A micro jumping robot

Abstract

The present invention discloses a micro-jumping robot, comprising a jumping body, a righting device and a driving device; the jumping body comprises a mounting plate, a support plate and a plurality of jumping branches connected between the mounting plate and the support plate; the righting device is arranged on the jumping branch chain, and comprises a righting leg capable of generating rotation, and when the jumping body falls over, the righting leg can abut against the ground where the support plate is located, and the jumping body can be righted by the rotation of the righting leg; the driving device comprises a traction mechanism and an energy storage mechanism; the traction mechanism comprises a traction line, a winding rod and a bracket; the winding rod is rotatably arranged on the bracket, the traction line is wound around the winding rod, and the traction line is connected to the jumping body so that the jumping body can generate a fold before jumping; the energy storage mechanism comprises an SMA spring for driving the jumping body to generate a jumping action. The present invention is conducive to maintaining the posture stability when jumping and landing, and can realize the autonomous standing of the jumping body.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a micro jumping robot capable of repeated jumping. Background Art

[0002] Jumping robots can perform jumping movements to cross obstacles (such as water jumping, land jumping, or amphibious jumping), thereby efficiently passing through complex terrain. They have broad application prospects in space exploration, battlefield reconnaissance, life rescue and other fields.

[0003] Most current jumping robots can only perform a single jump, and cannot perform multiple consecutive jumps. The key to the problem is that the robot's posture is uncertain after landing, and there are many landing postures, making it difficult to design a tilting and righting device; without a tilting and righting mechanism, the robot cannot stand up autonomously after tilting, and cannot perform intermittent jumps autonomously.

[0004] In addition, in the prior art, the jumping of the robot depends on the driving of the SMA spring. Since a single SMA spring can only realize one-way driving, the robot cannot realize self-reset after jumping and cannot be driven continuously. Summary of the invention

[0005] The main purpose of the present invention is to provide a micro jumping robot to overcome many deficiencies in the prior art.

[0006] In order to achieve the above main purpose, the present invention provides a micro jumping robot, which includes:

[0007] A symmetrical jumping body includes a mounting plate, a supporting plate, and a plurality of jumping branches connected between the mounting plate and the supporting plate;

[0008] The righting device is arranged on the jumping branch chain; the righting device includes a righting leg that can generate rotation. When the jumping body falls, the righting leg can abut against the ground where the support plate is located, and the jumping body can be righted by the rotation of the righting leg;

[0009] A driving device, including a traction mechanism and an energy storage mechanism;

[0010] The traction mechanism includes a traction line, a winding rod and a bracket; the winding rod is rotatably arranged on the bracket, the traction line is wound around the winding rod, and the traction line is connected to the jumping body so that the jumping body can be folded before jumping;

[0011] Among them, the energy storage mechanism includes an SMA spring for driving the jumping body to produce a jumping action; when the traction line wound on the winding rod in the folded state is released, the energized SMA spring shortens to drive the jumping body to unfold and produce a jumping action; at this time, the reaction force acting on the ground passes through the center of mass of the jumping body.

[0012] According to another specific embodiment of the present invention, the jumping branch chain includes an upper jumping board and a lower jumping board that can be folded and unfolded, and the upper jumping board and the lower jumping board are hinged to each other through a connecting hinge; the connecting hinges in the multiple jumping branch chains are flush.

[0013] According to another specific embodiment of the present invention, the righting device further includes a transmission connecting rod;

[0014] One end of the righting leg is hinged on the lower jumping board; one end of the transmission connecting rod is hinged on the upper jumping board, and the other end of the transmission connecting rod is hinged on the righting leg;

[0015] When the jumping body tips over, it is supported on the ground by at least one point of the support plate and the other end of the righting leg; wherein, when the jumping body is folded under the action of the traction rope, the upper jumping board and the lower jumping board are folded toward each other, and the righting leg is driven by the transmission connecting rod to rotate relative to the lower jumping board to right the support plate.

[0016] According to another specific embodiment of the present invention, the driving device further includes a gear train mechanism and a driver mechanism;

[0017] The gear train mechanism includes active meshing teeth and passive meshing teeth, and the driver mechanism is used to drive the active meshing teeth to produce linear and rotational motion; the passive meshing teeth are arranged on the winding rod to drive the winding rod to rotate when the passive meshing teeth and the active meshing teeth are meshed, thereby winding the traction line so that the jumping body folds before jumping; wherein, when the active meshing teeth and the passive meshing teeth disengage from each other, the traction rope wound on the winding rod is released; at this time, the SMA spring is shortened to drive the jumping body to produce a jumping action.

[0018] According to another specific embodiment of the present invention, the driver mechanism includes a transmission screw and a pawl;

[0019] The active meshing teeth are arranged on the transmission screw rod, and the ratchet pawl is installed on the carrier and blocks the active meshing teeth in a partial stage of the rotation process so that the active meshing teeth move a set distance.

[0020] According to another specific embodiment of the present invention, an elastic portion is provided on the pawl so that the pawl can generate a rotation with a reverse restoring torque when the pawl is squeezed; in the axial direction, at least part of the pawl overlaps with the active meshing tooth, and when the transmission screw rotates forward, the active meshing tooth and the pawl abut against each other to rotate the pawl; at this time, the pawl is pressed against the active meshing tooth, so that the active meshing tooth moves close to the passive meshing tooth on the transmission screw until the active meshing tooth abuts against the passive meshing tooth; thereafter, the active meshing tooth starts to rotate to drive the passive meshing tooth to drive the winding rod to rotate and drive the jumping body through the traction line to fold before jumping and maintain the folded shape.

[0021] According to another specific embodiment of the present invention, a groove is provided on the active meshing tooth; when the transmission screw rotates in the opposite direction, the pawl can abut against the wall of the groove, so that the active meshing tooth moves away from the passive meshing tooth on the transmission screw.

[0022] According to another specific embodiment of the present invention, the pawl has a first end, a second end and a main body located between the first end and the second end; the first end is connected to the carrier, and the elastic part is arranged at the first end; when the transmission screw rotates forward, the active meshing tooth abuts against the main body to make the second end rotate relative to the first end; when the transmission screw rotates reversely, the wall of the groove on the active meshing tooth abuts against the second end to limit the rotation of the active meshing tooth.

[0023] According to another specific embodiment of the present invention, an active meshing tooth is provided on the active meshing tooth, and a passive meshing tooth is provided on the passive meshing tooth that is adapted to the active meshing tooth. At least one of the active meshing tooth and the passive meshing tooth is configured to produce elastic deformation so that the two can be disengaged instantly.

[0024] According to another specific embodiment of the present invention, the traction mechanism further includes a spring and a limiting end cover;

[0025] The limit end cover is arranged at one end of the winding rod, the spring is sleeved on the winding rod, and the two ends of the spring abut against the limit end cover and the bracket respectively;

[0026] The winding rod can move relative to the bracket and compress the spring, and under the action of the spring, the active engaging tooth portion and the passive engaging tooth portion can be disengaged instantly.

[0027] The present invention has the following beneficial effects:

[0028] The present invention adopts a symmetrical jumping body and a righting device, which is beneficial to maintaining the posture stability when jumping and landing; when the jumping body topples over, it can be righted by the righting device to realize the autonomous standing of the jumping body.

[0029] The present invention adopts a traction mechanism to reset the jumping body, so that it is reset from the expanded state after completing the jump to the folded state before the jump, so as to directly perform the next cycle of jumping, thereby autonomously realizing intermittent jumping; in addition, in the present invention, the driving of the righting leg is completed at the same time when the jumping body is switched to the folded state, that is, the righting operation is automatically realized.

[0030] In order to more clearly illustrate the purpose, technical solutions and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0032] Figure 2 is a side structural diagram of embodiment 1 of the present invention;

[0033] Figure 3 is a structural diagram of a jumping body and a righting device in Embodiment 1 of the present invention;

[0034] Figure 4 yes Figure 3 Bottom structure diagram of

[0035] Figure 5 yes Figure 3 A partial schematic diagram of

[0036] Figure 6 is a structural diagram of a single jumping branch chain and a righting device in Example 1 of the present invention;

[0037] Figure 7 yes Figure 6 The side structure diagram of

[0038] Figure 8 is a structural diagram of a driving device in Embodiment 1 of the present invention;

[0039] Fig. 9 is a structural diagram showing a drive mechanism, a gear train mechanism and a traction mechanism in Embodiment 1 of the present invention;

[0040] Fig.10 is a structural diagram showing active meshing teeth and pawls in Example 1 of the present invention;

[0041] Fig.11 Schematic diagram of the working principle of the active meshing teeth, the passive meshing teeth and the pawl in Embodiment 1 of the present invention;

[0042] Fig.12 is another structural diagram of the driving device in Embodiment 1 of the present invention;

[0043] Fig.13 yes Fig.12 The structural diagram of the drive mechanism, the gear train mechanism and the traction mechanism is shown in FIG.

[0044] Fig.14 It is a schematic diagram of the mechanism of the cross section of the front-to-back direction of the embodiment 1 of the present invention. DETAILED DESCRIPTION

[0045] Example 1

[0046] The micro jumping robot of Example 1 comprises a symmetrical jumping body 10, a righting device 20 and a driving device 30; Figure 1As shown, under the driving control of the driving device 30, the jumping body 10 generates continuous intermittent jumps, and after each jumping action is completed, regardless of whether the jumping body 10 falls over, the jumping body 10 is actively righted by the righting device 20.

[0047] like Figure 2 As shown, the jumping body 10 adopts a completely symmetrical nine-bar mechanism to maximize the stability of the posture when landing after jumping, and to ensure that the reaction force of the ground during the jumping stage always passes through the center of mass, so that the posture of the micro jumping robot in the air is stable; the jumping body 10 includes a mounting plate 11, a support plate 12 and four jumping branches 13, the mounting plate 11 and the support plate 12 are arranged at intervals in the vertical direction, and the four jumping branches 13 are connected between the mounting plate 11 and the support plate 12 to form a space jumping structure with a certain height in the height direction. Among them, the jumping branch chain 13 includes an upper jumping board 13x and a lower jumping board 13y that can be folded and unfolded, and the upper jumping board 13x and the lower jumping board 13y are hinged to each other through a connecting hinge; the connecting hinges in the multiple jumping branches 13 are flush.

[0048] like Figure 3-5 As shown, the four jumping branches 13 respectively form a pair of main jumping plates 13a and a pair of auxiliary jumping plates 13b; the specific structure is described as follows:

[0049] The pair of main jumping boards 13a are symmetrically arranged at the front and rear sides in the vertical direction, and can be folded in the vertical direction under the drive of the driving device 30; wherein the main jumping board 13a includes a first upper jumping board 131 and a first lower jumping board 132, and the first upper jumping board 131 and the first lower jumping board 132 are connected by a first hinge R1; the first upper jumping board 131 is connected to the mounting board 11 by a second hinge R2, and the first lower jumping board 132 is connected to the supporting board 12 by a third hinge R3; wherein the first hinge R1, the second hinge R2 and the third hinge R3 are parallel to each other;

[0050] The paired auxiliary jumping boards 13b are symmetrically arranged on the left and right sides in the vertical direction, and can be folded in the vertical direction under the drive of the driving device 30; wherein, the auxiliary jumping boards 13b include a second upper jumping board 133 and a second lower jumping board 134; the second upper jumping board 133 and the second lower jumping board 134 are connected by a fourth hinge R4, and the first hinge R1 and the fourth hinge R4 are perpendicular to each other and coplanar; the second upper jumping board 133 is connected to the mounting plate 11 by a fifth hinge R5; a connecting plate 121 is provided on the supporting plate 12, and the second lower jumping board 134 is connected to the connecting plate 121 by a sixth hinge R6, and the sixth hinge R6 is located above the third hinge R3; wherein the fourth hinge R4, the fifth hinge R5 and the sixth hinge R6 are parallel to each other.

[0051] In this embodiment, the shapes and structures of the first upper jumping board 131, the second upper jumping board 133 and the first lower jumping board 132, and the second lower jumping board 134 are similar; in order to better perform the folding and unfolding movement, the first upper jumping board 131 and the second upper jumping board 133 are trapezoidal in shape, and the first lower jumping board 132 and the second lower jumping board 134 are in an inverted trapezoidal shape to avoid interference during the folding and unfolding movement.

[0052] In order to provide better support and improve the posture stability of the jumping body 10 when jumping and landing, the support plate 12 in this embodiment adopts a structural shape that is compatible with the four jumping branches 13; Figure 4 As shown, the support plate 12 is provided with a support leg 122 protruding outward, and the support leg 122 corresponds to the first lower jumping board 132 and the second lower jumping board 134. For example, the number of the support legs 122 is four, and the four support legs 122 form a cross shape.

[0053] In this embodiment, when the jumping body 10 is folded, the connecting hinges (i.e., the first hinge R1 and the fourth hinge R4) in the plurality of jumping branches 13 are always located below the mounting plate 11, i.e., the upper jumping plate 13x will not cross the horizontal position and cannot be folded downward and inward; Figure 5 As shown, in order to limit the folding position of the upper jumping board 13x, one or more support rods 14 are provided on the mounting plate 11, for example, two support rods 14 are provided.

[0054] Specifically, the support plate 12 is provided with a limiting portion 123 for cooperating with the support rod 14, a support seat 124 is provided on the support plate 12, and a support shaft 125 is provided on the support seat 124 to provide the limiting portion 123; accordingly, the first lower jumping board 132 is rotatably connected to the support shaft 125 to provide a third hinge R3; the lower end of the support rod 14 can abut against the support shaft 125 to limit the first upper jumping board 131 and the second upper jumping board 133 to cross the horizontal position.

[0055] Please continue reading Figure 5 The lower end of the support rod 14 is preferably formed with a socket portion 141, which is U-shaped so as to form a plug-in limit fit with the support shaft 125; when the socket portion 141 abuts against the support shaft 125, the jumping body 10 is folded to the limit position, that is, the folding before jumping is completed to wait for the execution of the jumping action. Fig.14 As shown in (a), the upper jumping board 13x is in a horizontal position and cannot be folded downward. When jumping, the upper jumping board 13x and the lower jumping board 13y are unfolded in opposite directions.

[0056] The straightening device 20 is used to straighten the jumping body 10 when it is tilted, so that the jumping body 10 always keeps the support plate 12 in a vertical state on the ground before jumping; Figure 1-2 and Figure 6-7 The righting device 20 includes a righting leg 21 and a transmission connecting rod 22.

[0057] One end of the righting leg 21 is hinged on the lower jumping board 13y; one end of the transmission connecting rod 22 is hinged on the upper jumping board 13x, and the other end of the transmission connecting rod 22 is hinged on the righting leg 21; when the jumping body 10 is tilted, it is supported on the ground by at least one part of the support board 12 and the other end of the righting leg 21;

[0058] Wherein, under the drive of the driving device 30, the upper jumping board 13x and the lower jumping board 13y are folded toward each other, and the transmission connecting rod 22 drives the righting leg 21 to rotate relative to the lower jumping board 13y to right the support board 12, as shown in FIG. Fig.14 (c)- Fig.14 as shown in (d).

[0059] Please refer again Figure 6 The upper jumping plate 13x and the lower jumping plate 13y are provided with avoidance grooves 135 corresponding to the transmission connecting rod 22, so that there will be no interference when installing and rotating the transmission connecting rod 22;

[0060] Further, the other end of the righting leg 21 (the end away from the lower jumping board 13y) is formed with an anti-tilt portion 211, and the anti-tilt portion 211 has at least a support portion 2111 protruding toward one side of the righting leg 21; preferably, the righting leg 21 and the support portion 2111 are formed into a T-shaped support structure or an L-shaped support structure, so that when the jumping body 10 is tilted, the righting leg 21 can better support the jumping body 10, and when the righting leg 21 rotates, the anti-tilt portion 211 has a large contact area with the ground, thereby improving the stability of the righting process. More preferably, the distance that the support portion 2111 can contact the ground is set to be not less than one-third of the maximum width of the lower jumping board 13y.

[0061] Please continue reading Fig.14 (c)- Fig.14 (d), in this embodiment, the transmission connecting rod 22 and the righting leg 21 in the righting device 20 form a driving structure similar to a crank slider, and the righting leg 21 is autonomously rotated by the opposite folding action of the upper jumping board 13x and the lower jumping board 13y hinged to each other; when the support plate 12 falls over, the other end of the righting leg 21 is in contact and sliding cooperation with the ground, and the rotating righting leg 21 acts on the ground to actively right the support plate 12 and restore it to a normal posture; the righting device 20 does not need to be provided with an additional, separate drive, which greatly reduces the weight of the robot and is conducive to promotion and application.

[0062] The driving device 30 is used to drive the jumping body 10 to fold and unfold (jump), and at the same time, the righting device 20 is used to generate coordinated righting to achieve continuous intermittent jumping of the jumping body 10; Figure 1-2 and Figure 8-9 As shown, the driving device 30 includes a carrier 31 , a traction mechanism 32 , a gear train mechanism 33 , a driver mechanism 34 and an energy storage mechanism 35 .

[0063] The carrier 31 is mounted on the mounting plate 11 or forms a part of the mounting plate 11 . Preferably, a frame 311 is provided on the carrier 31 to protect the components mounted on the carrier 31 , so as to make the structure more stable and reliable.

[0064] Please continue reading Figure 8 , the driver mechanism 34 includes a motor 341, a transmission assembly 342, a transmission screw 343 and a pawl 344;

[0065] The motor 341 is preferably a micro reduction motor, which is mounted on the carrier 31. The transmission screw 343 is arranged on the carrier 31 and is driven and connected to the motor 341 through the transmission assembly 342; the transmission assembly 342 can be a gear transmission assembly, a belt transmission assembly and a worm gear transmission assembly. In this embodiment, the gear transmission assembly is used as an example for demonstration; the pawl 344 is mounted on the carrier 31 and is located on one side of the transmission screw 343.

[0066] like Fig. 9 As shown, the traction mechanism 32 includes a traction wire, a winding rod 321 and a bracket 322;

[0067] The winding rod 321 is rotatably arranged on the carrier 31 through the bracket 322, the traction line is wound on the winding rod 321, and the traction line is connected to the jumping body 10 so that the jumping body 10 can be folded before jumping when shortened; wherein, the traction line preferably has a higher strength, such as a thin steel wire, and the traction line is not easy to produce elastic deformation in various stages such as winding and releasing.

[0068] Specifically, a through hole 312 is provided on the carrier 31 (and the mounting plate 11), and the lower end of the traction line extends downward through the through hole 312 and is connected to the jumping body 10, specifically connected to the support plate 12 or the support shaft 125, so as to shorten the distance between the mounting plate 11 and the support plate 12 through the rotation of the traction line, thereby driving the jumping body 10 to fold.

[0069] The gear train mechanism 33 includes active meshing teeth 331 and passive meshing teeth 332;

[0070] The active meshing teeth 331 are arranged on the transmission screw rod 343, and the ratchet 344 blocks the active meshing teeth 331 in a part of the rotation process, so that the active meshing teeth 331 move a set distance; the passive meshing teeth 332 are arranged on the winding rod 321;

[0071] like Figure 2 As shown, the energy storage mechanism 35 includes an SMA spring 351 for driving the jumping body 10 to generate a jumping action; wherein, a connecting seat 136 for connecting to the SMA spring 351 is provided on the upper jumping plate 13x or the lower jumping plate 13y, so that the SMA spring 351 is installed in a manner parallel to the support plate 12 and the mounting plate 11; specifically, the SMA spring 351 is preferably coplanar with the first hinge R1 and the fourth hinge R4.

[0072] Furthermore, the SMA spring 351 is arranged in the horizontal direction and is respectively connected to the pair of main jumping plates 13a; Figure 3 As shown, a bending portion 212 for avoiding the connecting seat 136 is provided on the righting leg 21 opposite to the pair of main jumping boards 13 a, so as to avoid the connecting seat 136 .

[0073] In this embodiment, when the transmission screw 343 rotates forward, under the obstruction of the pawl 344, the active meshing tooth 331 can move a set distance relative to the transmission screw 343, so that the active meshing tooth 331 can mesh with the passive meshing tooth 332; the continued rotation of the transmission screw 343 drives the active meshing tooth 331 and the passive meshing tooth 332 to rotate, thereby driving the winding rod 321 to rotate and driving the jumping body 10 through the traction line to fold before jumping and maintain the folded shape. When jumping, the SMA spring 351 is energized. At this time, based on the action of the motor 341 and the pawl 344, the jumping body 10 is locked and cannot generate a jumping action. The motor 341 drives the transmission screw 343 to rotate in the opposite direction to release the locking state of the jumping body 10. During the reversal of the transmission screw 343, the active meshing teeth 331 and the passive meshing teeth 332 are disengaged from each other, and the traction rope wound on the winding rod 321 is released. At this time, the SMA spring that loses its constraint shortens to drive the jumping body 10 to generate a jumping action.

[0074] A specific configuration structure of the pawl 344 in this embodiment is as follows:

[0075] An elastic portion 345 is provided on the pawl 344, so that the pawl 344 can generate a rotation with a reverse restoring torque when it is squeezed. Here, the rotation generated by the pawl 344 is a rotation within a smaller range under the squeezing action of the active meshing tooth 331; in the axial direction, at least part of the pawl 344 overlaps with the active meshing tooth 331, and when the transmission screw 343 rotates forward, the active meshing tooth 331 and the pawl 344 abut against each other to rotate the pawl 344; at this time, under the action of the elastic portion 345, the pawl 344 is pressed against the active meshing tooth 331, so that the active meshing tooth 331 moves on the transmission screw 343 close to the passive meshing tooth 332 until the active meshing tooth 331 abuts against the passive meshing tooth 332; thereafter, the active meshing tooth 331 starts to rotate to drive the passive meshing tooth 332 to drive the winding rod 321 to rotate, and drives the jumping body 10 to fold before jumping through the traction line and keeps the jumping body 10 in a folded state.

[0076] The active meshing tooth 331 is provided with a groove 3311 . When the transmission screw 343 rotates in the opposite direction, the pawl 344 can abut against the wall of the groove 3311 , so that the active meshing tooth 331 moves away from the passive meshing tooth 332 on the transmission screw 343 .

[0077] Furthermore, if Fig.10 As shown, the pawl 344 has a first end 3441, a second end 3442 and a main body 3443 located between the first end 3441 and the second end 3442; the first end 3441 is connected to the carrier 31, and the elastic part 345 is arranged at the first end 3441; when the transmission screw 343 rotates forward, the active meshing tooth 331 abuts against the main body 3443 and overcomes the force of the elastic part 345 to rotate the pawl 344; when the transmission screw 343 rotates reversely, the wall of the groove 3311 on the active meshing tooth 331 abuts against the second end 3442 to limit the rotation of the active meshing tooth 331.

[0078] Specifically, the active meshing tooth 331 is cylindrical, and includes a cylindrical body 3312 and one or more active meshing tooth portions 3313. For example, two active meshing tooth portions 3313 are provided on the cylindrical body 3312, and the active meshing tooth portions 3313 protrude from the end surface of the cylindrical body 3312 close to the passive meshing tooth 332; the groove portion 3311 is formed on the outer periphery of the cylindrical body 3312. It can be understood that the groove portion 3311 can have multiple connected or unconnected spaces, and can also include the space between the above-mentioned two active meshing tooth portions 3313.

[0079] The passive meshing tooth 332 is cylindrical, and includes a rotating body 3321 and one or more passive meshing tooth portions 3322 arranged on the rotating body 3321. The number of the passive meshing tooth portions 3322 is the same as the number of the active meshing tooth portions 3313; wherein the active meshing tooth portion 3313 can mesh with the passive meshing tooth portion 3322 during forward rotation, and the active meshing tooth portion 3313 can disengage from the passive meshing tooth portion 3322 during reverse rotation.

[0080] like Fig.11 As shown, the coordination process of the gear train mechanism 33 in the driving device 30 is as follows:

[0081] The transmission screw 343 rotates forwardly, and before the active meshing tooth 331 forms a tight fit with the pawl 344 (that is, the active meshing tooth 331 rotates forwardly and does not contact the pawl 344), the active meshing tooth 331 rotates synchronously with the transmission screw 343. Fig.11 (a) - Fig.11 As shown in (b);

[0082] When the outer peripheral wall of the active meshing tooth 331 contacts the pawl 344 and presses the pawl 344 outward, based on the existence of the elastic portion 345, the pawl 344 rotates outward and provides a pressing force F to the active meshing tooth 331. Fig.11 As shown in (c);

[0083] Under the action of the pressing force F, the active meshing tooth 331 overcomes the friction with the transmission screw 343 and forms relative rotation. At this time, the active meshing tooth 331 and the pawl 344 form a relatively fixed effect in the circumferential direction. The active meshing tooth 331 moves to the right under the continued rotation of the transmission screw 343 until it abuts against the passive meshing tooth 332. Fig.11 As shown in (d);

[0084] After the active meshing tooth 331 abuts against the passive meshing tooth 332, it cannot continue to move to the right; at this time, the positive pressure between the active meshing tooth 331 and the passive meshing tooth 332 gradually increases, and the friction between the active meshing tooth 331 and the transmission screw 343 increases; when the positive pressure continues to increase to exceed the clamping effect of the clamping force F, the transmission screw 343 will drive the active meshing tooth 331 to rotate, and the rotating active meshing tooth 331 can drive the passive meshing tooth 332 to rotate, such as Fig.11As shown in (e); wherein, the rotating active meshing teeth 331 drives the passive meshing teeth 332 to rotate by the direct meshing of the two, or by the relative rotation caused by the friction generated by the abutment between the active meshing teeth 331 and the passive meshing teeth 332, as long as the rotation of the passive meshing teeth 332 can be achieved; that is, when the pulling force of the traction rope does not exceed the friction generated by the abutment between the active meshing teeth 331 and the passive meshing teeth 332, the active meshing teeth 331 and the passive meshing teeth 332 can still form synchronous rotation without meshing; when the pulling force of the traction rope exceeds the friction generated by the abutment between the active meshing teeth 331 and the passive meshing teeth 332, the active meshing teeth 331 and the passive meshing teeth 332 will rotate relative to each other, resulting in meshing.

[0085] The passive meshing teeth 332 will drive the rotation of the winding rod 321 connected thereto, and the traction line will be wound through the winding rod 321. Since the lower end of the traction line is connected to the jumping body 10 (specifically, the support plate 12 or the support shaft 125), the distance between the mounting plate 11 and the support plate 12 can be shortened by the rotation of the traction line, thereby driving the jumping body 10 to fold until the socket portion 141 on the support rod 14 abuts against the support shaft 125. Fig.11 At this time, the jumping body 10 is in a locked state before jumping, and the SMA spring 351 is stretched and stores energy. At the same time, the above process synchronously performs a righting operation on the jumping body 10 through the righting device 20.

[0086] Then, the SMA spring 351 is energized to prepare for the release of the jumping body 10; at this time, based on the synergistic effect of the motor 341 and the pawl 344, the jumping body 10 cannot be released; by controlling the motor 341 to reverse, that is, the transmission screw 343 is reversed, the active meshing teeth 331 and the passive meshing teeth 332 are disengaged from each other, as shown in FIG. Fig.11 (g) - Fig.11 After the active meshing teeth 331 and the passive meshing teeth 332 are disengaged, the SMA spring 351 is shortened, thereby driving the jumping body 10 to generate a jumping action, and the jumping process is as shown in FIG. Fig.14 (a) - Fig.14 as shown in (b).

[0087] In detail, the wall of the groove 3311 on the reversed active meshing tooth 331 will abut against the pawl 344 (specifically the second end 3442 of the pawl 344), so that the active meshing tooth 331 moves away from the passive meshing tooth 332 on the transmission screw 343; at the same time, the distance between the support plate 12 and the mounting plate 11 in the jumping body 10 increases after the jump, and the passive meshing tooth 332 is reversed due to the pulling force of the traction line, and the traction line wound on the winding rod 321 can be released freely.

[0088] As an extension of this implementation, Figure 12-13 As shown, an active meshing tooth portion 3314 is provided on the active meshing tooth 331, and a passive meshing tooth portion 3323 adapted to the active meshing tooth portion 3314 is provided on the passive meshing tooth 332, and at least one of the active meshing tooth portion 3314 and the passive meshing tooth portion 3323 is configured to produce elastic deformation so that the two can be disengaged instantly.

[0089] Accordingly, in order to promote the instantaneous disengagement of the active meshing tooth portion 3314 and the passive meshing tooth portion 3323, the traction mechanism 32 may further include a spring 323 that generates a disengagement force; Fig.12 A support hole portion 3221 is provided on the bracket 322, and the winding rod 321 is arranged in the support hole portion 3221 and can rotate and move relative to the bracket 322; specifically, one end portion (right end) of the winding rod 321 is provided with a limiting end cover 3211, and the spring 323 is sleeved on the winding rod 321, and the two ends of the spring 323 respectively abut the limiting end cover 3211 and the bracket 322; when the winding rod 321 moves to the left, the spring 323 can be compressed by the limiting end cover 3211.

[0090] Please refer again Fig.13, a hook-shaped interlocking fit is formed between the active meshing tooth portion 3314 and the passive meshing tooth portion 3323. For example, both the active meshing tooth portion 3314 and the passive meshing tooth portion 3323 can produce axial elastic deformation; specifically, when the active meshing tooth 331 and the passive meshing tooth portion 332 rotate around the axial direction, even if the active meshing tooth portion 3314 and the passive meshing tooth portion 3323 are relatively squeezed, the rotation of the active meshing tooth 331 and the passive meshing tooth 332 will not be affected; when the motor 341 is reversed and released, the friction between the active meshing tooth 331 and the passive meshing tooth 332 will inevitably decrease. Regardless of whether the active meshing tooth 331 and the passive meshing tooth 332 are in a fully meshed state during the aforementioned process, the passive meshing tooth 332 and the active meshing tooth 331 will inevitably be in a fully meshed state under the pulling force of the traction rope; due to the presence of the ratchet 344, the active meshing tooth 331 only moves axially ; Because the winding rod 321 is movable, when the active meshing tooth portion 3314 and the passive meshing tooth portion 3323 are not disengaged, the passive meshing tooth 332 and the winding rod 321 move with the active meshing tooth 331 and compress the spring 323; when the active meshing tooth 331 moves axially beyond a certain distance, the force of the spring 323 increases to exceed the bearing capacity of the active meshing tooth portion 3314 and the passive meshing tooth portion 3323. During this process, the active meshing tooth portion 3314 and the passive meshing tooth portion 3323 produce elastic deformation until the active meshing tooth 331 and the passive meshing tooth 332 are instantly disengaged; under the action of the spring 323, the passive meshing tooth 332 and the winding rod 321 move in a direction away from the active meshing tooth 331, and under the action of the SMA spring 351, the traction line wound on the winding rod 321 is quickly released, thereby achieving a quick release of the jumping body 10.

[0091] like Fig.14 As shown, the jumping process of a single cycle of the micro jumping robot in this embodiment is as follows:

[0092] The jumping body 10 is in a folded state, and the SMA spring 351 is energized. Based on the synergistic effect of the motor 341 and the ratchet 344, the active meshing teeth 331 and the passive meshing teeth 332 are meshed and locked in the current position. The jumping body 10 cannot generate a jumping action. Fig.14 As shown in (a);

[0093] The motor 341 is reversed to drive the transmission screw 343 to reverse, the active meshing teeth 331 and the passive meshing teeth 332 are disengaged, the winding rod 321 loses its constraint, and the traction line can be released; the SMA spring 351 is shortened to drive the jumping body 10 to produce a jumping action, such as Fig.14As shown in (b); wherein, the position of the jumping body 10 after being expanded is controlled by the shortened position of the SMA spring 351; in other embodiments, a limiting mechanism may be provided to limit the maximum position to which the jumping branch chain 13 can be expanded.

[0094] When jumping and landing, the motor 341 rotates forward to drive the transmission screw 343 to rotate forward, and the active meshing teeth 331 will mesh with the passive meshing teeth 332, and the jumping body 10 is driven to fold through the winding rod 321 and the traction line to restore to the folded posture before the jump. Fig.14 As shown in (d), at this time, the folding process of the jumping body 10 simultaneously stretches the SMA spring to store energy; if the jumping body 10 falls over, as shown in Fig.14 As shown in (c), the righting leg 21 in the righting device 20 will be against the ground to form a support. During the folding process of the jumping body 10, the rotating righting leg 21 acts on the ground to actively right the support plate 12 and restore it to a normal posture, as shown in FIG. Fig.14 As shown in (d); the single-cycle jump is completed, and the jump body 10 returns to the folded state before the jump.

[0095] Although the present invention is disclosed as above with specific embodiments, these specific embodiments are not intended to limit the scope of the present invention. Any person skilled in the art may make some changes / modifications without departing from the scope of the present invention, that is, any equivalent changes / modifications made according to the present invention should be covered by the protection scope of the present invention.

Claims

1. A micro jumping robot, characterized in that: include: A symmetrical jumping body comprises a mounting plate, a supporting plate and a plurality of jumping branches connected between the mounting plate and the supporting plate; the jumping branches comprise an upper jumping plate and a lower jumping plate which can be folded and unfolded, and the upper jumping plate and the lower jumping plate are hinged to each other through a connecting hinge; the connecting hinges in the plurality of jumping branches are flush with each other; A righting device is arranged on the jumping branch chain; the righting device includes a righting leg that can generate rotation, and when the jumping body falls, the righting leg can abut against the ground where the support plate is located, and the jumping body can be righted by the rotation of the righting leg; the righting device also includes a transmission connecting rod, one end of the righting leg is hinged to the lower jumping board, one end of the transmission connecting rod is hinged to the upper jumping board, and the other end of the transmission connecting rod is hinged to the righting leg; A driving device, including a traction mechanism and an energy storage mechanism; The traction mechanism comprises a traction line, a winding rod and a bracket; the winding rod is rotatably arranged on the bracket, the traction line is wound around the winding rod, and the traction line is connected to the jumping body so that the jumping body can be folded before jumping; The energy storage mechanism includes an SMA spring for driving the jumping body to produce a jumping action; When the traction line wound on the winding rod in the folded state is released, the SMA spring is shortened after being energized to drive the jumping body to unfold and generate a jumping action; at this time, the reaction force acting on the ground passes through the center of mass of the jumping body.

2. The micro jumping robot according to claim 1, characterized in that: When the jumping body is tilted, it is supported on the ground by at least one point of the support plate and the other end of the righting leg; wherein, when the jumping body is folded under the action of the traction line, the upper jumping board and the lower jumping board are folded towards each other, and the righting leg is driven by the transmission connecting rod to rotate relative to the lower jumping board to right the support plate.

3. The micro jumping robot according to claim 1, characterized in that: The driving device also includes a gear train mechanism and a driver mechanism; the gear train mechanism includes active meshing teeth and passive meshing teeth, and the driver mechanism is used to drive the active meshing teeth to produce linear and rotational motions; the passive meshing teeth are arranged on the winding rod to drive the winding rod to rotate when the passive meshing teeth and the active meshing teeth are meshed, thereby winding the traction line so that the jumping body folds before jumping; wherein, when the active meshing teeth and the passive meshing teeth disengage from each other, the traction line wound on the winding rod is released; at this time, the SMA spring is shortened to drive the jumping body to produce a jumping action.

4. The micro jumping robot as claimed in claim 3, characterized in that: The drive mechanism includes a carrier, a transmission screw and a pawl; the active meshing tooth is arranged on the transmission screw, and the pawl is installed on the carrier and hinders the active meshing tooth in part of the rotation process so that the active meshing tooth moves a set distance.

5. The micro jumping robot as claimed in claim 4, characterized in that: An elastic portion is provided on the pawl so that the pawl can generate a rotation with a reverse restoring torque when it is squeezed; in the axial direction, at least part of the pawl overlaps with the active meshing tooth, and when the transmission screw rotates forward, the active meshing tooth and the pawl abut against each other to rotate the pawl; at this time, the pawl is pressed against the active meshing tooth, so that the active meshing tooth moves close to the passive meshing tooth on the transmission screw until the active meshing tooth abuts against the passive meshing tooth; thereafter, the active meshing tooth starts to rotate to drive the passive meshing tooth to drive the winding rod to rotate and drive the jumping body through the traction line to fold before jumping and maintain the folded shape.

6. The micro jumping robot as claimed in claim 5, characterized in that: A groove is provided on the active meshing tooth; when the transmission screw rotates in the opposite direction, the pawl can abut against the wall of the groove, so that the active meshing tooth moves away from the passive meshing tooth on the transmission screw.

7. The micro jumping robot according to claim 6, characterized in that: The pawl has a first end, a second end and a main body located between the first end and the second end; the first end is connected to the carrier, and the elastic part is arranged at the first end; when the transmission screw rotates forward, the active meshing tooth abuts against the main body to make the second end rotate relative to the first end; when the transmission screw rotates reversely, the wall of the groove on the active meshing tooth abuts against the second end to limit the rotation of the active meshing tooth.

8. The micro jumping robot as claimed in claim 3, characterized in that: The active meshing teeth are provided with active meshing tooth portions, and the passive meshing teeth are provided with passive meshing tooth portions adapted to the active meshing tooth portions. At least one of the active meshing tooth portions and the passive meshing tooth portions is configured to produce elastic deformation so that the two can be disengaged instantly.

9. The micro jumping robot as claimed in claim 8, characterized in that: The traction mechanism further includes a spring and a limiting end cover; The limiting end cover is arranged at one end of the winding rod, the spring is sleeved on the winding rod, and the two ends of the spring abut against the limiting end cover and the bracket respectively; The winding rod can move relative to the bracket and compress the spring. Under the action of the spring, the active meshing tooth portion and the passive meshing tooth portion can be separated instantly.

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