A jumping robot based on the tensegrity principle and a working method thereof

Abstract

The application belongs to the field of robots and provides a jumping robot based on the tensegrity principle and a working method thereof, wherein the jumping robot is in a tetrahedron structure containing four identical triangular faces, first flexible elements are located on six edges of the tetrahedron structure, two elastic bending rods are located inside an envelope surface formed by the tetrahedron structure, and the two elastic bending rods are connected through second flexible elements; when the tetrahedron structure lands, one of the triangular faces is in contact with the ground, at this time, a plane in which one of the two elastic bending rods is located is perpendicular to the ground; a driving structure is used for controlling the second flexible elements to contract so that the elastic bending rods are deformed to store elastic potential energy, and when the elastic potential energy stored by the elastic bending rods is released instantaneously, the jumping motion of the robot is generated through the reaction force between the tetrahedron structure and the ground.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and in particular relates to a jumping robot based on the principle of tension as a whole and its working method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Existing robots can be broadly categorized into rigid robots and soft robots. Rigid robots, widely used in production and daily life, possess advantages such as mature technology, high speed, high precision, and strong load-bearing capacity. However, they suffer from poor compliance, environmental adaptability, and safety when in contact with people or the external environment. Soft robots exhibit the opposite characteristics to rigid robots. Furthermore, the internal resonance and coupling of flexible materials present significant challenges to precise robot control and place higher demands on manufacturing technologies.

[0004] Jumping robots based on tensioned monolithic structures are a novel type of robot that utilizes tension force to control its movement. While this type of robot has many potential applications, several challenges remain, including the following:

[0005] Weight issue: In order to meet the needs of robot jumping, a certain number of actuators, tension ropes and other components are required. Too many components will increase the weight of the robot, which will limit the robot's mobility.

[0006] Complex control: Jumping robots based on a tensioned integral structure need to control multiple actuators, tension ropes and other components, making control quite difficult. Summary of the Invention

[0007] To address at least one of the technical problems existing in the aforementioned background art, the first aspect of the present invention provides a jumping robot based on the principle of tension as a whole, which consists of two elastic rods capable of controlled bending deformation and multiple flexible elements. When on the ground, one of the robot's triangular faces contacts the ground. At this time, the plane of one of the two elastic rods is perpendicular to the ground. A drive mechanism controls the elastic rod to bend and deform, storing elastic potential energy. When the stored elastic potential energy is released instantaneously, the reaction force between the robot and the ground causes the robot to jump. Due to the symmetry of the robot's structure, after the robot lands, it can continue to be controlled to achieve continuous jumping motion.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A jumping robot based on the principle of tension as a whole includes two elastic rods that can be controlled to produce bending deformation, multiple flexible elements and a drive structure;

[0010] The jumping robot has a tetrahedral structure containing four identical triangular faces. The first flexible element is located on the six edges of the tetrahedral structure. The two elastic rods are located inside the envelope formed by the tetrahedral structure. The two elastic rods are connected by the second flexible element. When the tetrahedral structure lands, one of the triangular faces is in contact with the ground. At this time, the plane of one of the elastic rods is perpendicular to the ground.

[0011] The drive structure is used to control the contraction of the second flexible element to deform the elastic rod and store elastic potential energy. When the elastic potential energy stored in the elastic rod is released instantaneously, the robot jumps through the reaction force between the tetrahedral structure and the ground.

[0012] To address at least one of the technical problems described in the background art, a second aspect of the present invention provides a method for operating a jumping robot based on the principle of tension as a whole. This method utilizes a drive mechanism to control an elastic rod to produce bending deformation, allowing the elastic rod to store elastic potential energy. When the stored elastic potential energy is released instantaneously, the reaction force between the robot and the ground causes the robot to jump. Due to the symmetry of the robot's structure, after landing, the robot can continue to be controlled to achieve continuous jumping motions.

[0013] To achieve the above objectives, the present invention adopts the following technical solution:

[0014] A working method for a jumping robot based on the principle of tension as a whole includes:

[0015] In the initial state, the drive mechanism is in the locked state, and any one face of the tetrahedron is in contact with the ground. At this time, the plane of one of the two elastic rods is perpendicular to the ground.

[0016] The second flexible element is contracted by a drive mechanism to cause the elastic bending rod to deform, thereby storing elastic potential energy.

[0017] When the second flexible element is contracted to a certain extent, it triggers the drive mechanism to enter the release state. When the elastic potential energy stored in the elastic rod is released instantaneously, the robot generates a jumping motion through the reaction force between the tetrahedral structure and the ground.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] (1) The present invention is based on a tetrahedral tensioned integral structure, consisting of two controllable elastic bending rods and multiple flexible elements; when on the ground, one of the robot's triangular faces will be in contact with the ground, and the elastic bending rod will be controlled by the drive mechanism to produce bending deformation, and the elastic bending rod will store elastic potential energy; when the stored elastic potential energy is released instantaneously, the robot will generate jumping motion through the reaction force between the robot and the ground.

[0020] (2) The various rods of the present invention are connected by flexible ropes, and there is no rigid contact between the rods. The structure has good flexibility, and the robot structure will deform accordingly when subjected to external loads without causing damage to the structure, thus ensuring high safety.

[0021] (3) The robot of the present invention has a symmetrical tetrahedral structure. After landing in any posture, one of its surfaces will be in contact with the ground, and it can achieve continuous jumping motion.

[0022] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0024] Figure 1 This is a schematic diagram of the overall structure of the jumping robot based on the principle of tension in an embodiment of the present invention;

[0025] Figures 2(a)-2(d) These are multiple views of a jumping robot based on the principle of tension as described in an embodiment of the present invention; wherein, Figure 2(a) is a front view of the jumping robot, Figure 2(b) is a left view of the jumping robot, Figure 2(c) is a top view of the jumping robot, and Figure 2(d) is an axonometric view of the jumping robot. ；

[0026] Figure 3 This is a first schematic diagram of the driving mechanism according to an embodiment of the present invention;

[0027] Figure 4 This is a second schematic diagram of the driving mechanism according to an embodiment of the present invention.

[0028] Among them, 1-first elastic rope; 2-steel wire rope; 3-second elastic rope; 4-elastic bending rod; 5-drive mechanism; 501-fixed base; 502-fixed arm; 503-fixed wedge; 504-motor; 505-fixed arm pin; 506-torsion spring; 507-rotating shaft; 508-movable arm; 509-motor output shaft; 6-ground contact module; 7-movable wedge. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0033] Tensioned monolithic structures are self-supporting, self-stressed spatial grid structures composed of a set of discontinuous rigid compression members and a set of continuous flexible tension members. Their unique structural form allows them to retain both the load-bearing capacity of rigid members and the deformation capacity of flexible members, combining the advantages of both rigid and flexible structures. They are widely used in architecture and structural engineering and have recently gained favor among researchers in the field of robotics.

[0034] Example 1

[0035] Reference Figure 1 This embodiment of a jumping robot based on the principle of tensioning as a whole includes: two elastic rods that can be controlled to produce bending deformation, multiple flexible elements, and a drive structure;

[0036] The jumping robot has a tetrahedral structure containing four identical triangular faces. The first flexible element is located on the six edges of the tetrahedral structure. The two elastic rods are located inside the envelope formed by the tetrahedral structure. The two elastic rods are connected by the second flexible element. When the tetrahedral structure lands, one of the triangular faces is in contact with the ground. At this time, the plane of one of the elastic rods is perpendicular to the ground.

[0037] The drive structure is used to control the contraction of the second flexible element to deform the elastic rod and store elastic potential energy. When the elastic potential energy stored in the elastic rod is released instantaneously, the robot jumps through the reaction force between the tetrahedral structure and the ground.

[0038] The advantages of the above scheme are that the links are connected by flexible ropes, there is no rigid contact between the links, the structure is flexible, the robot structure will deform accordingly when subjected to external loads without causing damage to the structure, and the safety is high; the robot has a symmetrical tetrahedral structure, and after landing in any posture, one face will be in contact with the ground, and continuous jumping motion can be achieved.

[0039] Reference Figure 1 and Figures 2(a)-2(d) The specific implementation method is as follows:

[0040] The jumping robot includes multiple flexible elements. The first flexible element includes four first elastic ropes 1 and two steel wire ropes 2. The second flexible element includes four second elastic ropes 3, two elastic bending rods 4, two identical drive mechanisms 5, four ground contact modules 6, and two movable wedges 7.

[0041] The robot has a tetrahedral structure, with a ground contact module 6 set at each vertex of the tetrahedral structure; the four first elastic ropes 1 and the two steel wire ropes 2 are located on the six edges of the tetrahedron, and both ends of each first elastic rope 1 are fixed to the corresponding ground contact module 6; one end of each steel wire rope 2 is fixedly connected to the ground contact module 6, and the other end is connected to one end of the drive structure 5, and the other end of the drive structure is fixedly connected to the ground contact module 6.

[0042] Two elastic bent rods 4 are located inside the envelope formed by the tetrahedron, and the two elastic bent rods 4 are fixed together by four second elastic ropes 3;

[0043] The two ends of the two elastic bending rods 4 are fixedly connected to the corresponding ground contact module 6; one end of each wire rope 2 is fixedly connected to the ground contact module 6, and the other end is connected to the output end of the drive structure 5. The output end of the drive structure 5 is fixedly connected to the ground contact module 6, and a movable wedge 7 is set on each wire rope 3.

[0044] The specific implementation method is as follows: if the two ends of the first elastic bending rod are fixedly connected to the first ground contact module and the second ground contact module, then the two ends of the second elastic bending rod are fixedly connected to the third ground contact module and the fourth ground contact module; steel wire ropes are installed between the first ground contact module and the second ground contact module, and between the third ground contact module and the fourth ground contact module.

[0045] In this embodiment, the four first elastic ropes 1 and the four second elastic ropes 3 can be ropes with good elasticity, or they can be tension springs, etc.

[0046] The first and second elastic bending rods can be made of highly elastic materials such as spring steel and carbon fiber.

[0047] The ground contact module can be made of elastic materials such as rubber, which helps to cushion the impact on the robot when it lands.

[0048] The advantage of the above technical solution is that the jumping robot is composed of lightweight rods and flexible ropes, making it very lightweight.

[0049] It should be noted that the two drive mechanisms 5 in this embodiment are arranged in the same way on the four-sided structure. Taking one of them as an example for further explanation, the details are as follows:

[0050] Reference Figure 3 and Figure 4 The drive mechanism 5 includes a fixed base 501, a fixed arm 502, a fixed wedge 503, a motor 504, a fixed arm pin 505, a torsion spring 506, a rotating shaft 507, and a movable arm 508.

[0051] The specific implementation method is as follows:

[0052] One end of the fixed base 501 is fixedly connected to the ground contact module 6. One end of the motor 504 is fixedly connected to the fixed base 501, and the other end is connected to the wire rope 2 through the output shaft of the motor 504. One end of the fixed arm 502 is fixedly connected to the fixed base 501, and the other end is rotatably connected to the movable arm 508 through the fixed arm pin 505. A torsion spring 506 is installed on the fixed arm pin 505. One end of the fixed wedge 503 is fixedly connected to the fixed base 501, and the other end is in the shape of a conical wedge.

[0053] In this embodiment, the arm angle of the torsion spring 506 is 180°, that is, when the torsion spring 506 is not under force, the angle between the movable arm 508 and the fixed arm 502 is 180°.

[0054] When the motor output shaft 509 rotates, the wire rope 2 will be wound around the motor output shaft 509.

[0055] The drive mechanism has two working states: locked and released.

[0056] In the locked state, one end of the movable arm 508 is hooked by the fixed wedge 503, and the torsion spring 506 is compressed and deformed to the angle between the two arm corners being 90°. In this state, when the output shaft of the motor 504 rotates, it drives the wire rope 2 to be wound on the output shaft of the motor 504. At this time, the wire rope 2 just passes through the gap between the rotating shaft 507 and the fixed wedge 503, and the distance between the two corresponding ground contact modules 6 is shortened accordingly. The movable wedge 7 gradually approaches one end of the drive mechanism 5.

[0057] After the motor 504 rotates for a certain period of time, the movable wedge 7 will contact the fixed wedge 503 and gradually push the fixed wedge 503 away, causing the fixed wedge 503 to disengage from the movable arm 508. At this time, the movable arm 508 will spring open under the force of the torsion spring, which means that the drive mechanism enters the release state. In this state, the rope on the output shaft of the motor 504 will fall off the output shaft due to the loss of restraint.

[0058] It should be noted that the motor output shaft and the motor are a single unit.

[0059] The principle of robot jumping motion: In the initial stable state, the drive mechanism 5 is in the locked state, and any face of the tetrahedron is in contact with the ground, that is, three ground contact modules are in contact with the ground. At this time, one of the two elastic rods will be perpendicular to the ground. Of the two ground contact modules connected to the two ends of the elastic rod, one ground contact module is in contact with the ground, and the other is in the air. By controlling the contraction of the rope of this elastic rod through the drive mechanism, the elastic rod will bend and deform further, and the elastic potential energy stored in the elastic rod will gradually increase. When the rope length is contracted to a certain extent, the drive mechanism is triggered to enter the release state, and the elastic potential energy stored in the elastic rod will be released instantaneously. The ground contact module in contact with the ground will cause the entire robot to jump through the reaction force between itself and the ground.

[0060] In summary, this invention has the advantages of simple structure, light weight, good flexibility, high safety, and continuous jumping capability, and has broad application prospects in fields such as robotics.

[0061] Example 2

[0062] Based on the same inventive concept, this embodiment provides a working method for a jumping robot based on the principle of tension as corresponding to a jumping robot based on the principle of tension as a whole. Since the principle of the device in this embodiment is similar to the method described in Embodiment 1, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0063] This embodiment provides a working method for a jumping robot based on the principle of tension as a whole, specifically including:

[0064] In the initial state, the drive mechanism is in the locked state, and any one face of the tetrahedron is in contact with the ground. At this time, the plane of one of the two elastic rods is perpendicular to the ground.

[0065] The second flexible element is contracted by a drive mechanism to cause the elastic bending rod to deform, thereby storing elastic potential energy.

[0066] When the second flexible element is contracted to a certain extent, it triggers the drive mechanism to enter the release state. When the elastic potential energy stored in the elastic rod is released instantaneously, the robot generates a jumping motion through the reaction force between the tetrahedral structure and the ground.

[0067] The method of using a drive mechanism to control the contraction of the second flexible element to deform the elastic rod and thus store elastic potential energy specifically includes:

[0068] One end of the movable arm is hooked by a fixed wedge, and the torsion spring is compressed and deformed to change the angle between the two arm angles. In this state, when the motor output shaft rotates, it drives the second flexible element to wrap around the motor output shaft, and the distance between the two corresponding ground contact modules is shortened accordingly. The movable wedge gradually approaches one end of the drive mechanism, thereby causing the elastic bent rod to deform and store elastic potential energy.

[0069] The step of triggering the drive mechanism to enter the release state when the second flexible element is contracted to a certain extent specifically includes:

[0070] After the motor has been rotating for a certain period of time, the movable wedge will contact the fixed wedge and gradually push the fixed wedge away, causing the fixed wedge to disengage from the movable arm. At this time, the movable arm will spring open under the force of the torsion spring, and the drive mechanism will enter the release state. In this state, the second flexible element connected to the motor output shaft will fall off the motor output shaft, thereby releasing the elastic potential energy stored in the elastic bending rod instantly.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A jumping robot based on the principle of tension as a whole, characterized in that, It includes two elastic bending rods that can be controlled to produce bending deformation, multiple flexible elements, and a drive structure; The jumping robot has a tetrahedral structure containing four identical triangular faces. The first flexible element is located on the six edges of the tetrahedral structure. The two elastic rods are located inside the envelope formed by the tetrahedral structure. The two elastic rods are connected by the second flexible element. When the tetrahedral structure lands, one of the triangular faces is in contact with the ground. At this time, the plane of one of the elastic rods is perpendicular to the ground. The robot also includes multiple ground-contact modules, with one ground-contact module set at each vertex of the tetrahedral structure; the first flexible element includes four elastic ropes and two steel wire ropes; both ends of each elastic rope are fixed to the ground-contact module; one end of each steel wire rope is fixedly connected to the ground-contact module, and the other end is connected to one end of the drive structure, and the other end of the drive structure is fixedly connected to the ground-contact module. The two ends of the two flexible bending rods are fixedly connected to the corresponding ground contact modules; The drive structure is used to control the winding of the wire rope to cause the elastic rod to deform and store elastic potential energy. When the elastic potential energy stored in the elastic rod is released instantaneously, the robot jumps through the reaction force between the tetrahedral structure and the ground.

2. The jumping robot based on the principle of tension as described in claim 1, characterized in that, Movable wedges are fixed on both steel wire ropes.

3. A jumping robot based on the principle of tension as described in claim 2, characterized in that, The drive structure includes a fixed base, a fixed arm, a fixed wedge, a motor, a fixed arm pin, a torsion spring, a rotating shaft, and a movable arm. One end of the fixed base is fixedly connected to the ground contact module; one end of the motor is fixedly connected to the fixed base, and the other end is connected to the wire rope through the motor output shaft; one end of the fixed arm is fixedly connected to the fixed base, and the other end is rotatably connected to the movable arm through the fixed arm pin, and a torsion spring is installed on the fixed arm pin; one end of the fixed wedge is fixedly connected to the fixed base, and the other end is in the shape of a conical wedge.

4. A jumping robot based on the principle of tension as described in claim 3, characterized in that, The arm angle of the torsion spring is 180°.

5. A jumping robot based on the principle of tension as described in claim 2, characterized in that, The drive structure includes two working states: a locked state and a released state. In the locked state, one end of the movable arm is hooked by the fixed wedge, and the torsion spring is compressed and deformed to change the angle between the two arm angles. In this state, when the motor output shaft rotates, the steel wire rope is wound around the motor output shaft, and the distance between the two corresponding ground contact modules is shortened accordingly. The movable wedge gradually approaches one end of the drive structure. After the motor has been rotating for a certain period of time, the movable wedge will come into contact with the fixed wedge and gradually push the fixed wedge away, causing the fixed wedge to disengage from the movable arm. At this time, the movable arm will spring open under the force of the torsion spring, and the drive structure will enter the release state. In this state, the wire rope on the motor output shaft will fall off the motor output shaft.

6. A jumping robot based on the principle of tension as described in claim 1, characterized in that, The elastic bending rod is made of spring steel or carbon fiber.

7. A working method for a jumping robot based on the principle of tension as described in any one of claims 3 or 5, characterized in that, include: In the initial state, the drive structure is in a locked state, with any one face of the tetrahedron in contact with the ground. At this time, the plane of one of the two elastic rods is perpendicular to the ground. A drive structure is used to control the winding of the wire rope to cause the elastic bending rod to deform, thereby storing elastic potential energy. When the steel wire rope is wound to a certain extent, the drive structure is triggered to enter the release state. When the elastic potential energy stored in the elastic bending rod is released instantaneously, the robot jumps through the reaction force between the tetrahedral structure and the ground.

8. The working method of a jumping robot based on the principle of tension as described in claim 7, characterized in that, The method of using a drive structure to control the winding of the wire rope to cause deformation of the elastic bending rod and thus store elastic potential energy specifically includes: One end of the movable arm is hooked by a fixed wedge, and the torsion spring is compressed and deformed to change the angle between the two arm angles. In this state, when the motor output shaft rotates, it drives the second flexible element to wrap around the motor output shaft, and the distance between the two corresponding ground contact modules is shortened accordingly. The movable wedge gradually approaches one end of the drive structure, thereby causing the elastic bending rod to deform and store elastic potential energy.

9. The working method of a jumping robot based on the principle of tension as described in claim 7, characterized in that, The process of triggering the drive structure to enter the release state when the wire rope is wound to a certain extent includes: After the motor has been rotating for a certain period of time, the movable wedge will contact the fixed wedge and gradually push the fixed wedge away, causing the fixed wedge to disengage from the movable arm. At this time, the movable arm will spring open under the force of the torsion spring, and the drive structure will enter the release state. In this state, the steel wire rope connected to the motor output shaft will fall off the motor output shaft, thereby releasing the elastic potential energy stored in the elastic bending rod instantly.

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