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Jumping robot based on sma drive

A driving method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as continuous jumping, inability to land smoothly, and heavy weight of jumping robots, so as to achieve light weight, lower quality, and flexibility Effect

Active Publication Date: 2021-01-26
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Therefore, it is necessary to design a jumping robot that can solve the problems of ordinary jumping robots, such as heavy weight, inability to land smoothly, and inability to jump continuously.

Method used

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  • Jumping robot based on sma drive
  • Jumping robot based on sma drive
  • Jumping robot based on sma drive

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Embodiment Construction

[0022] figure 1 It is a schematic diagram of the overall structure of the present invention, as shown in the figure, the jumping robot based on the SMA driving method of the present embodiment includes a jumping device and an air bag 1 for providing lift for the jumping device; wherein, the air bag 1 can adopt the existing Structure, the lift generated by it is slightly less than the weight of the whole robot, which can ensure that the driving force generated by the legs of the robot during jumping is almost all used for jumping and lifting, instead of being consumed in overcoming gravity to do work;

[0023] The jumping device includes a frame 2 and a jumping mechanism arranged on the frame 2, an attitude adjustment mechanism, a control module 6 and a battery module 7; the jumping mechanism includes legs that are rotatably connected to the frame 2 for The legs that drive the legs to swing to complete the jumping action drive the SMA wire, and the reset torsion springs that ar...

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Abstract

The invention discloses a new type of jumping robot based on SMA driving mode, which includes a jumping device and an air bag for providing lift for the jumping device; mechanism, a control module and a battery module; the jumping mechanism includes legs that are rotatably connected to the frame, a leg-driven SMA wire for driving the legs to swing to complete the jumping action, and a leg for driving the legs to perform Reset swinging return torsion spring; the attitude adjustment mechanism includes a counterweight slider arranged on the frame in a manner that can slide longitudinally along the frame, and a slider for pulling the counterweight slider to slide SMA wires , and a return spring for driving the counterweight slider to reset and slide; the control module is used to control the battery module to energize the legs to drive the SMA wire and the slider to drive the SMA wire; the present invention solves the problem of common jumping robots Problems such as heavy weight, inability to land smoothly, and inability to jump continuously.

Description

technical field [0001] The invention relates to the field of bionic jumping robots, in particular to a jumping robot using an SMA (shape memory alloys) drive mode. Background technique [0002] With the accumulation and breakthrough of robot technology, it has become popular to develop robots combined with the concept of bionics. However, most of the current bionic jumping robots cannot achieve stable jumping. Most of them can only achieve stable landing after jumping in a single jump. Robots that can take off again are rare. The SALTO jumping robot is represented by a multi-link The mechanism refers to the jumping mode of the langur, and designed the function of continuous jumping. However, other jumping robots can only jump once, which greatly limits their performance. At the same time, existing robots are driven by motors, combined with motion execution units, which greatly increases the weight of the robot and limits the jumping height of the robot. In addition, it is ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/00
Inventor 柏龙黄志鹏陈晓红孙圆喜
Owner CHONGQING UNIV
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