Jumping degree-adjustable bionic bouncing device

Abstract

The invention relates to the technical field of robots. According to the technical scheme, a jumping degree-adjustable bionic bouncing device is characterized by comprising a machine frame, and further comprising a driving mechanism, a transmission mechanism, hind leg mechanisms, fore leg mechanisms and a controller which are mounted on the machine frame; two groups of the fore leg mechanisms andtwo groups of the hind leg mechanisms are symmetrically mounted on the machine frame; and the driving mechanism comprises a first small gear which is rotatably positioned on the machine frame and is driven by a stepping motor, a first big gear which is engaged with the first small gear and is coaxially fixed to a second small gear, a second big gear which is rotatably positioned on the machine frame and is coaxially fixed to a ratchet, a pawl which is hinged to the machine frame and is matched with the ratchet, a third small gear which is rotatably positioned on the machine frame and is fixedto a cam, and an L-shaped rod which is positioned on the machine frame in a swinging manner. The bouncing device can realize adjustable control over the jumping degree, and has the characteristics ofhigh jumping ability, the stable structure and convenience in control.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bionic bouncing device with adjustable jumping degree. Background technique [0002] At present, mobile robots are widely used. According to different modes of movement, robots can be divided into four categories: 1. Wheeled robots, which have the advantage of high speed and high efficiency, and can reach the destination in a short time. The ability is small. Two, the legged robot, its advantage is that the ability to overcome obstacles is good, but the speed and efficiency of the legged robot are all very low, and the control is more complicated. Third, crawler robots have the advantages of strong adaptability and compact design, but their weight and energy consumption are large. Fourth, the bouncing robot, compared with the other three robots, its advantages are mainly in the following aspects: (1) It can adapt to complex environments; (2) It has a strong ability to overcome...

AI Technical Summary

Problems solved by technology

[0002] At present, mobile robots are widely used. According to different modes of movement, robots can be divided into four categories: 1. Wheeled robots, which have the advantage of high speed and high efficiency, and can reach the destination in a short time. small ability

2. Legged robots have the advantage of good obstacle-crossing ability, but the speed and efficiency of legged robots are very low, and the control is more complicated

3. Crawler robots have the advantages of strong adaptability and compact design, but their weight and energy consumption are large

For robots with multi-wheel drive and bionic walking or crawling as the main movement mode, when encountering some relatively large obstacles, their movement forms are difficult to overcome or the efficiency of overcoming obstacles is low

[0003] At present, most of the jumping robots mainly realize the change of the jumping degree by adjusting the take-off angle, and the adjustment range is limited, and the control of the jumping height and jumping distance is not realized from the characteristics of the jumping mechanism.

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