A robot walking and bouncing mechanism

Abstract

A walking and bouncing mechanism for a robot, which consists of a chassis, a driving wheel at the front of both outer walls of the chassis, a driven wheel at the rear of the chassis, and connecting rods from 1# to 6#, energy storage springs and buffer springs on both outer walls of the chassis. Connecting rod mechanism; there is a double output shaft motor in the box, the front shaft of the motor is connected with the bidirectional bevel gear reversing mechanism through the front clutch, and the two output shafts of the bidirectional bevel gear reversing mechanism respectively drive the driving wheels; the rear of the motor The shaft is connected to the drum through the rear clutch, and the drum is wound with two traction ropes that are opposite in direction and whose ends are respectively connected with the link mechanism. The robot's walking and bouncing mechanism relies on the reverse rotation of the motor to drive the drum to rotate, so that the traction rope is released, and the energy storage spring releases energy to realize the bouncing function. Strong; the impact between the connecting rod and the ground can be buffered by the boot-shaped 6# connecting rod and the buffer spring to avoid damage to the connecting rod mechanism; the dual functions of robot walking and bouncing can be completed by using one motor.

Description

technical field [0001] The invention relates to a robot, in particular to a robot walking and bouncing mechanism. Background technique [0002] In today's era, robots have gradually replaced manpower as an important tool in human life and production processes. Most of the existing wheeled and tracked mobile robots, walking robots, and crawling robots are robot types made by applying bionics. This type of robot can only walk on relatively flat ground, and cannot walk on complex ground with ravines. run smoothly. [0003] Ma Wenshuo, Mi Jie, etc. disclosed a robot bounce mechanism that can enable robots to overcome obstacles in "Manufacturing Automation" 2014, No. 15 (page 41-44). The bouncing mechanism uses a four-bar mechanism to simulate the legs of the locust, uses springs to simulate the tendons of the locust, and uses a motor to drive and rotate with the four-bar mechanism located on both sides of the box through a transmission shaft and a bevel gear set reversing mech...

AI Technical Summary

Problems solved by technology

Due to the low transmission efficiency of the open transmission bevel gear (generally 0.92-0.95), and the subsequent transmission parts are rigid and have high friction, it takes a long time and a slow speed for the spring to release energy, which affects the bouncing of the robot. force

[0006] 2. When the robot bounces and lands, the four-bar mechanism does not have an anti-collision buffer mechanism, which is easily damaged by ground impact

[0007] 3. The robot needs to use another motor to walk on the flat ground, and the structure is complex

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