Jumping Robot

Abstract

The present invention belongs to the field of robotics technology and discloses a jumping robot, which includes a frame, an explosion drive mechanism, a rotor mechanism and a bouncing mechanism; the explosion drive mechanism and the rotor mechanism are both arranged on the frame; the rotor mechanism can drive the frame to fly; the bouncing mechanism includes a six-link assembly and a base, the six-link assembly includes a first end, a second end and a third end, the first end is hinged to the frame; the second end is driven and connected to the explosion drive mechanism, and the explosion drive mechanism can drive the six-link assembly to move; the third end is hinged to the base, and the base is used to support the ground; the base can be driven by the six-link assembly and bounce on the ground, while driving the frame, the explosion drive mechanism, the rotor mechanism and the six-link assembly to jump. The jumping robot can be driven by an explosion mode, has good environmental protection, and after the jumping robot jumps into the air, the mid-air posture is adjusted, thereby achieving a stable landing of the jumping robot and improving the stability during the jumping process.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a jumping robot. Background Art

[0002] Robots, as highly integrated intelligent systems, are increasingly being applied in diverse and complex environments. A wide range of robots has been developed. Mobile robots, such as wheeled, legged, and creeping robots, suffer from shortcomings such as slow speed and limited obstacle-crossing capabilities. Flying robots, on the other hand, suffer from low carrying capacity and high energy consumption, making them incapable of long-distance and heavy-load movement.

[0003] At present, jumping is one of the common ways of moving in the biological world. Its superior obstacle-crossing ability and reaction ability are used by most organisms. Therefore, jumping robots have gradually developed. In the prior art, the patent with application number 202110344858.X discloses a frog-like jumping robot and method based on explosive drive. By adopting the explosive drive method, it can not only realize the jumping action well, but also make the structure simple and easy to control. However, the jumping robot may have an uncontrollable jumping posture and an unstable landing, which may cause the jumping robot to roll over during work or the photos taken may be unclear due to its own instability.

[0004] Therefore, it is urgent to design a jumping robot to solve the above technical problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a jumping robot that can be driven by explosion, is environmentally friendly, and can adjust its posture in the air after the jumping robot jumps into the air, thereby achieving a stable landing of the jumping robot and improving the stability during the jumping process.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Jumping robot, including:

[0008] frame;

[0009] The explosion driving mechanism is arranged on the frame;

[0010] a rotor mechanism, disposed on the frame, capable of driving the frame to fly; and

[0011] The bouncing mechanism includes a six-link assembly and a base. The six-link assembly includes a first end, a second end and a third end. The first end is hinged to the frame; the second end is driven and connected to the explosion drive mechanism, and the explosion drive mechanism can drive the six-link assembly to move; the third end is hinged to the base, and the base is used to support the ground; the base can be driven by the six-link assembly and bounce on the ground, while driving the frame, the explosion drive mechanism, the rotor mechanism and the six-link assembly to jump.

[0012] Optionally, the above-mentioned six-bar linkage assembly is a Watt-type six-bar linkage assembly.

[0013] Optionally, the above-mentioned six-link assembly includes a first link, a second link, a third link, a fourth link and a fifth link, one end of the above-mentioned first link is hinged to the above-mentioned base, and the other end is provided with three hinge points, the three hinge points are respectively hinged to one end of the above-mentioned second link, one end of the above-mentioned third link and one end of the above-mentioned fourth link, the other end of the above-mentioned second link is hinged to the above-mentioned explosion drive mechanism, the middle part of the above-mentioned second link is provided with two hinge parts, the two hinge parts are respectively hinged to the above-mentioned frame and one end of the above-mentioned fifth link, the other end of the above-mentioned third link is hinged to the above-mentioned frame, and the other end of the above-mentioned fourth link is hinged to the other end of the above-mentioned fifth link.

[0014] Optionally, the base includes a mounting seat and at least four support rods extending outward from the center of the mounting seat.

[0015] Optionally, at least four of the above-mentioned support rods are arranged at equal angles.

[0016] Optionally, the rotor mechanism includes:

[0017] A connecting frame, one end of which is arranged on the above-mentioned frame;

[0018] a driving member mounted on the other end of the connecting frame; and

[0019] The rotor is driven and connected to the output end of the above-mentioned driving member. The above-mentioned rotor includes a rotating shaft and at least two blades arranged at equal angles on the above-mentioned rotating shaft. The above-mentioned driving member can drive the above-mentioned rotating shaft to rotate, so as to drive at least two of the above-mentioned blades to rotate around the axis of the above-mentioned rotating shaft.

[0020] Optionally, the above-mentioned explosion driving mechanism includes:

[0021] Two gas storage assemblies, both disposed on the frame, the two gas storage assemblies being used to store a first reaction gas and a second reaction gas, respectively;

[0022] A gas explosion assembly, comprising a piston cylinder and a piston assembly, wherein the piston cylinder is connected to the two gas storage assemblies, one end of the piston assembly is hinged to the six-link assembly, and the other end is movably disposed through the piston cylinder and elastically connected to the inner wall of the piston cylinder. The first reaction gas and the second reaction gas can enter the piston cylinder and react to cause the piston assembly to move toward the end away from the piston cylinder; and

[0023] Two solenoid valves, one of which is provided between each of the gas storage components and the piston cylinder, are used to control the volume of the first reaction gas or the second reaction gas entering the piston cylinder.

[0024] Optionally, the gas explosion assembly further includes an ignition head, and the ignition head is used to ignite the first reaction gas and the second reaction gas in the piston cylinder.

[0025] Optionally, at least two of the above-mentioned rotor mechanisms are provided, and the at least two above-mentioned rotor mechanisms are respectively arranged on the above-mentioned frame at intervals.

[0026] Optionally, the jumping robot further includes a control mechanism, which is electrically connected to the rotor mechanism and the explosion drive mechanism.

[0027] Beneficial effects of the present invention:

[0028] The present invention provides a jumping robot. During the jumping process, the second end of the six-link assembly is driven by an explosion drive mechanism to move, thereby driving the first end and the third end to move, and then the frame and the base move with it, thereby achieving the jumping of the jumping robot. After the explosion drive mechanism explodes once, the second end of the six-link assembly performs a reset movement, driving the first end and the third end to perform a reset movement, thereby causing the other structures of the jumping robot to follow its movement. During this process, since the base can be supported on the ground and the rotor mechanism is set, the jumping robot is guaranteed to land smoothly, thereby achieving the smooth jumping performance of its jump. Moreover, the reaction force after the base lands on the ground will cause the jumping robot to continue jumping, thereby achieving the continuous jumping of the jumping robot. That is, the above-mentioned jumping robot is environmentally friendly and has a simple structure. After the jumping robot jumps into the air, the mid-air posture can be adjusted, thereby achieving the stable landing of the jumping robot, improving the stability during the jumping process, and improving the reliability of the jumping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is an axonometric diagram of a jumping robot from one perspective provided by a specific embodiment of the present invention;

[0030] Figure 2is an axonometric diagram of the jumping robot from another perspective provided by a specific embodiment of the present invention;

[0031] Figure 3 is an axonometric view of a six-link assembly in a jumping state provided by a specific embodiment of the present invention;

[0032] Figure 4 is an axonometric view of a six-link assembly in a take-off state provided by a specific embodiment of the present invention;

[0033] Figure 5 is an axonometric diagram of an explosion drive mechanism provided in a specific embodiment of the present invention;

[0034] Figure 6 It is a front view of a gas explosion assembly provided by a specific embodiment of the present invention;

[0035] Figure 7 yes Figure 6 Cross-sectional view of AA.

[0036] In the picture:

[0037] 10. Rack;

[0038] 20. Explosion drive mechanism; 21. First gas storage assembly; 211. First gas tank; 212. First bracket; 213. Pressure reducing valve; 22. Second gas storage assembly; 221. Second gas tank; 222. Second bracket; 23. Gas mixing element;

[0039] 24. Gas explosion assembly; 241. Piston cylinder; 2411. Air inlet; 2412. Exhaust port; 242. Piston assembly; 2421. Piston; 2422. Piston rod; 243. Ignition head; 244. Elastic member; 245. Cylinder head; 246. Sealing ring; 247. Sealing gasket;

[0040] 25. Solenoid valve; 261. First air duct; 262. Second air duct; 263. Third air duct; 27. One-way valve;

[0041] 30. Rotor mechanism; 31. Connecting frame; 32. Driving member; 33. Rotor; 331. Rotating shaft; 332. Blade;

[0042] 40. Bouncing mechanism; 41. Six-link assembly; 411. First link; 412. Second link; 413. Third link; 414. Fourth link; 415. Fifth link; 42. Base; 421. Mounting base; 422. Support rod;

[0043] 50. Control mechanism; 60. Battery. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0045] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0046] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0047] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0048] The following combination Figures 1 to 7 The jumping robot provided by the present invention is described with reference to the accompanying drawings and embodiments.

[0049] This embodiment provides a jumping robot that can be driven by explosion, is environmentally friendly, and can adjust its posture in the air after the jumping robot jumps into the air, thereby achieving a stable landing of the jumping robot and improving stability during the jumping process.

[0050] Specifically, if Figure 1 and Figure 2As shown, the jumping robot comprises a frame 10, an explosive drive mechanism 20, a rotor mechanism 30, and a jumping mechanism 40. The explosive drive mechanism 20 is mounted on the frame 10 and is used to drive the jumping mechanism 40 to move. Furthermore, the rotor mechanism 30 is mounted on the frame 10 and is capable of flying, allowing the entire jumping robot to also have flight characteristics. The provision of the rotor mechanism 30 also allows the jumping robot to jump more slowly, enabling it to achieve smooth ascent and descent.

[0051] Furthermore, the above-mentioned bouncing mechanism 40 includes a six-link assembly 41 and a base 42. The six-link assembly 41 includes a first end, a second end and a third end. The first end is connected to the frame 10; the second end is driven and connected to the explosion drive mechanism 20, and the explosion drive mechanism 20 can drive the six-link assembly 41 to move; the third end is hinged to the base 42, and the base 42 is used to support the ground; the base 42 can be driven by the six-link assembly 41 and bounce on the ground, while driving the frame 10, the explosion drive mechanism 20 rotor mechanism 30 and the six-link assembly 41 to jump, so as to realize the jumping characteristics of the jumping robot, and the use of the six-link assembly 41 to connect the base 42, the explosion drive mechanism 20 and the frame 10 can improve the transmission stability of the six-link assembly 41, that is, improve the output stability of the connecting rod of the six-link assembly 41, thereby ensuring the stability of the jumping process of the jumping robot.

[0052] According to the above structure, when the jumping robot is jumping, the second end of the six-link assembly 41 is driven by the explosion drive mechanism 20 to move, thereby driving the first end and the third end to move, and then the frame 10 and the base 42 to move with it, thereby achieving the jumping of the jumping robot; after the explosion drive mechanism 20 is ignited once, the second end of the six-link assembly 41 performs a reset movement, driving the first end and the third end to perform a reset movement, so that the other structures of the jumping robot follow its movement. During this process, since the base 42 can be supported on the ground and the rotor mechanism 30 is set, the jumping robot is guaranteed to land smoothly, achieving the smooth jumping performance of its jump, and the reaction force after the base 42 falls to the ground will cause the jumping robot to continue jumping, achieving the continuous jumping of the jumping robot. That is, the above jumping robot is environmentally friendly and has a simple structure. After the jumping robot jumps into the air, it can adjust its posture in the air, thereby achieving a stable landing of the jumping robot, improving the stability during the jumping process, and improving the reliability of the jumping robot.

[0053] In this embodiment, if Figure 3 and Figure 4 As shown, the above-mentioned six-link assembly 41 is a Watt-type six-link assembly, which ensures the stability of the six-link assembly 41 and increases the connectivity of various mechanisms, thereby improving the stability of the jumping robot during the jumping process and improving the reliability of the jumping robot.

[0054] Specifically, the above-mentioned six-link assembly 41 includes a first link 411, a second link 412, a third link 413, a fourth link 414 and a fifth link 415. One end of the first link 411 is hinged to the base 42, and the other end is provided with three hinge points, which are respectively hinged to one end of the second link 412, one end of the third link 413 and one end of the fourth link 414. The other end of the second link 412 is hinged to the explosion drive mechanism 20. Two hinge parts are provided on the second link 412, and the two hinge parts are respectively hinged to the frame 10 and one end of the fifth link 415. The other end of the third link 413 is hinged to the frame 10, and the other end of the fourth link 414 is hinged to the other end of the fifth link 415.

[0055] When the explosion drive mechanism 20 drives the second link 412 to move, it can drive the first link 411 connected to it to move, and the first link 411 drives the base 42 and the third link 413 connected to it to move, and then drives the frame 10 to move accordingly, thereby realizing the jumping of the jumping robot; at the same time, during the jumping process, since the movement of the second link 412 can drive the fifth link 415 to move, the fifth link 415 is connected to the first link 411 through the fourth link 414, which can ensure stable movement between the first link 411 and the second link 412, thereby facilitating the resetting of the six-link assembly 41.

[0056] Optionally, two of the third connecting rod 413 , the fourth connecting rod 414 and the fifth connecting rod 415 are provided, which can increase the stability of the six-link assembly 41 in both the jumping and take-off states.

[0057] Furthermore, if Figure 1 and Figure 2 As shown, the base 42 includes a mounting seat 421 and at least four support rods 422 extending outward from the center of the mounting seat 421 , which can improve the support stability of the base 42 .

[0058] Optionally, at least four support rods 422 are arranged at equal angles. The equal angle arrangement makes the supporting force of each support rod 422 the same, which can ensure that the supporting force at each position of the jumping robot is the same and no offset occurs.

[0059] Specifically, in this embodiment, four support rods 422 are provided, and the angle between two adjacent support rods 422 is 90°, which can ensure that the jumping robot stands stably on the ground.

[0060] Optionally, the support rod 422 is slidably connected to the mounting seat 421, which can realize the retractability of the support rod 422, that is, the extension length of the support rod 422 can be changed according to different loads, and when not in use, the support rod 422 can be retracted, reducing space occupancy and facilitating storage.

[0061] In order to ensure that the rotor mechanism 30 maintains its stability during the jumping process of the jumping robot, in this embodiment, as shown in FIG. Figure 1 and Figure 2 As shown, the above-mentioned rotor mechanism 30 includes a connecting frame 31, a driving member 32 and a rotor 33. One end of the connecting frame 31 is set on the frame 10, and the other end is used to install the driving member 32. The rotor 33 is driven and connected to the output end of the driving member 32. The rotor 33 includes a rotating shaft 331 and at least two blades 332 arranged at equal angles on the rotating shaft 331. The driving member 32 can drive the rotating shaft 331 to rotate, thereby driving at least two blades 332 to rotate around the axis of the rotating shaft 331, thereby enabling the jumping robot to achieve the effect of flying, increasing the time from the jumping robot jumping to the landing, and better ensuring the smooth jumping and landing effects of the jumping robot.

[0062] Optionally, the driving member 32 is a motor, which can drive the rotor 33 .

[0063] Furthermore, the rotor mechanism 30 may be provided in multiple numbers and may be designed according to actual needs.

[0064] In an optional embodiment, the rotor mechanism 30 is provided with a rotor connected to the center of gravity of the jumping robot. By controlling the rotation speed of the driving member 32, thereby controlling the rotation speed of the rotor 33, the posture and stability of the jumping robot in the air can be adjusted.

[0065] In another optional embodiment, at least two rotor mechanisms 30 are provided, and at least two rotor mechanisms 30 are respectively and spaced apart and arranged on the frame 10. Increasing the number of rotor mechanisms 30 can be more conducive to controlling the stability of the jumping robot and adjusting its posture after jumping.

[0066] Exemplarily, there are four rotor mechanisms 30, which are respectively arranged at the four corners of the frame 10, so as to realize the control of various directions of the jumping robot, and then realize the height adjustment of the four corners of the jumping robot, which can better realize the posture adjustment and stability of the jumping robot, and increase the scope of use of the jumping robot.

[0067] In order to realize the driving of the six-link assembly 41 by the explosion driving mechanism 20, in this embodiment, as shown in FIG. Figure 1 、 Figure 2 and Figure 5As shown, the above-mentioned explosion drive mechanism 20 includes two gas storage components, a gas explosion component 24 and two solenoid valves 25. Among them, the two gas storage components are both arranged on the frame 10, and the two gas storage components are respectively used to store the first reaction gas (the first reaction gas in this embodiment is oxygen, and is described as oxygen below) and the second reaction gas (the second reaction gas in this embodiment is butane, and is described as butane below), which can realize the storage of two reaction gases. And the gas explosion component 24 includes a piston cylinder 241 and a piston component 242, the piston cylinder 241 is connected to the two gas storage components, and a solenoid valve 25 is provided between each gas storage component and the piston cylinder 241, one end of the piston component 242 is hinged to the six-link assembly 41, and the other end can be movably penetrated into the piston cylinder 241. Oxygen and butane can be controlled by the two solenoid valves 25 to achieve quantitative entry into the piston cylinder 241 and react, so that the piston component 242 moves toward the end away from the piston cylinder 241, thereby realizing the drive of the six-link assembly 41.

[0068] Specifically, the above-mentioned explosion drive mechanism 20 includes a first gas storage component 21 and a second gas storage component 22. The first gas storage component 21 and the second gas storage component 22 are both arranged on the frame 10. The first gas storage component 21 is used to store oxygen, and the second gas storage component 22 is used to store butane, which can realize the storage of two reaction gases.

[0069] Optionally, the first gas storage assembly 21 includes a first gas tank 211, a first bracket 212 and a pressure reducing valve 213. The first gas tank 211 is used to store oxygen. The first bracket 212 is arranged on the frame 10. The first bracket 212 is used to support and set up the first gas tank 211. The pressure reducing valve 213 is arranged at the open end of the first gas tank 211. The pressure reducing valve 213 is used to reduce the pressure of the gas flowing out of the first gas tank 211.

[0070] Further optionally, the second gas storage assembly 22 includes a second gas tank 221 and a second bracket 222. The second bracket 222 is arranged on the frame 10. The second bracket 222 is used to support and set up the second gas tank 221. The second gas tank 221 is used to store butane.

[0071] Furthermore, the explosion drive mechanism 20 includes a gas mixture 23, which is arranged on the frame 10. The gas mixture 23 is provided with a confluence chamber, which has a first connection port, a second connection port and a third connection port. The first connection port is connected to the first gas storage component 21, the second connection port is connected to the second gas storage component 22, and the third connection port is connected to the piston cylinder 241. The setting of the confluence chamber can realize the confluence of oxygen and butane.

[0072] Optionally, the explosion drive mechanism 20 includes three gas pipes, the first gas pipe 261 is used to connect the first connection port and the first gas storage assembly 21, the second gas pipe 262 is used to connect the second connection port and the second gas storage assembly 22, and the third gas pipe 263 is used to connect the third connection port and the piston cylinder 241 to achieve gas conduction.

[0073] Further optionally, the explosion drive mechanism 20 includes two solenoid valves 25, which are respectively used to control the confluence chamber to selectively connect to the first air duct 261 and / or the second air duct 262, that is, oxygen and butane can be transported into the confluence chamber in sequence, or oxygen and butane can be transported simultaneously.

[0074] Furthermore, a one-way valve 27 is provided on the third gas duct 263. The setting of the one-way valve 27 can control the on-off between the third connecting port and the piston cylinder 241, and makes the gas in the third gas duct 263 flow only from the confluence cavity into the piston cylinder 241 and cannot flow back, thereby ensuring the required reaction amount of reaction gas each time and preventing the loss of reaction gas, thereby ensuring the driving effect of gas explosion drive.

[0075] In this embodiment, if Figures 5 to 7 As shown, the explosion drive mechanism 20 also includes a gas explosion assembly 24, which includes a piston cylinder 241 and a piston assembly 242. The piston cylinder 241 is connected to the two gas storage assemblies. One end of the piston assembly 242 is hinged to the six-link assembly 41, and the other end is movably disposed through the piston cylinder 241 and elastically connected to the inner wall of the piston cylinder 241. The gas explosion assembly 24 is used to cause oxygen and butane to react, causing the piston rod 2422 to move toward the end away from the piston cylinder 241.

[0076] Specifically, the piston assembly 242 includes a piston 2421 and a piston rod 2422. The piston 2421 is sealed and slidably connected to the piston cylinder 241. The end of the piston 2421 facing the piston rod 2422 is elastically connected to the inner wall of the piston cylinder 241 facing the six-link assembly 41. One end of the piston rod 2422 is connected to the piston 2421, and the other end is sealed and slidably penetrates the piston cylinder 241 and is hinged to the six-link assembly 41. The impact force obtained by the gas reaction in the piston cylinder 241 drives the piston rod 2422 to move toward the end away from the piston cylinder 241, thereby driving the six-link assembly 41 to move, thereby realizing the driving of the six-link assembly 41.

[0077] Furthermore, the piston cylinder 241 is provided with an air inlet 2411 and an air outlet 2412. The air inlet 2411 is connected to the third air duct 263, and can transport the reaction gas in the confluence chamber to the piston cylinder 241 for reaction. The air outlet 2412 is connected to an external waste gas recovery device to discharge the waste gas after the combustion and explosion reaction between the two reaction gases in the piston cylinder 241.

[0078] Optionally, the exhaust port 2412 is connected to an external exhaust gas recovery device through an exhaust pipe. An exhaust valve is provided on the exhaust pipe. When the exhaust valve is opened, the exhaust gas in the piston cylinder 241 can be discharged.

[0079] Optionally, an elastic member 244 is provided between the piston 2421 and the piston cylinder 241, and the elastic member 244 is sleeved on the piston rod 2422. After the gas explosion assembly 24 completes the driving of the six-link assembly 41 and the six-link assembly 41 performs multiple jumps, the elastic member 244 resets the piston 2421 and then drives the six-link assembly 41 again.

[0080] Furthermore, the gas explosion assembly 24 also includes an ignition head 243, which is used to ignite the gas in the piston cylinder 241, causing it to undergo an explosion reaction and push the piston rod 2422 toward the end away from the piston cylinder 241, thereby driving the six-link assembly 41.

[0081] Furthermore, the gas explosion assembly 24 further includes a cylinder cover 245 , which is sealed on the piston cylinder 241 to ensure that the piston cylinder 241 is in a sealed state.

[0082] Preferably, a sealing ring 246 is provided between the piston 2421 and the inner wall of the piston cylinder 241, and between the piston rod 2422 and the piston cylinder 241, for achieving sealing between the piston 2421 and the inner wall of the piston cylinder 241, and for achieving sealing between the piston rod 2422 and the piston cylinder 241.

[0083] Further preferably, the cylinder cover 245 is provided with a sealing gasket 247 for sealing between the cylinder cover 245 and the piston cylinder 241 .

[0084] In this embodiment, if Figure 1 As shown, the jumping robot further includes a control mechanism 50, which is electrically connected to the rotor mechanism 30 and the explosive drive mechanism 20. Through the control mechanism 50, the on / off control of the explosive drive mechanism 20 and the on / off control of the rotor mechanism 30 can be achieved.

[0085] Specifically, the control mechanism 50 includes a controller, a control panel, and a posture sensor. The posture sensor is used to detect the posture position information of the jumping robot. The controller is used to receive information from the posture sensor, the rotor mechanism 30, and the explosive drive mechanism 20 to achieve timely driving of the rotor mechanism 30 and the explosive drive mechanism 20. The control panel is electrically connected to the controller. The operator can input the corresponding requirements in advance so that the controller controls the rotor mechanism 30 and the explosive drive mechanism 20 to achieve the requirements. In addition, the information transmitted to the controller by the posture sensor is used to adjust the rotation speed of the drive member 32, thereby achieving the height adjustment of the four corners of the jumping robot, which can better achieve the posture adjustment and stability of the jumping robot and increase the scope of use of the jumping robot.

[0086] Furthermore, the above-mentioned jumping robot also includes a battery 60. A accommodating cavity is formed between the first bracket 212 and the frame 10. The battery 60 is arranged in the accommodating cavity. The solenoid valve 25, the one-way valve 27, the exhaust valve, the driving member 32, the ignition head 243 and the control mechanism 50 are all electrically connected to the battery 60. The battery 60 is used to power the above-mentioned structure.

[0087] The jumping process of the jumping robot is described below.

[0088] First, the control mechanism 50 controls the opening of the two solenoid valves 25, and inputs a certain amount of oxygen and butane into the confluence chamber in the gas mixture 23 through the first air duct 261 and the second air duct 262. After they converge, the one-way valve 27 is controlled to open, and the converged oxygen and butane are transported to the piston cylinder 241 through the third air duct 263. The control mechanism 50 controls the ignition head 243 to ignite them so that the two undergo an explosion reaction. At this time, the air pressure in the piston cylinder 241 increases, and the increased air pressure pushes the piston 2421 and the piston rod 2422 toward the end away from the piston cylinder 241, thereby driving the second connecting rod 412 to move.

[0089] At this time, the second link 412 drives the first link 411 and the fifth link 415 connected thereto to move, and the first link 411 drives the base 42 and the third link 413 connected thereto to move, which in turn drives the frame 10 to move accordingly, thereby achieving the jumping of the jumping robot. Simultaneously, during the jumping process, the fifth link 415 is connected to the first link 411 via the fourth link 414, ensuring stable movement between the first link 411 and the second link 412, thereby achieving stable jumping of the jumping robot. Simultaneously, the control mechanism 50 controls the driving member 32 to drive the rotor 33 to rotate, thereby achieving stable jumping and landing of the jumping robot.

[0090] Then, after the oxygen and butane in the piston cylinder 241 explode once, the piston 2421 and the piston rod 2422 reset, causing the second connecting rod 412 to reset and drive the other connecting rods to reset, so that the jumping robot returns to the ground. Since the base 42 can be supported on the ground and the rotor mechanism 30 is set, the jumping robot is guaranteed to land smoothly, and its jumping is stable. The reaction force after the base 42 falls to the ground will make the jumping robot continue to jump, realizing the continuous jumping of the jumping robot.

[0091] Finally, when the reaction force of the base 42 is insufficient to perform multiple jumps, the control mechanism 50 controls the opening of the two solenoid valves 25 to transport oxygen and butane into the piston cylinder 241 again for reaction, thereby achieving continuous jumping of the jumping robot.

[0092] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A jumping robot, characterized in that: include: Frame (10); An explosion driving mechanism (20) is arranged on the frame (10); a rotor mechanism (30) disposed on the frame (10), wherein the rotor mechanism (30) is capable of driving the frame (10) to fly; and A bouncing mechanism (40) comprises a six-link assembly (41) and a base (42), wherein the six-link assembly (41) comprises a first end, a second end and a third end, wherein the first end is hinged to the frame (10); the second end is drive-connected to the ignition drive mechanism (20), and the ignition drive mechanism (20) can drive the six-link assembly (41) to move; the third end is hinged to the base (42), and the base (42) is used to support the ground; the base (42) can be driven by the six-link assembly (41) and bounce on the ground, and at the same time drive the frame (10), the ignition drive mechanism (20), the rotor mechanism (30) and the six-link assembly (41) to jump; The six-link assembly (41) is a Watt-type six-link assembly; The six-link assembly (41) includes a first link (411), a second link (412), a third link (413), a fourth link (414) and a fifth link (415). One end of the first link (411) is hinged to the base (42), and the other end is provided with three hinge points. The three hinge points are respectively hinged to one end of the second link (412), one end of the third link (413) and one end of the fourth link (414). The other end of the second link (412) is hinged to the explosion drive mechanism (20). Two hinge parts are provided in the middle of the second link (412). The two hinge parts are respectively hinged to the frame (10) and one end of the fifth link (415). The other end of the third link (413) is hinged to the frame (10), and the other end of the fourth link (414) is hinged to the other end of the fifth link (415).

2. The jumping robot according to claim 1, characterized in that: The base (42) includes a mounting seat (421) and at least four support rods (422) extending outward from the center of the mounting seat (421).

3. The jumping robot according to claim 2, characterized in that: At least four of the support rods (422) are arranged at equal angles.

4. The jumping robot according to claim 1, characterized in that: The rotor mechanism (30) comprises: A connecting frame (31), one end of which is arranged on the frame (10); A driving member (32) is mounted on the other end of the connecting frame (31); and The rotor (33) is driven and connected to the output end of the driving member (32). The rotor (33) includes a rotating shaft (331) and at least two blades (332) arranged at equal angles on the rotating shaft (331). The driving member (32) can drive the rotating shaft (331) to rotate, thereby driving the at least two blades (332) to rotate around the axis of the rotating shaft (331).

5. The jumping robot according to claim 1, characterized in that: The explosion driving mechanism (20) comprises: Two gas storage assemblies, both disposed on the frame (10), the two gas storage assemblies being used to store a first reaction gas and a second reaction gas respectively; A gas explosion assembly (24), the gas explosion assembly (24) comprising a piston cylinder (241) and a piston assembly (242), the piston cylinder (241) being connected to the two gas storage assemblies, one end of the piston assembly (242) being hinged to the six-link assembly (41), and the other end being movably disposed through the piston cylinder (241) and elastically connected to the inner wall of the piston cylinder (241), the first reaction gas and the second reaction gas being able to enter the piston cylinder (241) and react, so that the piston assembly (242) moves toward one end away from the piston cylinder (241); and Two solenoid valves (25), one of which is provided between each gas storage assembly and the piston cylinder (241), are used to control the volume of the first reaction gas or the second reaction gas entering the piston cylinder (241).

6. The jumping robot according to claim 5, characterized in that: The gas explosion assembly (24) further includes an ignition head (243), and the ignition head (243) is used to ignite the first reaction gas and the second reaction gas in the piston cylinder (241).

7. The jumping robot according to any one of claims 1 to 6, characterized in that: At least two of the rotor mechanisms (30) are provided, and the at least two rotor mechanisms (30) are respectively arranged on the frame (10) at intervals.

8. The jumping robot according to any one of claims 1 to 6, characterized in that: The jumping robot further comprises a control mechanism (50), wherein the control mechanism (50) is electrically connected to the rotor mechanism (30) and the explosion drive mechanism (20).

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