Jumping robot with adjustable jumping direction and angle

Abstract

The invention discloses a bouncing robot with the adjustable bouncing direction and angle, and belongs to the technical field of robots, the bouncing robot comprises spring steel, an upper-layer disc, a middle-layer disc, a transmission assembly and an adjusting assembly, and the multiple pieces of spring steel surround and are vertically arranged between the upper-layer disc and the middle-layer disc; the upper end and the lower end of the spring steel are fixedly connected to the lower surface of the upper-layer disc and the upper surface of the middle-layer disc correspondingly. The transmission assembly is used for adjusting the distance between the upper-layer disc and the middle-layer disc; the adjusting assembly is used for adjusting the movement directions of the upper-layer disc and the middle-layer disc; according to the invention, efficient obstacle crossing can be realized.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a jumping robot with adjustable jumping direction and angle. Background Technology

[0002] Bouncing robots, as highly mobile and terrain-adaptive robots, have broad application prospects in fields such as inspection, search and rescue, and exploration. Through jumping, they can traverse obstacles, adapt to complex terrain, and achieve efficient movement. Compared to traditional legged robots, bouncing robots exhibit better maneuverability in complex terrain. Although some robots achieve adjustable jumping force through complex mechanical structures, these designs often increase the robot's weight and complexity, reducing its movement efficiency and stability. This paper proposes a bouncing robot capable of achieving efficient movement. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a bouncing robot with adjustable jumping direction and angle, thus solving the aforementioned problems.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a jumping robot with adjustable jumping direction and angle, comprising spring steel, an upper disk, a middle disk, a transmission assembly, and an adjustment assembly. Multiple spring steels are arranged vertically and arranged around the upper and middle disks, with the upper and lower ends of each spring steel fixedly connected to the lower surface of the upper disk and the upper surface of the middle disk, respectively. The transmission assembly is used to adjust the distance between the upper and middle disks. The adjustment assembly is used to adjust the movement direction of the upper and middle disks. The robot also includes a threaded rod, the bottom end of which extends through a through hole at the center of the middle disk, the diameter of which is larger than the threaded rod. The bottom end of the threaded rod is rotatably connected to a ball joint, which is installed eccentrically on the lower disk to keep the threaded rod in an inclined state.

[0005] A further technical solution: The transmission assembly includes a scissor lift, with scissor mechanism platforms on both the upper and lower sides of the scissor lift. The upper scissor mechanism platform is fixedly connected to the lower surface of the upper disc, and the lower scissor mechanism platform is fixedly connected to the middle disc via multiple columnar supports. Rolling rods are rotatably mounted on both the upper and lower ends of the scissor lift, with the left rolling rod rotatably connected to the scissor mechanism platform and the right rolling rod penetrating into a groove in the scissor mechanism platform. The drive assembly is used to slide the right rolling rod.

[0006] A further technical solution: The drive assembly includes a coupling, rollers, and a roller assembly. The coupling is rotatably connected to its corresponding right-side rolling rod, and a roller rod is rotatably connected to the coupling. The roller rod is slidably connected to the scissor mechanism platform. The roller assembly is used to enable the roller rod to slide linearly.

[0007] A further technical solution: The roller assembly includes a roller, which overlaps on the left side of the roller rod and is fixedly connected to a quick-return cam. The quick-return cam is rotatably mounted on a cam support, and the cam support is fixedly connected to the lower scissor mechanism platform.

[0008] A further technical solution: the quick-return cam is fixedly connected to the output shaft of motor one, and motor one is rotatably connected to the cam support.

[0009] A further technical solution: The adjusting assembly includes a threaded rod, the bottom end of which extends through a through hole at the center of the middle disc, and the diameter of the through hole is larger than that of the threaded rod. The bottom end of the threaded rod is rotatably connected to a ball joint, and the ball joint is installed at an eccentric position on the lower disc to keep the threaded rod in an inclined state. Multiple springs are vertically fixedly connected between the lower disc and the middle disc. The connecting assembly is used to limit the movement of the threaded rod. The direction adjusting assembly is used to adjust the inclination direction of the threaded rod.

[0010] A further technical solution: The connecting assembly includes a nut, which is threadedly connected to a threaded rod, and an L-shaped rod is fixedly connected to the bottom of the nut, with the lower end of the L-shaped rod fitting against a portal frame, and the portal frame being fixedly connected to a lower disc; the limiting assembly is used to limit the tilt direction of the threaded rod.

[0011] A further technical solution: The limiting component includes a connecting ring, which is rotatably connected to the outer wall of the nut, and a pulley connecting rod is horizontally fixedly connected to the outer wall of the connecting ring. A ball joint rod is vertically fixedly connected to the end of the pulley connecting rod, and the pulley connecting rod is installed on the upper surface of the pulley. The pulley is slidably connected to an annular groove on the upper surface of the lower disc, and the portal frame is located inside the annular groove.

[0012] A further technical solution: The direction adjustment assembly includes a rod one, which is fixedly connected to the side wall of the output shaft of the second motor, and the lower end of the output shaft of the second motor is fixedly connected to a threaded rod, and the lower end of the rod one overlaps the pulley connecting rod.

[0013] Beneficial effects

[0014] This invention provides a bouncing robot with adjustable jumping direction and angle, which has the following advantages compared with the prior art:

[0015] 1. The user starts the motor, causing the quick-return cam fixedly connected to its output shaft to start rotating. At this time, the rollers fixedly connected to the quick-return cam gradually come into contact with the roller rod. During the contact process, the roller rod is pushed to slide linearly along its connection with the scissor mechanism platform. Under the action of the roller rod, the scissor linkage begins to retract downwards. Under the action of the scissor linkage, the upper disk begins to move closer to the middle disk, so that they cooperate to compress the spring steel fixedly connected to it. This causes the spring steel to continuously accumulate elastic potential energy. When the roller is at the critical point of the roller rod, the compression of the spring steel is at its maximum. At this time, the quick-return cam continues to rotate, thus stopping the limiting of the roller rod. The elastic potential energy of the spring steel is released, thereby realizing the upper disk bouncing upwards.

[0016] 2. Since the threaded rod is initially tilted, when motor two starts, the threaded rod fixedly connected to the end of its output shaft can begin to rotate. Because rod two is limited by the portal frame, it cannot rotate with the threaded rod, allowing the nut to slide vertically downwards along the length of the threaded rod. Since the bottom end of the ball joint rod can rotate freely on the pulley surface, and the ball joint rod cannot slide downwards under the action of the pulley, the threaded rod is subjected to lateral thrust. At this point, the threaded rod begins to gradually tilt with the ball joint as the fulcrum, thus adjusting the tilt direction of the upper disc. Therefore, when it bounces, it can jump in its tilt direction. Simultaneously, since rod one is fixedly connected to the side wall of motor two's output shaft, when it rotates, it can actuate the pulley connecting rod to start rotating, causing the pulley to slide along the annular groove on the lower disc, thereby adjusting the support direction of the ball joint rod and the pulley connecting rod on the threaded rod, allowing the threaded rod to tilt along its support direction. Attached Figure Description

[0017] Figure 1 This is a perspective view of a jumping robot with adjustable jumping direction and angle according to the present invention.

[0018] Figure 2 This is a three-dimensional view of a jumping robot with adjustable jumping direction and angle according to the present invention, in its compressed state.

[0019] Figure 3 This is a perspective view of a jumping robot with adjustable jumping direction and angle, omitting the spring steel, spring, and middle disc.

[0020] Figure 4 This is a perspective view of a jumping robot with adjustable jumping direction and angle, concealing the spring steel, spring, and middle disc in a compressed state.

[0021] Figure 5 This is an exploded view of a jumping robot with adjustable jumping direction and angle according to the present invention.

[0022] Figure 6 This is a perspective view of the jumping mechanism of a jumping robot with adjustable jumping direction and angle according to the present invention.

[0023] Figure 7 This is an exploded view of the jumping mechanism of a jumping robot with adjustable jumping direction and angle according to the present invention.

[0024] Figure 8 This is a perspective view of an adjustable orientation mechanism for a jumping robot according to the present invention, which allows for adjustable jumping direction and angle.

[0025] Figure 9 This is an exploded view of the orientation adjustment mechanism of a jumping robot with adjustable jumping direction and angle according to the present invention.

[0026] The components are as follows: upper disc 1, scissor mechanism platform 2, spring steel sheet 3, motor 1 4, cam support 5, quick-return cam 6, roller rod 7, coupling 8, roller 9, spring 10, scissor blade 11, rolling shaft 12, motor 2 13, column support 14, nut 15, ball bearing shaft 16, connecting ring 17, middle disc 18, threaded rod 19, pulley 20, rod 1 21, rod 2 22, ball joint 23, portal frame 24, lower disc 25, pulley connecting rod 26, ball joint rod 27. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0029] Please see Figures 1-9 According to one embodiment of the present invention, a jumping robot with adjustable jumping direction and angle is provided, including spring steel 3, upper disk 1, middle disk 18, transmission assembly and adjustment assembly. Multiple spring steels 3 are arranged around and vertically between the upper disk 1 and the middle disk 18, and the upper and lower ends of the spring steel 3 are respectively fixedly connected to the lower surface of the upper disk 1 and the upper surface of the middle disk 18.

[0030] The transmission assembly is used to adjust the distance between the upper disk 1 and the middle disk 18;

[0031] The adjustment component is used to adjust the movement direction of the upper disk 1 and the middle disk 18.

[0032] Specifically, the transmission assembly includes a scissor lift 11, with scissor mechanism platforms 2 on both the upper and lower sides of the scissor lift 11. The upper scissor mechanism platform 2 is fixedly connected to the lower surface of the upper disc 1, and the lower scissor mechanism platform 2 is fixedly connected to the middle disc 18 by multiple columnar brackets 14. Rolling rods 12 are rotatably mounted on both the upper and lower ends of the scissor lift 11. The left rolling rod 12 is rotatably connected to the scissor mechanism platform 2, and the right rolling rod 12 passes through the groove of the scissor mechanism platform 2.

[0033] The drive assembly is used to slide the right-side scroll bar 12.

[0034] Specifically, the drive assembly includes a coupling 8, a roller 9, and a roller assembly. The coupling 8 is rotatably connected to the corresponding rolling rod 12 on its right side, and a roller rod 7 is rotatably connected to the coupling 8. The roller rod 7 is slidably connected to the scissor mechanism platform 2.

[0035] The roller assembly is used to allow the roller rod 7 to slide linearly.

[0036] Specifically, the roller assembly includes a roller 9, which overlaps the left side of the roller rod 7 and is fixedly connected to the quick-return cam 6. The quick-return cam 6 is rotatably mounted on the cam support 5, which is fixedly connected to the lower scissor mechanism platform 2.

[0037] Specifically, the quick-return cam 6 is fixedly connected to the output shaft of the motor 4, and the motor 4 is rotatably connected to the cam support 5.

[0038] In the above embodiment, the user starts the motor 4, causing the quick-return cam 6 fixedly connected to its output shaft to start rotating. At this time, the roller 9 fixedly connected to the quick-return cam 6 gradually begins to contact the roller rod 7. During the contact process, the roller rod 7 is pushed to begin to slide linearly along its connection with the scissor mechanism platform 2. That is, under the action of the roller rod 7, the scissor fork link 11 begins to retract downward. Under the action of the scissor fork link 11, the upper disk 1 begins to move closer to the middle disk 18, so that they cooperate to compress the spring steel 3 fixedly connected to it. This causes the spring steel 3 to continuously accumulate elastic potential energy. When the roller 9 is at the critical point of the roller rod 7, the compression of the spring steel 3 is at its maximum. At this time, the quick-return cam 6 continues to rotate, thereby stopping the limiting of the roller rod 7. At this time, the elastic potential energy of the spring steel 3 is released, thereby realizing the upward bounce of the upper disk 1.

[0039] Specifically, the adjustment assembly includes a threaded rod 19, the bottom end of which extends through a through hole at the center of the middle disk 18, and the diameter of the through hole is larger than that of the threaded rod 19. The bottom end of the threaded rod 19 is rotatably connected to a ball joint 23, and the ball joint 23 is installed at an eccentric position on the lower disk 25 to keep the threaded rod 19 in an inclined state. A plurality of springs 10 are vertically fixedly connected between the lower disk 25 and the middle disk 18.

[0040] The connecting component is used to limit the threaded rod 19; the direction adjusting component is used to adjust the tilt direction of the threaded rod 19.

[0041] Specifically, the connecting assembly includes a nut 15, which is threadedly connected to a threaded rod 19, and an L-shaped rod 22 is fixedly connected to the bottom of the nut 15. The lower end of the L-shaped rod 22 is attached to the portal frame 24, and the portal frame 24 is fixedly connected to the lower disc 25.

[0042] The limiting component is used to limit the tilting direction of the threaded rod 19.

[0043] Specifically, the limiting component includes a connecting ring 17, which is rotatably connected to the outer wall of the nut 15. A pulley rod 26 is horizontally fixedly connected to the outer wall of the connecting ring 17. A ball joint rod 27 is vertically fixedly connected to the end of the pulley rod 26. The pulley rod 26 is mounted on the upper surface of the pulley 20. The pulley 20 is slidably connected to the annular groove on the upper surface of the lower disc 25. The portal frame 24 is located inside the annular groove.

[0044] Specifically, the direction adjustment assembly includes a first rod 21, which is fixedly connected to the side wall of the output shaft of the second motor 13, and the lower end of the output shaft of the second motor 13 is fixedly connected to the threaded rod 19, and the lower end of the first rod 21 is attached to the pulley connecting rod 26.

[0045] In the above embodiment, since the threaded rod 19 is initially in an inclined state, when the motor 2 13 starts, the threaded rod 19, which is fixedly connected to the end of its output shaft, can begin to rotate. Because the rod 22 is limited by the portal frame 24, it cannot rotate with the threaded rod 19, thus allowing the nut 15 to begin sliding vertically downwards along the length of the threaded rod 19. Furthermore, since the bottom end of the ball joint rod 27 can rotate freely on the surface of the pulley 20, and the ball joint rod 27 cannot slide downwards under the action of the pulley 20, the threaded rod 19 can be subjected to lateral force. The thrust, that is, at this time the threaded rod 19 begins to gradually tilt with the ball joint 23 as the fulcrum, thereby adjusting the tilt direction of the upper disk 1. Therefore, when it bounces, it can jump in the tilt direction. At the same time, since the first rod 21 is fixedly connected to the side wall of the output shaft of the second motor 13, when it rotates, it can push the pulley connecting rod 26 to start rotating, thereby causing the pulley 20 to slide along the annular groove on the lower disk 25, thereby adjusting the support direction of the ball joint rod 27 and the pulley connecting rod 26 on the threaded rod 19, so that the threaded rod 19 can tilt in the support direction.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] The term "fixed connection" as used in this application refers to a connection in which parts or components are fixed without any relative movement. This includes both detachable and non-detachable connections.

[0048] (1) Detachable connection: The components are fixed together using screws, splines, wedges, etc. This type of connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of the bolts, keys, wedges) and properly tightened.

[0049] (2) Non-removable connections: These mainly refer to welding, riveting, and tenon joints. Since disassembly requires forging, sawing, or oxyacetylene cutting for repair or replacement, the parts generally cannot be reused. At the same time, attention should be paid to process quality, technical inspection, and remedial measures (such as correction and polishing) during connection.

[0050] The sliding connection referred to in this application means that the component can slide along a linear trajectory, and the hinge referred to in this application means that the component can rotate along an axial constraint.

[0051] In some cases, the sliding connection and hinge referred to in this application may also be damped, enabling the component to maintain in the desired position.

[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A bouncing robot with adjustable jumping direction and angle, characterized in that, It includes spring steel (3), upper disk (1), middle disk (18) and adjustment assembly for adjusting the movement direction of upper disk (1) and middle disk (18). Multiple spring steels (3) are arranged around and vertically between upper disk (1) and middle disk (18), and the upper and lower ends of spring steels (3) are respectively fixedly connected to the lower surface of upper disk (1) and upper surface of middle disk (18). It also includes a threaded rod (19), the bottom end of which passes through a through hole at the center of the middle disk (18), and the diameter of the through hole is larger than that of the threaded rod (19). The bottom end of the threaded rod (19) is rotatably connected to a ball joint (23), and the ball joint (23) is installed at the eccentric position of the lower disk (25) to keep the threaded rod (19) in an inclined state.

2. The jumping robot with adjustable jumping direction and angle according to claim 1, characterized in that, The upper disk (1) is provided with a transmission assembly for adjusting the upper disk (1) and the middle disk (18). The transmission assembly includes a scissor link (11). Scissor mechanism platforms (2) are provided on both the upper and lower sides of the scissor link (11). The upper scissor mechanism platform (2) is fixedly connected to the lower surface of the upper disk (1). The lower scissor mechanism platform (2) is fixedly connected to the middle disk (18) by multiple column brackets (14). Rolling rods (12) are rotatably provided on both the upper and lower sides of the scissor link (11). The left rolling rod (12) is rotatably connected to the scissor mechanism platform (2), and the right rolling rod (12) passes through the groove of the scissor mechanism platform (2). The drive assembly is used to slide the right-side scroll bar (12).

3. The jumping robot with adjustable jumping direction and angle according to claim 2, characterized in that, The drive assembly includes a coupling (8), a roller (9), and a roller assembly. The coupling (8) is rotatably connected to the corresponding right-side rolling rod (12), and a roller rod (7) is rotatably connected to the coupling (8). The roller rod (7) is slidably connected to the scissor mechanism platform (2). The roller assembly is used to make the roller rod (7) slide linearly.

4. The jumping robot with adjustable jumping direction and angle according to claim 3, characterized in that, The roller assembly includes a roller (9) which overlaps the left side of the roller rod (7) and is fixedly connected to a quick-return cam (6). The quick-return cam (6) is rotatably mounted on a cam bracket (5) which is fixedly connected to the lower scissor mechanism platform (2).

5. The jumping robot with adjustable jumping direction and angle according to claim 4, characterized in that, The quick-return cam (6) is fixedly connected to the output shaft of the motor (4), and the motor (4) is rotatably connected to the cam support (5).

6. The jumping robot with adjustable jumping direction and angle according to claim 1, characterized in that, It also includes a connecting assembly for limiting the threaded rod (19), the connecting assembly including a nut (15), the nut (15) being threadedly connected to the threaded rod (19), and an L-shaped rod (22) being fixedly connected to the bottom of the nut (15), the lower end of the L-shaped rod (22) being attached to the portal frame (24), and the portal frame (24) being fixedly connected to the lower disc (25); The limiting component is used to limit the tilting direction of the threaded rod (19).

7. The jumping robot with adjustable jumping direction and angle according to claim 6, characterized in that, The limiting component includes a connecting ring (17), which is rotatably connected to the outer wall of the nut (15). A pulley rod (26) is horizontally fixed to the outer wall of the connecting ring (17). A ball joint rod (27) is vertically fixed to the end of the pulley rod (26). The pulley rod (26) is mounted on the upper surface of the pulley (20). The pulley (20) is slidably connected to the annular groove on the upper surface of the lower disc (25). The portal frame (24) is located inside the annular groove.

8. The jumping robot with adjustable jumping direction and angle according to claim 1, characterized in that, It also includes a direction adjustment assembly for adjusting the tilt direction of the threaded rod (19). The direction adjustment assembly includes a rod (21), which is fixedly connected to the side wall of the output shaft of the motor (13). The lower end of the output shaft of the motor (13) is fixedly connected to the threaded rod (19), and the lower end of the rod (21) overlaps the pulley connecting rod (26).

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