Robot simulating jumping of Issuus planthopper

Abstract

The invention discloses an Issuus plant hopper imitating jumping robot, which relates to the field of jumping robots, and comprises a rack, a driving mechanism, a transmission mechanism, an energy storage mechanism and a supporting seat, the energy storage mechanism is connected between the rack and the supporting seat, and the driving mechanism and the transmission mechanism are both installed on the rack. The energy storage mechanism comprises a winding rope, an elastic sheet, a bionic gear and a connecting shaft; one end of the winding rope is fixedly connected to the supporting base, and the other end of the winding rope is wound and fixed to the transmission mechanism. The two sets of elastic pieces are symmetrically arranged, bionic gears are fixedly connected to the two ends of each set of elastic pieces, the two sets of bionic gears at the first end are meshed with each other and rotationally connected with the rack through connecting shafts, and the two sets of bionic gears at the second end are meshed with each other and rotationally connected with the supporting base through connecting shafts. The jumping robot has the advantage that the jumping ability of the jumping robot is improved.

Description

Technical Field

[0001] The invention relates to the field of jumping robots, in particular to an Issus planthopper-like jumping robot. Background Art

[0002] A jumping robot is a robot that moves and crosses obstacles by jumping. Especially in low-gravity environments, jumping robots can easily reach amazing heights, thus playing an important role in exploring extreme terrains on alien planets such as Mars and the Moon. Scientists used high-resolution microscopes to observe the leg structure of the Issus planthopper and found that the reason why the Issus planthopper (Issus coleoptratus) insect can jump more than 100 times its body length and still land accurately at the expected location is because there is a pair of tiny structures similar to gear meshing transmission on the tibia of its hind legs. The take-off time of the Issus planthopper is only about 30 microseconds. If one of the hind legs is a little slower, then they cannot accurately control their jumping direction and distance. Before they jump, their hind legs will bend backwards, and the "gear" structure on the hind legs will bite together neatly. When they jump, the "gear" structure on the hind legs can ensure that the two hind legs exert force at almost the same time.

[0003] The patent document with announcement number CN102745274B discloses a robot jumping device and a jumping method thereof, which adopts an improved six-bar mechanism to add tension springs and torsion springs, thereby solving the problem that the traditional six-bar jumping structure requires a large space for energy storage simply relying on tension springs. However, this scheme still belongs to the six-bar jumping structure, which has a middle connecting rod mechanism, and the efficiency of elastic potential energy storage is not high. In addition, its complex structure may also lead to increased losses in the energy transfer process, thereby reducing the overall energy efficiency and poor jumping ability. Summary of the invention

[0004] The technical problem to be solved by the present invention is to improve the jumping ability of a jumping robot.

[0005] The present invention solves the above technical problems by the following technical means: an Issus planthopper-like jumping robot, comprising a frame, a driving mechanism, a transmission mechanism, an energy storage mechanism and a support seat;

[0006] The energy storage mechanism is connected between the frame and the support seat, the driving mechanism and the transmission mechanism are both installed on the frame, the driving mechanism is used to provide driving force through the transmission mechanism, and the transmission mechanism is used to control the compression or release of the energy storage mechanism;

[0007] The energy storage mechanism includes a winding rope, spring pieces, bionic gears and a connecting shaft; one end of the winding rope is fixedly connected to the support seat, and the other end of the winding rope is wound and fixed on the transmission mechanism; two groups of spring pieces are symmetrically arranged, and both ends of each group of spring pieces are fixedly connected to bionic gears; the two groups of bionic gears at the first end are meshed with each other and are respectively rotatably connected to the frame through the connecting shaft, and the two groups of bionic gears at the second end are meshed with each other and are respectively rotatably connected to the support seat through the connecting shaft.

[0008] The present invention uses two groups of symmetrically arranged springs directly for elastic potential energy storage, removes the middle connecting rod mechanism, has high elastic potential energy storage capacity, and improves the jumping ability of the jumping robot; to ensure the stable operation of the structure, a bionic gear imitating the hind legs of the "Issus planthopper" insect is provided, and when the energy storage mechanism is compressed, the elastic elements on the left and right sides are ensured to move synchronously, effectively avoiding the elastic elements from tilting to one side, thereby improving the stability of the body; when the energy storage mechanism is released, the elastic elements on the left and right sides are ensured to exert force at the same time, thereby improving the accuracy of the robot's jumping.

[0009] As an optimized technical solution, the energy storage mechanism further includes a rubber band, which is sleeved on the overall exterior of the two groups of spring sheets and fixedly connected to the middle position of the exterior of each group of spring sheets, thereby further improving the elastic potential energy storage capacity.

[0010] As an optimized technical solution, the energy storage mechanism further includes a torsion spring, and the two groups of bionic gears at the first end are elastically connected to the frame through the torsion spring, and the two groups of bionic gears at the second end are elastically connected to the support seat through the torsion spring, further improving the elastic potential energy storage capacity.

[0011] As an optimized technical solution, the bionic gear comprises a connecting block, incomplete teeth and a torsion spring mounting groove; the incomplete teeth are fixedly connected to one end of the connecting block, and the two groups of bionic gears are meshed with each other through the incomplete teeth; a torsion spring mounting groove is provided in the middle position of the outer side surface of the connecting block;

[0012] The middle part of the torsion spring is bent into a force-applying side force arm, and the force-applying side force arm is installed in the torsion spring installation groove; the two ends of the force-applying side force arm are coiled into two connecting rings, and the two connecting rings are respectively sleeved on the parts of the connecting shaft located on both sides of the bionic gear; the two connecting rings extend out from the positions close to the two ends to form two fixed side force arms, and the fixed side force arms pass through the middle opening position of the force-applying side force arm to the outside of the force-applying side force arm; the fixed side force arm of the torsion spring at the first end is installed on the frame, and the fixed side force arm of the torsion spring at the second end is installed on the support seat.

[0013] As an optimized technical solution, the bionic gear also includes a boss, a first plane, a spring installation groove and a second plane; a boss is provided in the middle of the outer side surface of the connecting block, the outer side surface of the boss is the first plane, and the torsion spring installation groove is formed between the boss and the connecting block; a spring installation groove is provided on the outer side surface of the connecting block, and the spring installation groove is located on the side of the boss away from the incomplete tooth; the bottom of the spring installation groove is the second plane, the spring is fixedly connected to the second plane, and the angle between the first plane and the second plane is less than 180°. The spring produces an outward arc deformation in the initial state, and the angle design between the first plane and the second plane of the bionic gear effectively avoids the dead point position when the energy storage mechanism is initially compressed.

[0014] As an optimized technical solution, the bionic gear also includes a groove, and a groove is provided at the middle position of the outer circumference of the incomplete tooth; the winding rope is arranged between two groups of spring plates, and the winding rope passes through two meshing incomplete teeth from the groove position.

[0015] As an optimized technical solution, the energy storage mechanism also includes a linear spring and a guide rod. Two groups of guide rods are symmetrically arranged on both sides of the two groups of springs. The guide rods are telescopic rods. The outside of each group of guide rods is respectively sleeved with a linear spring. The two ends of the guide rods are respectively fixedly connected to the frame and the support seat. The two ends of the linear springs are respectively fixedly connected to the frame and the support seat. The elastic potential energy storage capacity is further improved, and the guide effect of the guide rods effectively avoids the problem of deviation of the energy storage mechanism during the compression process.

[0016] As an optimized technical solution, the frame is provided with a one-way bearing mounting hole and an intermediate shaft mounting hole, and the intermediate shaft mounting hole is an arc-shaped hole surrounding the outer periphery of the one-way bearing mounting hole and concentric therewith;

[0017] The transmission mechanism comprises an input shaft, a rotating arm, a one-way bearing, an input gear, an intermediate shaft, a duplex gear, a return spring, an output shaft, an output gear and a capstan;

[0018] A rotating arm is arranged on the outer side of the frame, a one-way bearing is arranged between the rotating arm and the frame, a part of the outer ring of the one-way bearing is rotationally matched with the one-way bearing mounting hole, and another part of the outer ring of the one-way bearing is fixedly matched with the rotating arm; the outer surface of the input shaft is fixedly matched with the inner ring of the one-way bearing, and the input gear is fixedly matched on the outside of the input shaft;

[0019] The intermediate shaft is movably matched with the intermediate shaft mounting hole and is rotationally matched with the rotating arm, the double gear is rotationally connected to the intermediate shaft, and the intermediate shaft is connected to the frame through the return spring;

[0020] The output shaft is rotatably connected to the frame, and the output gear is fixedly fitted on the outside of the output shaft; the winch drum is arranged at one end of the output shaft, and the winding rope is wound and fixed on the winch drum;

[0021] The input shaft, the intermediate shaft and the output shaft are parallel to each other, the input gear is always meshed with the duplex gear, and the output gear can be meshed with or disengaged from the duplex gear.

[0022] When the output shaft of the driving mechanism rotates clockwise, the winch drum is wound with a rope through the sequential transmission of the input gear, the double gear and the output gear, and the contraction of the rope drives the elastic element to compress, thereby storing elastic potential energy; when the output shaft of the driving mechanism rotates counterclockwise, under the action of the one-way bearing and the rotating arm, the double gear is disengaged from the output gear. At this time, the output gear loses its constraint, the rope can move freely, the energy stored in the energy storage mechanism is instantly released, the elastic potential energy is converted into the kinetic energy of the robot, and the robot jumps; because the one-way bearing first generates a locking force and then rotates counterclockwise as a whole, the output gear is prevented from being disengaged prematurely; by setting a reset spring, the energy storage mechanism can be compressed and released autonomously for multiple times.

[0023] As an optimized technical solution, the frame includes two groups of transmission mechanism mounting brackets, and a mounting cavity is formed between the two groups of transmission mechanism mounting brackets. Each transmission mechanism mounting bracket is provided with a one-way bearing mounting hole and an intermediate shaft mounting hole; a rotating arm is provided on the outer side of the two groups of transmission mechanism mounting brackets, and a one-way bearing is provided between each rotating arm and the transmission mechanism mounting bracket, and the input shaft passes through the inner rings of the two groups of one-way bearings; the intermediate shaft passes through the two groups of intermediate shaft mounting holes and the two groups of rotating arms; the output shaft is rotatably connected to the two groups of transmission mechanism mounting brackets; the input gear, duplex gear and output gear are all arranged in the mounting cavity.

[0024] When the output shaft of the driving mechanism rotates counterclockwise, both ends of the intermediate shaft are subjected to force at the same time, and the duplex gear is more likely to disengage from the output gear.

[0025] As an optimized technical solution, a large hole is provided on the rotating arm, and a key is provided on the inner surface of the large hole; keyways are provided on the inner and outer rings of the one-way bearing, and the outer ring of the one-way bearing is key-connected to the large hole; a keyway is provided on the outer surface of the input shaft, and the keyway of the inner ring of the one-way bearing and the keyway of the input shaft are key-connected via a flat key.

[0026] The inner and outer double keyway structure of the one-way bearing ensures that the rotating arm and the input shaft will not slide relative to it when it is subjected to large torque, and can withstand greater tension.

[0027] The advantages of the present invention are:

[0028] 1. The present invention directly uses two groups of symmetrically arranged springs for elastic potential energy storage, removes the middle connecting rod mechanism, has high elastic potential energy storage capacity, and improves the jumping ability of the jumping robot; to ensure the stable operation of the structure, a bionic gear imitating the hind legs of the "Issus planthopper" insect is provided, and when the energy storage mechanism is compressed, the elastic elements on the left and right sides are ensured to move synchronously, effectively preventing the elastic elements from tilting to one side, thereby improving the stability of the body; when the energy storage mechanism is released, the elastic elements on the left and right sides are ensured to exert force at the same time, thereby improving the accuracy of the robot's jumping.

[0029] 2. The energy storage mechanism further realizes the greatly improved elastic potential energy storage capacity under the condition of compact structure through the ingenious combination of four different elastic elements: rubber band, spring, torsion spring and linear spring, and effectively avoids the problem of deviation of the energy storage mechanism during the compression process.

[0030] 3. The spring piece produces an outward arc deformation in the initial state, and the angle design between the first plane and the second plane of the bionic gear effectively avoids the dead point position during the initial compression of the energy storage mechanism.

[0031] 4. When the output shaft of the driving mechanism rotates clockwise, the winch drum is wound with a rope through the sequential transmission of the input gear, the double gear and the output gear. The contraction of the rope drives the elastic element to compress and store elastic potential energy. When the output shaft of the driving mechanism rotates counterclockwise, under the action of the one-way bearing and the rotating arm, the double gear is disengaged from the output gear. At this time, the output gear loses its constraint, the rope can move freely, the energy stored in the energy storage mechanism is instantly released, and the elastic potential energy is converted into the kinetic energy of the robot, and the robot jumps. Because the one-way bearing first generates a locking force and then rotates counterclockwise as a whole, the output gear is prevented from being disengaged too early. By setting a reset spring, the energy storage mechanism can be compressed and released autonomously multiple times.

[0032] 5. When the output shaft of the driving mechanism rotates counterclockwise, both ends of the intermediate shaft are subjected to force at the same time, and the duplex gear is easier to disengage from the output gear.

[0033] 6. The inner and outer double keyway structure of the one-way bearing ensures that the rotating arm and the input shaft will not slide relative to it when it is subjected to large torque, and can withstand greater tension. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The figure is an axonometric diagram of the Issus planthopper-imitating jumping robot according to an embodiment of the present invention.

[0035] Figure 2 The figure is a schematic diagram of an explosion of the Issus planthopper-imitating jumping robot according to an embodiment of the present invention.

[0036] Figure 3 It is an axonometric schematic diagram of a frame according to an embodiment of the present invention.

[0037] Figure 4 It is an axonometric schematic diagram of a support seat according to an embodiment of the present invention.

[0038] Figure 5 It is an exploded schematic diagram of the transmission mechanism of the embodiment of the present invention.

[0039] Figure 6 Schematic diagram of an axonometric view of a rotating arm according to an embodiment of the present invention.

[0040] Figure 7 It is a schematic axonometric diagram of a one-way bearing according to an embodiment of the present invention.

[0041] Figure 8 Schematic diagram of the axonometric view of the double gear according to the embodiment of the present invention.

[0042] Fig. 9 It is an axonometric schematic diagram of the energy storage mechanism according to an embodiment of the present invention.

[0043] Fig.10 It is a schematic isometric view of the bionic gear according to an embodiment of the present invention.

[0044] Fig.11 Schematic diagram of an axonometric view of a torsion spring according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0046] like Figure 1 , Figure 2 As shown, an embodiment of the present invention discloses an Issus planthopper-like jumping robot, comprising a frame 1, a driving mechanism 2, a transmission mechanism 3, an energy storage mechanism 4 and a support seat 5.

[0047] The energy storage mechanism 4 is connected between the frame 1 and the support seat 5. The driving mechanism 2 and the transmission mechanism 3 are both installed on the frame 1. The driving mechanism 2 is used to control the compression or release of the energy storage mechanism 4 through the transmission mechanism 3. The driving mechanism 2 adopts a steering gear.

[0048] like Figure 3As shown, the frame 1 includes a drive mechanism mounting bracket 101, a transmission mechanism mounting bracket 102, a mounting cavity 103, a one-way bearing mounting hole 104, an intermediate shaft mounting hole 105, an output bearing mounting hole 106, a return spring mounting bracket 107, an energy storage mechanism mounting bracket 108, a first connecting shaft mounting hole 109, a first torsion spring mounting hole 110, a guide rod first mounting seat 111 and a first set screw hole 112; the transmission mechanism mounting bracket 102 is provided with two groups, and the mounting cavity 103 is formed between the two groups of transmission mechanism mounting brackets 102, the drive mechanism mounting bracket 101 is fixedly connected to the outer side of one group of transmission mechanism mounting brackets 102, and the drive mechanism 2 is fixedly connected to the drive mechanism mounting bracket 101 by screws; each transmission mechanism mounting bracket 102 is provided with two groups of transmission mechanism mounting brackets 102, and the drive mechanism 2 is fixedly connected to the drive mechanism mounting bracket 101 by screws; The transmission mechanism mounting bracket 102 is provided with a one-way bearing mounting hole 104, an intermediate shaft mounting hole 105 and an output bearing mounting hole 106. The intermediate shaft mounting hole 105 is an arc-shaped hole surrounding the outer periphery of the one-way bearing mounting hole 104 and concentric therewith; the return spring mounting bracket 107 is a rod-shaped structure, and the return spring mounting bracket 107 is fixedly connected to one side of the upper part of the transmission mechanism mounting bracket 102 close to the output bearing mounting hole 106; the energy storage mechanism mounting bracket 108 is fixedly connected to the lower part of the transmission mechanism mounting bracket 102, and the energy storage mechanism mounting bracket 108 is provided with a first connecting shaft mounting hole 109, a first torsion spring mounting hole 110 and a first guide rod mounting seat 111, and the first guide rod mounting seat 111 is provided with a first set screw hole 112.

[0049] like Figure 4 As shown, the support seat 5 is provided with two groups of second connecting shaft mounting holes 501 , second torsion spring mounting holes 502 and guide rod second mounting seats 503 , and each guide rod second mounting seat 503 is provided with a second fixing screw hole 504 .

[0050] like Figures 5 to 8 As shown, the transmission mechanism 3 includes a steering wheel 301, an input shaft 302, a rotating arm 303, a one-way bearing 304, a flat key 305, an input gear 306, an intermediate shaft 307, an intermediate bearing 308, a double gear 309, a return spring 310, an output bearing 311, an output shaft 312, an output gear 313 and a capstan 314.

[0051] The steering wheel 301 is fixedly connected to one end of the input shaft 302 by screws, and the steering wheel 301 is used to be connected to the output shaft of the driving mechanism 2; a rotating arm 303 is provided on the outer side of the two sets of transmission mechanism mounting brackets 102, and a large hole 3031 and a small hole 3032 are provided on the rotating arm 303, and a key is provided on the inner surface of the large hole 3031; a one-way bearing 304 is provided between each rotating arm 303 and the transmission mechanism mounting bracket 102, and the inner ring of the one-way bearing 304 can rotate freely clockwise relative to the outer ring, and when it rotates counterclockwise, the inner ring will be locked relative to the outer ring; the inner and outer rings of the one-way bearing 304 are provided with keyways, a part of the outer ring of the one-way bearing 304 is rotatably matched with the one-way bearing mounting hole 104, and the other part of the outer ring of the one-way bearing 304 is rotatably matched with the large ring of the rotating arm 303 The hole 3031 is keyed; the input shaft 302 passes through the inner rings of the two sets of one-way bearings 304, and the outer surface of the input shaft 302 is provided with a keyway, and the keyway of the inner ring of the one-way bearing 304 and the keyway of the input shaft 302 are keyed by a flat key 305; the inner and outer double keyway structure of the one-way bearing 304 ensures that the rotating arm 303 and the input shaft 302 will not slide relative to it when it is subjected to a large torque, and can withstand greater tension; the inner hole of the input gear 306 is provided with a key, and the input gear 306 is keyed to the outside of the input shaft 302; retaining springs are provided on the outer sides of the two ends of the input gear 306 on the input shaft 302 and on the outer sides of a set of one-way bearings 304 far away from the driving mechanism 2, and the input gear 306 and the one-way bearing 304 are axially limited by the retaining springs.

[0052] The intermediate shaft 307 passes through the two groups of intermediate shaft mounting holes 105 and the small holes 3032 of the two groups of rotating arms 303. The intermediate shaft 307 is movably matched with the intermediate shaft mounting holes 105 and is rotationally matched with the rotating arms 303. The double gear 309 is rotationally connected to the intermediate shaft 303 through the intermediate bearing 308. The intermediate bearing 308 effectively reduces the friction between the double gear 309 and the intermediate shaft 307 during transmission. The intermediate shaft 307 is provided with retaining springs on the outer sides of the two groups of rotating arms 303, and the rotating arms 303 are axially limited by the retaining springs. The positions near the two ends of the intermediate shaft 307 are respectively connected to the return spring mounting bracket 107 through the return spring 310. One end of the return spring 310 is fixed in an annular groove provided on the intermediate shaft 307, and the other end of the return spring 310 is bent into a hook shape and hung on the return spring mounting bracket 107.

[0053] The output shaft 312 is rotatably connected to the two sets of transmission mechanism mounting brackets 102 through output bearings 311 respectively arranged in the two sets of output bearing mounting holes 106; the outer surface of the output shaft 312 is provided with a keyway, the inner hole of the output gear 313 is provided with a key, and the output gear 313 is key-connected to the outside of the output shaft 312; the capstan 314 is arranged at one end of the output shaft 312 and is an integral structure with the output shaft 312, and the output shaft 312 is provided with retaining springs on the outer sides of both ends of the output gear 313 and on the outer sides of a group of output bearings 311 away from the capstan 314, and the output gear 313 and the output bearing 311 are axially limited by the retaining springs.

[0054] The input shaft 302, the intermediate shaft 307 and the output shaft 312 are parallel to each other, the input gear 306 is always meshed with the double gear 309, and the output gear 313 can be meshed with or disengaged from the double gear 309; the input gear 306, the double gear 309 and the output gear 313 are all arranged in the installation cavity 103; the double gear 309 includes a large gear 3091 and a small gear 3092 arranged coaxially, the large gear 3091 is always meshed with the input gear 306, and the small gear 3092 can be meshed with or disengaged from the output gear 313; the inner hole of the large gear 3091 and the inner hole of the small gear 3092 are combined into a stepped hole from large to small, the inner hole of the large gear 3091 is used to install the intermediate bearing 308, and the inner hole of the small gear 3092 is used to install the intermediate shaft 307.

[0055] like Figures 9 to 11 As shown, the energy storage mechanism 4 includes a winding rope 401 , a rubber band 402 , a spring 403 , a bionic gear 404 , a connecting shaft 405 , a torsion spring 406 , a linear spring 407 and a guide rod 408 .

[0056] The two groups of spring sheets 403 are symmetrically arranged, and each group of spring sheets 403 includes at least two carbon fiber sheets stacked together; the winding rope 401 is arranged between the two groups of spring sheets 403 and passes through the support seat 5 and the frame 1, one end of the winding rope 401 is fixedly connected to the support seat 5, and the other end of the winding rope 401 is wound and fixed on the winch drum 314; the rubber band 402 is sleeved on the overall outside of the two groups of spring sheets 403 and fixedly connected to the middle position of the outer side of each group of spring sheets 403; both ends of each group of spring sheets 403 are fixedly connected with bionic gears 404, the two groups of bionic gears 404 at the first end are meshed with each other and are respectively rotatably connected to the frame 1 through the connecting shaft 405, and the two groups of bionic gears 404 at the second end are meshed with each other and are respectively rotatably connected to the support seat 5 through the connecting shaft 405; the middle position of the connecting shaft 405 is fixedly matched with the inner hole of the bionic gear 404, and the two sides of the connecting shaft 405 at the first end are respectively rotatably matched in the first connecting shaft mounting hole 109, and the second end The two sides of the connecting shaft 405 are respectively rotatably engaged in the second connecting shaft mounting hole 501; a retaining spring is arranged near the two ends of the connecting shaft 405, and the connecting shaft 405 is axially limited by the retaining spring; the two groups of bionic gears 404 at the first end are also elastically connected to the frame 1 through torsion springs 406, and the two groups of bionic gears 406 at the second end are also elastically connected to the support seat 5 through torsion springs 406; the two groups of guide rods 408 are symmetrically arranged on both sides of the gap between the two groups of spring sheets 403, and the guide rods 408 are telescopic rods; the outside of each guide rod 408 is respectively covered with a linear spring 407, and the two ends of the guide rod 408 and the linear spring 407 are respectively inserted into the blind holes of the first guide rod mounting seat 111 and the second guide rod mounting seat 503, and are fixed by fixing screws passing through the first fixing screw hole 112 and the second fixing screw hole 504; the guiding effect of the guide rod 408 effectively avoids the deviation problem of the energy storage mechanism 4 during the compression process.

[0057] The bionic gear 404 includes a connecting block 4041, an incomplete tooth 4042, a groove 4043, a boss 4044, a first plane 4045, a torsion spring mounting groove 4046, a spring mounting groove 4047, and a second plane 4048; the incomplete tooth 4042 is fixedly connected to one end of the connecting block 4041, and the two groups of bionic gears 404 are meshed with each other through the incomplete teeth 4042; a groove 4043 is provided at the middle position of the outer periphery of the incomplete tooth 4042, and the winding rope 401 passes through the two meshing incomplete teeth 4042 from the position of the groove 4043; a boss 4044 is provided at the middle position of the outer side surface of the connecting block 4041, and the outer side surface of the boss 4044 is the first plane 4045 A U-shaped torsion spring mounting groove 4046 is formed between the boss 4044 and the connecting block 4041; a spring clip mounting groove 4047 is provided on the outer side of the connecting block 4041, and the spring clip mounting groove 4047 is located on the side of the boss 4044 away from the incomplete tooth 4042; the bottom of the spring clip mounting groove 404 is a second plane 4048, and the spring clip 403 is fixedly connected to the second plane 4048 by screws, and the angle between the first plane 4045 and the second plane 4048 is less than 180°; the spring clip 403 produces an outward arc deformation in the initial state, and the angle design between the first plane 4045 and the second plane 4048 effectively avoids the dead point position during the initial compression of the energy storage mechanism 4.

[0058] The middle part of the torsion spring 406 is bent into a U-shaped force-applying side force arm 4061, which is installed in the torsion spring mounting groove 4046; the two ends of the force-applying side force arm 4061 are coiled into two connecting rings 4062, and the two connecting rings 4062 are respectively sleeved on the parts of the connecting shaft 405 located on both sides of the bionic gear 404; the two connecting rings 4062 extend out from the positions close to the two ends to form two fixed side force arms 4063, and the fixed side force arms 4063 pass through the middle opening position of the force-applying side force arm 4061 to the outside of the force-applying side force arm 4061; the fixed side force arm 4063 of the torsion spring 406 at the first end is installed in the first torsion spring mounting hole 110, and the fixed side force arm 4063 of the torsion spring 406 at the second end is installed in the second torsion spring mounting hole 502.

[0059] Working principle: When elastic potential energy is stored, the output shaft of the driving mechanism 2 rotates clockwise, driving the input shaft 302 to rotate clockwise. Since the input gear 306 is key-connected to the input shaft 302, the input gear 306 will also rotate clockwise with the input shaft 302. The clockwise rotation of the input gear 306 drives the double gear 309 to rotate counterclockwise. The counterclockwise rotation of the double gear 309 will drive the output gear 313 to rotate clockwise, and then drive the output shaft 312 to rotate clockwise, so that the winch drum 314 starts to wind the rope 401. The contraction of the rope 401 drives the spring 403, the torsion spring 406 and the rubber band 402 to open to both sides. At the same time, the linear spring 407 will also be compressed as the rope 401 contracts to store elastic potential energy.

[0060] When the elastic potential energy is released, the output shaft of the driving mechanism 2 rotates counterclockwise, driving the input shaft 302 to rotate counterclockwise. Since the input shaft 302 is keyed to the inner ring of the one-way bearing 304, the inner ring of the one-way bearing 304 will first rotate counterclockwise until it is locked relative to the outer ring. At this time, the one-way bearing 304 will rotate counterclockwise as a whole. Since the outer ring of the one-way bearing 304 is keyed to the large hole 3031 of the rotating arm 303, the outer ring of the one-way bearing 304 will drive the rotating arm 303 to rotate around the center of the one-way bearing 304. Since the small hole 3032 of the rotating arm 303 cooperates with the intermediate shaft 307, the rotating arm 303 03 will drive the intermediate shaft 307 to rotate counterclockwise around the center of the one-way bearing 304 along the arc trajectory of the intermediate shaft mounting hole 105. Since the double gear 309 is installed on the intermediate shaft 307, the double gear 309 will rotate counterclockwise around the center of the one-way bearing 304 together with the intermediate shaft 307. After the double gear 309 rotates, the center distance between its large gear 3091 and the output gear 313 becomes larger, and the two quickly disengage. At this time, the output gear 313 loses its constraint, the winding rope 401 can move freely, and the energy stored in the energy storage mechanism 4 is instantly released, the elastic potential energy is converted into the kinetic energy of the robot, and the robot jumps.

[0061] After the elastic potential energy is released, the output shaft of the driving mechanism 2 rotates clockwise. Under the action of the return spring 310, the intermediate shaft 307 rotates clockwise around the center of the one-way bearing 304 along the arc trajectory of the intermediate shaft mounting hole 105 until it reaches one end of the intermediate shaft mounting hole 105 close to the return spring mounting bracket 107. The large gear 3091 of the double gear 309 and the output gear 313 resume the meshing state, and the next elastic potential energy storage can be carried out.

[0062] The present invention uses two groups of symmetrically arranged springs 403 directly for elastic potential energy storage, removes the middle connecting rod mechanism, has high elastic potential energy storage capacity, and improves the jumping ability of the jumping robot; to ensure the stable operation of the structure, a bionic gear 404 imitating the hind legs of the "Issus planthopper" insect is set, and when the energy storage mechanism 4 is compressed, the elastic elements on the left and right sides are ensured to move synchronously, effectively avoiding the elastic elements from tilting to one side, thereby improving the stability of the body; when the energy storage mechanism 4 is released, the elastic elements on the left and right sides are ensured to exert force at the same time, thereby improving the accuracy of the robot's jumping; the energy storage mechanism 4 is connected to the spring 406 by means of the rubber band 402, the spring 403, the torsion spring 406 and the linear elastic The ingenious combination of four different elastic elements of the spring 407 further realizes a greatly improved elastic potential energy storage capacity under the condition of a compact structure; since the one-way bearing 304 first generates a locking force and then rotates counterclockwise as a whole, the output gear 313 is prevented from being disengaged prematurely; since two sets of rotating arms 303 and one-way bearings 304 are provided, when the output shaft of the driving mechanism 2 rotates counterclockwise, both ends of the intermediate shaft 307 are subjected to force at the same time, and the double gear 309 is relatively easy to be disengaged from the output gear 313; by providing a reset spring 310, the energy storage mechanism 4 can be compressed and released multiple times autonomously; the robot can be used in fields such as alien exploration and disaster relief.

[0063] The total mass of the physical prototype studied and manufactured according to the present invention is 515 grams, which fully considers the lightweight requirements to optimize energy efficiency. Its static standing height is 480 mm, and the robot successfully reached a jumping height of 3.5 meters in a single jump test. This outstanding performance not only demonstrates its powerful power output capability, but also reflects the efficiency of its structural design in energy conversion and storage. The significant increase in jumping height provides broad possibilities for the application of jumping robots in areas such as crossing obstacles, moving quickly, and exploring complex environments.

[0064] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A jumping robot imitating an Issus planthopper, characterized in that: It includes a frame, a driving mechanism, a transmission mechanism, an energy storage mechanism and a supporting seat; The energy storage mechanism is connected between the frame and the support seat, the driving mechanism and the transmission mechanism are both installed on the frame, the driving mechanism is used to provide driving force through the transmission mechanism, and the transmission mechanism is used to control the compression or release of the energy storage mechanism; The energy storage mechanism includes a winding rope, spring pieces, bionic gears and a connecting shaft; one end of the winding rope is fixedly connected to the support seat, and the other end of the winding rope is wound and fixed on the transmission mechanism; two groups of spring pieces are symmetrically arranged, and both ends of each group of spring pieces are fixedly connected to bionic gears; the two groups of bionic gears at the first end are meshed with each other and are respectively rotatably connected to the frame through the connecting shaft, and the two groups of bionic gears at the second end are meshed with each other and are respectively rotatably connected to the support seat through the connecting shaft.

2. The Issus planthopper-like jumping robot according to claim 1, characterized in that: The energy storage mechanism also includes a rubber band, which is sleeved on the overall exterior of the two groups of spring sheets and fixedly connected to the middle position of the exterior of each group of spring sheets.

3. The Issus planthopper-like jumping robot according to claim 1, characterized in that: The energy storage mechanism also includes a torsion spring, and the two groups of bionic gears at the first end are elastically connected to the frame through the torsion spring, and the two groups of bionic gears at the second end are elastically connected to the support seat through the torsion spring.

4. The Issus planthopper-like jumping robot according to claim 3, characterized in that: The bionic gear comprises a connecting block, incomplete teeth and a torsion spring mounting groove; the incomplete teeth are fixedly connected to one end of the connecting block, and two groups of bionic gears are meshed with each other through the incomplete teeth; a torsion spring mounting groove is provided in the middle of the outer side surface of the connecting block; The middle part of the torsion spring is bent into a force-applying side force arm, and the force-applying side force arm is installed in the torsion spring installation groove; the two ends of the force-applying side force arm are coiled into two connecting rings, and the two connecting rings are respectively sleeved on the parts of the connecting shaft located on both sides of the bionic gear; the two connecting rings extend out from the positions close to the two ends to form two fixed side force arms, and the fixed side force arms pass through the middle opening position of the force-applying side force arm to the outside of the force-applying side force arm; the fixed side force arm of the torsion spring at the first end is installed on the frame, and the fixed side force arm of the torsion spring at the second end is installed on the support seat.

5. The Issus planthopper-like jumping robot according to claim 4, characterized in that: The bionic gear also includes a boss, a first plane, a spring clip mounting groove and a second plane; a boss is arranged at the middle position of the outer side surface of the connecting block, the outer side surface of the boss is the first plane, and the torsion spring mounting groove is formed between the boss and the connecting block; a spring clip mounting groove is arranged on the outer side surface of the connecting block, and the spring clip mounting groove is located on the side of the boss away from the incomplete tooth; the bottom of the spring clip mounting groove is the second plane, the spring clip is fixedly connected to the second plane, and the angle between the first plane and the second plane is less than 180°.

6. The Issus planthopper-like jumping robot according to claim 4, characterized in that: The bionic gear also includes a groove, and a groove is provided at the middle position of the outer circumference of the incomplete tooth; the winding rope is arranged between two groups of spring pieces, and the winding rope passes through two meshing incomplete teeth from the groove position.

7. The Issus planthopper-like jumping robot according to claim 1, characterized in that: The energy storage mechanism also includes linear springs and guide rods. Two groups of guide rods are symmetrically arranged on both sides of the two groups of spring sheets. The guide rods are telescopic rods. The outside of each group of guide rods is respectively sleeved with a linear spring. The two ends of the guide rods are respectively fixedly connected to the frame and the support seat. The two ends of the linear spring are respectively fixedly connected to the frame and the support seat.

8. The Issus planthopper-like jumping robot according to claim 1, characterized in that: The frame is provided with a one-way bearing mounting hole and an intermediate shaft mounting hole, wherein the intermediate shaft mounting hole is an arc-shaped hole surrounding the outer periphery of the one-way bearing mounting hole and being concentric therewith; The transmission mechanism comprises an input shaft, a rotating arm, a one-way bearing, an input gear, an intermediate shaft, a duplex gear, a return spring, an output shaft, an output gear and a capstan; A rotating arm is arranged on the outer side of the frame, a one-way bearing is arranged between the rotating arm and the frame, a part of the outer ring of the one-way bearing is rotationally matched with the one-way bearing mounting hole, and another part of the outer ring of the one-way bearing is fixedly matched with the rotating arm; the outer surface of the input shaft is fixedly matched with the inner ring of the one-way bearing, and the input gear is fixedly matched on the outside of the input shaft; The intermediate shaft is movably matched with the intermediate shaft mounting hole and is rotationally matched with the rotating arm, the double gear is rotationally connected to the intermediate shaft, and the intermediate shaft is connected to the frame through the return spring; The output shaft is rotatably connected to the frame, and the output gear is fixedly fitted on the outside of the output shaft; the winch drum is arranged at one end of the output shaft, and the winding rope is wound and fixed on the winch drum; The input shaft, the intermediate shaft and the output shaft are parallel to each other, the input gear is always meshed with the duplex gear, and the output gear can be meshed with or disengaged from the duplex gear.

9. The Issus planthopper-like jumping robot according to claim 8, characterized in that: The frame includes two groups of transmission mechanism mounting brackets, and a mounting cavity is formed between the two groups of transmission mechanism mounting brackets. Each transmission mechanism mounting bracket is provided with a one-way bearing mounting hole and an intermediate shaft mounting hole; a rotating arm is provided on the outer side of the two groups of transmission mechanism mounting brackets, and a one-way bearing is provided between each rotating arm and the transmission mechanism mounting bracket, and the input shaft passes through the inner rings of the two groups of one-way bearings; the intermediate shaft passes through the two groups of intermediate shaft mounting holes and the two groups of rotating arms; the output shaft is rotatably connected to the two groups of transmission mechanism mounting brackets; the input gear, the duplex gear and the output gear are all arranged in the mounting cavity.

10. The Issus planthopper-like jumping robot according to claim 8, characterized in that: A large hole is provided on the rotating arm, and a key is provided on the inner surface of the large hole; keyways are provided on the inner and outer rings of the one-way bearing, and the outer ring of the one-way bearing is key-connected with the large hole; a keyway is provided on the outer surface of the input shaft, and the keyway of the inner ring of the one-way bearing is key-connected with the keyway of the input shaft via a flat key.

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