot capable of imitating cat jump
  • Robot capable of imitating cat jump
  • Robot capable of imitating cat jump

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] Example 1, see attached figure 1 , a cat-like jumping robot, which includes: a trunk mechanism 1, a front leg jumping mechanism 2, a rear leg jumping mechanism 3, and a detection control mechanism 4;

[0025] see attached figure 2 The torso mechanism 1 includes: a torso body 12, and a front beam frame 11 and a rear beam frame 13 respectively arranged in front and back of the torso body 12; specifically, the torso body 12 is assembled from three hollow aluminum parts; the inside of the torso body 12 is Divided into thoracic cavity and abdominal cavity;

[0026] see attached image 3 , the front leg jumping mechanism 2 has two groups in total, which are respectively arranged on the left and right sides of the front part of the trunk body 12, including: the shoulder blade made up of the front leg servo motor 212, the front leg DC motor 211, the shoulder blade splint 213, and the front leg gear set 214 , front leg big arm 22, front leg forearm 24, front leg spring 23 an...

Embodiment 2

[0030] Embodiment 2, see attached Image 6 On the basis of Embodiment 1, further, the wrist joint shaft 28 is sleeved with a torsion spring 29, and the torsion spring 29 is used to limit the rotation angle of the forefoot 27 relative to the forearm 24 of the front leg; the free angle of the torsion spring 29 is greater than The angle of the torsion spring when the robot is standing normally, the torsion spring 29 remains in a compressed state all the time when the robot is standing, which can play a good buffering role when the front foot 27 lands, and accumulate power for the next take-off.

Embodiment 3

[0031] Embodiment 3, on the basis of Embodiment 1 or 2, an elastic stopper is added at the shell of the rear leg DC motor 312;

[0032] When the rear leg DC motor 312 drives the rear leg big arm 37 to be in a tightened state, the rear leg forearm 32 is in contact with the rear leg servo motor 311 shell, and an elastic stop is provided at the contact, and the elastic stop is squeezed. Energy can be stored and released when the squeeze is gone. When the rear leg big arm 37 is in the tightened state, the rear leg forearm 32 is limited by the elastic stopper to compress the stopper, which can be used for energy storage and boosting when jumping at the maximum distance.

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Abstract

The invention relates to the technical field of biomimetic robots, in particular to a jump robot. The robot capable of imitating cat jump comprises a trunk mechanism, a detection control mechanism, front leg jump mechanisms and rear leg jump mechanisms, the front leg jump mechanisms and the rear leg jump mechanisms are mounted in the front and the rear of the trunk mechanism, structures of the front leg jump mechanisms are as same as those of the rear leg jump mechanisms, structures of four limbs of mammals are referenced when the leg jump mechanisms are designed, each leg jump mechanism is designed into three sections with two joints, and the two joints are driven by a servo motor and a direct-current motor, so that legs flexibly move. According to the rotor, four-bar linkages with elasticity components are designed by imitating muscle tendons of real animals, spring has buffering and power assisting functions in the jumping and running process of the robot, explosive power can be instantaneously released by stored power, high jump and long jump performances of the robot are improved, and the utilization efficiency of energy is improved.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a jumping robot. Background technique [0002] Due to its adaptability to different terrains, legged robots, especially quadruped robots, can be used to solve problems such as overcoming ravines and obstacles that wheeled and tracked robots cannot achieve. In field adventures and military activities, they can be more flexible. Completing dangerous tasks has great potential in many fields such as anti-terrorism, emergency rescue and disaster relief. The current quadruped robot has made a breakthrough in terms of walking stability, but due to the limitation of its own weight and motion ability, its jumping motion ability is not enough, and it cannot cross obstacles or jump high. [0003] The Chinese invention patent with the application number CN201410145956.0 discloses a bionic quadruped robot with spinal joints and elastic legs. The elastic legs include pulleys, wire ropes...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 孟非刘华欣范徐笑明爱国黄强何泽文王磊张润明康儒
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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