A terrain-adaptive jumping robot

Abstract

The present invention discloses a terrain-adaptive jumping robot. The jumping robot comprises a driving device and a symmetrical jumping body, wherein the jumping body comprises a mounting plate, a supporting plate, a pair of main jumping plates and a pair of auxiliary jumping plates; the mounting plate and the supporting plate are arranged at intervals in the vertical direction; the pair of main jumping plates are symmetrically arranged at the front and rear sides of the vertical direction, and can be folded in the vertical direction under the drive of the driving device; the main jumping plate comprises a first upper jumping plate and a first lower jumping plate, and the first upper jumping plate and the first lower jumping plate are connected by a first hinge; the first upper jumping plate is connected to the mounting plate by a second hinge, and the first lower jumping plate is connected to the supporting plate by a third hinge; wherein the first hinge, the second hinge and the third hinge are parallel to each other, and the present invention adopts a completely symmetrical jumping body structure to improve the posture stability when landing after jumping.

Description

Technical Field

[0001] The invention belongs to the field of jumping robots, and in particular relates to a jumping robot capable of adapting to terrain conditions. 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] In the prior art, there is a jumping robot that uses a four-bar mechanism as the jumping body and a titanium-nickel memory alloy spring (SMA spring) as a driver. In the initial state, the mechanism is manually reset, and then the SMA spring is heated. The movement of the four-bar mechanism is restricted by the actuating structure to store energy. When the stored energy reaches the target value, the other SMA springs are heated to drive the actuating structure to unlock and release, thereby converting the stored potential energy into kinetic energy to achieve jumping.

[0004] The above-mentioned prior art adopts a four-bar mechanism, which is only symmetrical front and back. The posture of the robot after jumping and landing is uncertain, and there are various landing postures, so it is difficult to apply it in a continuous jumping scenario. Summary of the invention

[0005] The main purpose of the present invention is to provide a terrain-adaptive jumping robot, which adopts a completely symmetrical jumping main body structure to improve the posture stability when landing after jumping.

[0006] In order to achieve the above main purpose, the present invention provides a terrain-adaptive jumping robot, comprising a driving device and a symmetrical jumping body, wherein the jumping body comprises a mounting plate, a support plate, a pair of main jumping boards and a pair of auxiliary jumping boards;

[0007] The mounting plate and the supporting plate are arranged at intervals in the vertical direction;

[0008] The pair of main jumping boards 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; the main jumping boards include a first upper jumping board and a first lower jumping board, and the first upper jumping board and the first lower jumping board are connected by a first hinge; the first upper jumping board is connected to the mounting plate by a second hinge, and the first lower jumping board is connected to the supporting plate by a third hinge; wherein the first hinge, the second hinge and the third hinge are parallel to each other;

[0009] The paired auxiliary jumping boards are symmetrically arranged on the left and right sides of the vertical direction, and can be folded in the vertical direction under the drive of the driving device; the auxiliary jumping boards include a second upper jumping board and a second lower jumping board; the second upper jumping board and the second lower jumping board are connected by a fourth hinge, and the first hinge and the fourth hinge are perpendicular to each other and coplanar; the second upper jumping board is connected to the mounting plate by a fifth hinge; a connecting plate is provided on the supporting plate, and the second lower jumping board is connected to the connecting plate by a sixth hinge, and the sixth hinge is located above the third hinge; wherein the fourth hinge, the fifth hinge and the sixth hinge are parallel to each other.

[0010] According to another specific embodiment of the present invention, the first upper jumping board and the second upper jumping board are in a trapezoidal shape, and the first lower jumping board and the second lower jumping board are in an inverted trapezoidal shape.

[0011] According to another specific embodiment of the present invention, the support plate is provided with support legs protruding outward, and the support legs correspond to the first lower jumping board and the second lower jumping board.

[0012] According to another specific embodiment of the present invention, one or more support rods are provided on the mounting plate, and the support rods are used to limit the first upper jumping board and the second upper jumping board from crossing the horizontal position and folding downward and inward.

[0013] According to another specific embodiment of the present invention, a support base and a support shaft arranged on the support base are provided on the support plate, and the first lower jumping board is rotatably connected to the support shaft to provide a third hinge; the lower end of the support rod can abut against the support shaft to limit the first upper jumping board and the second upper jumping board to cross the horizontal position.

[0014] According to another specific embodiment of the present invention, a socket portion is formed at the lower end of the support rod, and the socket portion can form a plug-in limit fit with the support shaft.

[0015] According to another specific embodiment of the present invention, the driving device at least includes an SMA driving spring, which is arranged in a horizontal direction and is respectively connected to the paired set of main jumping boards or the paired set of auxiliary jumping boards.

[0016] According to another specific embodiment of the present invention, the SMA spring is coplanar with the first hinge and the fourth hinge.

[0017] According to another specific embodiment of the present invention, it also includes a righting device for righting after tipping over. The righting device is arranged at the main jumping board and / or the auxiliary jumping board, and includes a righting leg that can generate rotation. When the jumping body tips over, the righting leg can abut against the ground where the supporting board is located, so as to right the jumping body by rotating the righting leg.

[0018] According to another specific embodiment of the present invention, the righting device further includes a transmission connecting rod, one end of which is arranged on the main jumping board or the auxiliary jumping board which is the same as the righting leg, and the other end of the transmission connecting rod is hinged on the righting leg, and when the jumping body is folded, the righting leg is driven to rotate by the transmission connecting rod to right the jumping body.

[0019] The present invention has the following beneficial effects:

[0020] The jumping body of the present invention adopts a pair of main jumping boards and a pair of auxiliary jumping boards to form a completely symmetrical structure. The design that the reaction force of the ground always passes through the center of mass during the jumping stage is conducive to maintaining the posture stability in the air and the posture stability when landing. At the same time, the jumping body with a completely symmetrical structure is more conducive to the righting design, which is convenient for the righting operation when the jumping robot falls, so as to realize the autonomous standing of the jumping body, thereby being able to perform continuous jumping actions.

[0021] 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

[0022] Figure 1 is a schematic diagram of the overall structure of the jumping robot in Example 1 of the present invention;

[0023] Figure 2 is a side structural diagram of embodiment 1 of the present invention;

[0024] Figure 3 is a structural diagram of a jumping body and a righting device in Embodiment 1 of the present invention;

[0025] Figure 4 yes Figure 3 Bottom structure diagram of

[0026] Figure 5 yes Figure 3 A partial schematic diagram of

[0027] Figure 6 is a structural diagram of a single jumping branch chain and a righting device in Example 1 of the present invention;

[0028] Figure 7 yes Figure 6 The side structure diagram of

[0029] Figure 8 is a structural diagram of a driving device in Embodiment 1 of the present invention;

[0030] 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;

[0031] Fig.10is a structural diagram showing active meshing teeth and pawls in Example 1 of the present invention;

[0032] 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;

[0033] Fig.12 is another structural diagram of the driving device in Embodiment 1 of the present invention;

[0034] Fig.13 yes Fig.12 The structural diagram of the drive mechanism, the gear train mechanism and the traction mechanism is shown in FIG.

[0035] 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

[0036] Example 1

[0037] like Figure 1 As shown, the micro jumping robot of Example 1 includes a symmetrical jumping body 10, a straightening device 20 and a driving device 30.

[0038] 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.

[0039] Among them, the four jumping branches 13 respectively form a pair of main jumping boards 13a and a pair of auxiliary jumping boards 13b; each 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 multiple jumping branches 13 are flush.

[0040] like Figure 3-5 As shown, the specific structures of a pair of main jumping boards 13a and a pair of auxiliary jumping boards 13b are described as follows:

[0041] 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;

[0042] 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.

[0043] 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.

[0044] 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 matches 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.

[0045] 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 5As 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.

[0046] 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.

[0047] 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.

[0048] In order to enable the jumping body 10 to generate continuous intermittent jumps under the driving control of the driving device 30, the present embodiment is provided with a straightening device 20, which is used to straighten the jumping body 10 when it is tilted. After each jumping action is completed, regardless of whether the jumping body 10 tilts or not, the straightening device 20 actively straightens the jumping body 10, so that the jumping body 10 always keeps the support plate 12 in a vertical state on the ground before jumping; please refer to Figure 1-2 and Figure 6-7 The righting device 20 includes a righting leg 21 and a transmission connecting rod 22.

[0049] 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;

[0050] 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).

[0051] Please refer again Figure 6The 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;

[0052] 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.

[0053] 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.

[0054] 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 coordinate the righting so as to realize the continuous intermittent jumping of the jumping body 10. A specific structural form of the driving device 30 in this embodiment is as follows: 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 .

[0055] 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.

[0056] 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;

[0057] 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.

[0058] like Fig. 9 As shown, the traction mechanism 32 includes a traction wire, a winding rod 321 and a bracket 322;

[0059] 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.

[0060] 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.

[0061] The gear train mechanism 33 includes active meshing teeth 331 and passive meshing teeth 332;

[0062] 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;

[0063] 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.

[0064] 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 .

[0065] 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.

[0066] A specific configuration structure of the pawl 344 in this embodiment is as follows:

[0067] 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.

[0068] 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 .

[0069] Furthermore, if Fig.10As 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.

[0070] 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.

[0071] 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.

[0072] like Fig.11 As shown, the coordination process of the gear train mechanism 33 in the driving device 30 is as follows:

[0073] 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);

[0074] 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);

[0075] 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);

[0076] 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.11 As shown in (e);

[0077] Among them, the rotating active meshing teeth 331 can drive 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.

[0078] 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.

[0079] 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).

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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, and the passive meshing tooth 332 is not affected by the ratchet 344. 3323 is not disengaged from the active meshing tooth portion 3314, the passive meshing tooth portion 3323 is not disengaged from the active meshing tooth portion 3314, the passive meshing tooth portion 332 and the winding rod 321 are moved along with the active meshing tooth portion 331, and the spring 323 is compressed; when the active meshing tooth portion 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, and the active meshing tooth portion 3314 and the passive meshing tooth portion 3323 are elastically deformed, so that the active meshing tooth portion 331 and the passive meshing tooth portion 332 are instantly disengaged; under the action of the spring 323, the passive meshing tooth portion 332 and the winding rod 321 move in a direction away from the active meshing tooth portion 331, and under the action of the SMA spring 351, the traction line wound on the winding rod 321 is quickly released, thereby realizing the rapid release of the jumping body 10.

[0084] like Fig.14 As shown, the jumping process of a single cycle of the micro jumping robot in this embodiment is as follows:

[0085] 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);

[0086] 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.

[0087] 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.

[0088] 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 terrain-adaptive jumping robot, comprising a driving device, a symmetrical jumping body and a righting device for righting the robot after tipping over, characterized in that: The jumping body comprises a mounting plate, a supporting plate, a pair of main jumping plates and a pair of auxiliary jumping plates; The mounting plate and the support plate are arranged at intervals in the vertical direction; The pair of main jumping boards 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; the main jumping boards include a first upper jumping board and a first lower jumping board, the first upper jumping board and the first lower jumping board are connected by a first hinge; the first upper jumping board is connected to the mounting board by a second hinge, and the first lower jumping board is connected to the supporting board by a third hinge; wherein the first hinge, the second hinge and the third hinge are parallel to each other; The pair of auxiliary jumping boards are symmetrically arranged on the left and right sides of the vertical direction, and can be folded in the vertical direction under the drive of the driving device; the auxiliary jumping boards include a second upper jumping board and a second lower jumping board; the second upper jumping board and the second lower jumping board are connected by a fourth hinge, and the first hinge and the fourth hinge are perpendicular to each other and coplanar; the second upper jumping board is connected to the mounting plate by a fifth hinge; a connecting plate is provided on the support plate, and the second lower jumping board is connected to the connecting plate by a sixth hinge, and the sixth hinge is located above the third hinge; wherein the fourth hinge, the fifth hinge and the sixth hinge are parallel to each other; The righting device is arranged at the main jumping board and / or the auxiliary jumping board, and comprises a righting leg that can generate rotation; when the jumping body falls over, the righting leg can abut against the ground where the supporting board is located, so as to right the jumping body through the rotation of the righting leg; The righting device further includes a transmission connecting rod, one end of which is arranged on the main jumping board or the auxiliary jumping board which is the same as the righting leg, and the other end of the transmission connecting rod is hinged on the righting leg. When the jumping body is folded, the righting leg is driven to rotate by the transmission connecting rod to right the jumping body.

2. The terrain-adaptive jumping robot according to claim 1, characterized in that: The first upper jumping board and the second upper jumping board are in a trapezoidal shape, and the first lower jumping board and the second lower jumping board are in an inverted trapezoidal shape.

3. The terrain-adaptive jumping robot according to claim 1, characterized in that: The support plate is provided with support legs protruding outward, and the support legs correspond to the first lower jumping board and the second lower jumping board.

4. The terrain-adaptive jumping robot according to claim 1, characterized in that: One or more support rods are arranged on the mounting plate, and the support rods are used to limit the first upper jumping board and the second upper jumping board from crossing the horizontal position and folding downward and inward.

5. The terrain-adaptive jumping robot according to claim 4, characterized in that: A support seat and a support shaft arranged on the support seat are provided on the support plate, and the first lower jumping board is rotatably connected to the support shaft to provide the third hinge; the lower end of the support rod can abut against the support shaft to limit the first upper jumping board and the second upper jumping board to cross the horizontal position.

6. The terrain-adaptive jumping robot according to claim 5, characterized in that: A socket portion is formed at the lower end of the support rod, and the socket portion can form a plug-in limit fit with the support shaft.

7. The terrain-adaptive jumping robot according to claim 1, characterized in that: The driving device at least comprises an SMA spring, and the SMA spring is arranged in a horizontal direction and is respectively connected to the paired set of main jumping boards or the paired set of auxiliary jumping boards.

8. The terrain-adaptive jumping robot according to claim 7, characterized in that: The SMA spring is coplanar with the first hinge and the fourth hinge.

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