A miniature jumping device with a stable attitude in the air

Abstract

The invention provides a miniature jumping device with a stable posture in the air, which includes a jumping body, a supporting body, an SMA spring and an SMA leaf spring, wherein the jumping body includes two identical lower leg boards and two identical upper leg boards; the supporting The main body includes two identical support legs, and the two support legs are symmetrically arranged on the two lower leg boards to provide inclined support, so as to keep the jumping body always in a symmetrical state before jumping; the SMA leaf spring is arranged at the first hinge and is connected with the The two lower leg boards are matched and connected, and / or the SMA leaf spring is set at the third hinge and connected with the two upper leg boards; the SMA spring is shortened after being energized, and the two lower leg boards are folded to each other while jumping. The upper leg board and / or the lower leg board squeeze the SMA leaf spring, and the SMA leaf spring flips after being energized, and the two lower leg boards are unfolded in opposite directions to perform the landing action. The invention has the advantages of light weight, stable posture in the air, and better realization of intermittent jumping of the robot.

Description

technical field [0001] The invention belongs to the technical field of jumping robots, and in particular relates to a miniature jumping device with a stable attitude in the air. Background technique [0002] Jumping robots can perform jumping actions to cross obstacles (such as water jumps, land jumps, or amphibious jumps), so as to efficiently pass through complex terrain, and have broad application prospects in space exploration, battlefield reconnaissance, life rescue and other fields. [0003] In the prior art, a DC geared motor is used to pull the jumping legs, and the torsion springs at the joints of the legs are compressed, and when pulled to a certain position, the torsion springs are released to realize jumping. In this method, the weight of the DC gear motor is relatively large, which reduces the jumping performance; the problem of the principle of the jumping leg mechanism causes the reaction force of the ground to fail to pass through the center of mass of the ro...

AI Technical Summary

Problems solved by technology

In this way, the weight of the DC deceleration motor is relatively large, which reduces the jumping performance; the problem of the principle of the jumping leg mechanism causes the reaction force of the ground to fail to pass through the center of mass of the robot during the take-off phase, resulting in an unstable attitude of the robot in the air

[0004] However, most of the current jumping robots can only achieve the function of a single jump, and cannot achieve multiple consecutive jumps.

The crux of the problem is that the attitude of the jumping robot in the air is difficult to adjust

Once the jumping device does not have the function of adjusting the attitude in the air, it will not only make it difficult to accurately control the landing point, but also easily cause the problem of collision with other objects and damage when falling

[0005] In addition, there is also the problem that the overall structure is too large to meet the needs of miniaturization design

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