A bouncing robot

Abstract

The present invention discloses a jumping robot, comprising a frame, hind limbs mounted on the frame for jumping, and a hind limb drive mechanism mounted on the frame for driving the hind limbs to jump. The robot also comprises a roll wheel module and a pitch wheel module, the roll wheel module and the pitch wheel module being mounted on the front half of the frame, respectively. The roll wheel module comprises a roll wheel whose rotation plane is parallel to the front and rear sides of the frame, and the pitch wheel module comprises a pitch wheel whose rotation plane is parallel to the left and right sides of the frame. The present invention balances the robot's aerial posture by driving the angular momentum generated by the rotation of the roll wheel module and the pitch wheel module through the operation of the roll wheel module and the pitch wheel module. When the jumping robot takes off and lands using its hind limbs, the robot's zero torque point is always within the support polygon formed by the hind limbs, ensuring a stable landing.

Description

Technical Field

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

[0002] The bouncing robot mainly relies on bouncing to achieve walking. Therefore, smooth landing is one of the most basic and urgent functions of the bouncing robot.

[0003] Existing technologies generally employ two approaches to ensure stable robot landings: first, increasing the robot's support polygon area. This increase allows the robot to land with a larger attitude angle and angular velocity. Second, optimizing the bouncing mechanism and mass distribution. The robot's attitude angle and angular velocity upon landing are influenced by the combined torque of the takeoff force and gravity. Therefore, through a rational robot design, distributing the center of mass at the intersection of the robot's pitch and roll axes can effectively reduce the influence of gravity on the pitch and roll attitude angles. Secondly, optimizing the bouncing mechanism to reduce the tipping torque during bouncing can achieve a similar effect. However, increasing the robot's support polygon area often requires a larger support component area, increasing the robot's overall footprint. This means the robot's landing platform is generally larger and has certain requirements for the landing platform's inclination. If the angle difference between the landing platform and the robot is too large, a significant collision will occur, increasing the angular velocity during landing and affecting the robot's landing stability. However, methods such as optimizing the bouncing mechanism and mass distribution are often only applicable to certain specific scenarios and are not very applicable, especially when bouncing and walking on complex and uneven terrain. The existing bouncing robots are uncontrollable in the air and it is difficult to achieve stable landing on complex terrain. Summary of the Invention

[0004] In view of the above shortcomings, the present invention provides a bouncing robot, which can solve the problem of unstable landing of existing bouncing robots.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A jumping robot includes a frame, hind limbs arranged on the frame for jumping, and a hind limb driving mechanism arranged on the frame for driving the hind limbs to jump. The robot also includes a transverse rolling wheel module and a pitch momentum wheel module, wherein the transverse rolling wheel module and the pitch momentum wheel module are respectively mounted on the front half of the frame. The transverse rolling wheel module includes a transverse rolling wheel whose rotation plane is parallel to the front and rear side surfaces of the frame, and the pitch momentum wheel module includes a pitch momentum wheel whose rotation plane is parallel to the left and right side surfaces of the frame.

[0007] Furthermore, the roll measuring wheel module also includes a roll motor and a roll measuring wheel axle. The roll motor is fixedly mounted on the frame. The roll measuring wheel axle extends forward and backward and is connected to the output shaft of the roll motor. The roll measuring wheel is fixedly mounted on the roll measuring wheel axle.

[0008] Furthermore, the pitch momentum wheel module also includes a pitch motor and a pitch momentum wheel axle, the pitch motor is fixedly mounted on the frame, the pitch momentum wheel axle extends left and right and is connected to the output shaft of the pitch motor, and the pitch momentum wheel is fixedly mounted on the pitch momentum wheel axle.

[0009] Furthermore, the bouncing robot also includes a yaw momentum wheel module, and the yaw momentum wheel module includes a yaw momentum wheel whose rotation plane is parallel to the upper and lower side surfaces of the frame.

[0010] Furthermore, the yaw momentum wheel module also includes a yaw motor and a yaw momentum wheel axle, the yaw motor is fixedly mounted on the frame, the yaw momentum wheel axle extends up and down and is connected to the output shaft of the yaw motor, and the yaw momentum wheel is fixedly mounted on the yaw momentum wheel axle.

[0011] Furthermore, the hind limb includes a second rotating shaft and a hind limb assembly, and the hind limb assembly includes a first upper bouncing link, a first lower bouncing link, a hind limb support block, a hind limb torsion spring, a second upper bouncing link, and a second lower bouncing link;

[0012] The second rotating shaft is rotatably mounted on the frame and is driven to rotate by the hind limb driving mechanism, one end of the first upper bouncing link is fixedly connected to the end of the second rotating shaft, and the other end is rotatably connected to one end of the first lower bouncing link, the other end of the first lower bouncing link is rotatably connected to one end of the second lower bouncing link, the other end of the second lower bouncing link is rotatably connected to one end of the second upper bouncing link, and the other end of the second upper bouncing link is rotatably connected to the end of the second rotating shaft, and the hind limb torsion springs are respectively provided at the connection between the first upper bouncing link and the first lower bouncing link, the connection between the first lower bouncing link and the second lower bouncing link, and the connection between the second lower bouncing link and the second upper bouncing link;

[0013] One of the ends of the first lower bounce link and the second lower bounce link is rotatably connected to the hind limb support block, and the hind limb torsion spring is provided at the connection.

[0014] Furthermore, there are two hind limb assemblies, which are respectively located on both sides of the frame and at both ends of the second rotating shaft.

[0015] Furthermore, the hind limb drive mechanism includes a hind limb drive motor, an incomplete gear, a first rotating shaft and a gear;

[0016] The hind limb drive motor is fixedly mounted on the frame, the first rotating shaft is laterally rotatably mounted on the frame and is connected to the output shaft of the hind limb drive motor, the incomplete gear is fixedly mounted on the first rotating shaft, and the gear is fixedly mounted on the second rotating shaft. When the incomplete gear rotates to a certain angle, the teeth on it can engage with the teeth of the gear.

[0017] Furthermore, the bouncing robot also includes a forelimb, and the forelimb includes a forelimb slide rail limit block, a forelimb slide rail, a forelimb torsion spring, a forelimb support block, a forelimb column, a first self-locking slider, a spring and a second self-locking slider;

[0018] The forelimb slide rail is vertically arranged at the front end of the frame, and the forelimb slide rail limit blocks are arranged at both ends of the forelimb slide rail, the first self-locking slider and the second self-locking slider are arranged on the forelimb slide rail, the first self-locking slider is self-locked at a certain position of the forelimb slide rail, the second self-locking slider is located below the first self-locking slider, and the second self-locking slider is provided with a vertical light rod, which passes through the first self-locking slider, and the spring is sleeved on the light rod and located between the first self-locking slider and the second self-locking slider, the upper end of the forelimb column is connected to the second self-locking slider, and the other end extends downward through the bottom end of the forelimb slide rail, the forelimb support block is rotatably connected to the lower end of the forelimb column, and the forelimb torsion spring is provided at the connection.

[0019] Furthermore, there are two forelimbs, which are respectively arranged on both sides of the front end of the frame.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention balances the robot's aerial posture by driving the angular momentum generated by the rotation of the roll and pitch momentum wheels through the operation of the roll and pitch momentum wheel modules. When the jumping robot takes off and lands using its hind limbs, the robot's zero torque point is always within the support polygon formed by the hind limbs, ensuring a stable landing.

[0022] 2. The present invention uses motors to drive the roll wheel, pitch wheel, and other wheels to generate additional angular momentum to change the robot's posture angle and angular velocity, thereby controlling the robot's aerial posture. The additional angular momentum generated by the rotation of the momentum wheels is used to balance and adjust the robot's posture instability caused by terrain and other factors during jumping.

[0023] 3. The present invention has a posture adjustment mechanism that can match landing posture angles with different inclination angles, thereby reducing landing collisions. In addition, the posture adjustment mechanism can adjust the landing angular velocity while adjusting the landing posture angle, so that the robot lands more smoothly.

[0024] 4. The robot of the present invention is less dependent on the robot's support polygon during landing, allowing it to land stably on a smaller landing platform than traditional bouncing robots. The posture adjustment mechanism not only enables the robot to land smoothly on complex terrain, but also allows it to be controlled to achieve any posture in mid-air, eliminating the need to modify the bouncing mechanism or complicate the robot design.

[0025] 5. The present invention provides forelimbs that can be freely adjusted in the vertical direction, which can help the robot to take off and land on terrain with height differences. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0027] Figure 1 A schematic structural diagram of the jumping robot of the present invention from one perspective (bipedal upright form);

[0028] Figure 2 Schematic diagram of the structure of the jumping robot of the present invention from another perspective (bipedal upright form);

[0029] Figure 3 2. This is a structural diagram of the jumping robot of the present invention from another perspective (bipedal upright form);

[0030] Figure 4 2. This is a structural diagram of the jumping robot of the present invention from another perspective (bipedal upright form);

[0031] Figure 5 A schematic structural diagram of the frame, hind limbs, and hind limb drive mechanism of the jumping robot of the present invention from one perspective;

[0032] Figure 6 This is a schematic structural diagram of the frame, hind limbs, and hind limb drive mechanism of the jumping robot of the present invention from another perspective;

[0033] Figure 7 Schematic diagram of the structure of the forelimbs of the jumping robot of the present invention;

[0034] Figure 8 Schematic diagram of the structure of the jumping robot of the present invention (quadruped support form);

[0035] Figure 9This is a structural schematic diagram of the bouncing robot of the present invention when preparing to jump on a stepped ground.

[0036] Among them, the marks shown in the figure are: 10-frame; 20-hind limb; 21-second rotating shaft; 22-first upper bouncing link; 23-first lower bouncing link; 24-hind limb support block; 25-second upper bouncing link; 26-second lower bouncing link; 31-hind limb drive motor; 32-incomplete gear; 33-first rotating shaft; 34-gear; 41-roll measuring wheel; 42-roll motor; 43-roll measuring wheel axle; 51-pitch momentum wheel; 52-pitch motor; 53-pitch momentum wheel axle; 71-yaw momentum wheel; 72-yaw motor; 73-yaw momentum wheel axle; 60-forelimb; 61-forelimb slide rail limit block; 62-forelimb slide rail; 64-forelimb support block; 65-forelimb column 66-first self-locking slider; 67-spring; 68-second self-locking slider. Implementation Method

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Please refer to Figures 1 to 9A preferred embodiment of the present invention provides a jumping robot, comprising a frame 10, hind limbs 20 mounted on the frame 10 for jumping, and a hind limb drive mechanism mounted on the frame 10 for driving the hind limbs 20 to jump. The jumping robot also includes a roll wheel module and a pitch momentum wheel module, each mounted on the front half of the frame 10. The roll wheel module includes a roll wheel 41 whose rotation plane is parallel to the front and rear sides of the frame 10, and the pitch momentum wheel module includes a pitch momentum wheel 51 whose rotation plane is parallel to the left and right sides of the frame 10.

[0041] Please refer to Figures 1 to 4 The roll wheel module also includes a roll motor 42 and a roll axle 43. The roll motor 42 is fixedly mounted on the frame 10. The roll axle 43 extends forward and backward and is connected to the output shaft of the roll motor 42. The roll wheel 41 is fixedly mounted on the roll axle 43. When the roll motor 42 is running, it can drive the roll axle 43 to rotate, thereby driving the roll wheel 41 to rotate. The rotation plane of the roll wheel 41 is parallel to the front and rear sides of the frame 10, and generates corresponding angular momentum. In this preferred embodiment, the roll wheel 41 is generally I-shaped, with counterweights at both ends and a middle portion connected to the roll axle 43 to generate corresponding angular momentum when rotated. It is understood that in other preferred embodiments, the roll wheel 41 can also adopt other structural forms.

[0042] Please refer to Figures 1 to 3 The pitch momentum wheel module also includes a pitch motor 52 and a pitch momentum wheel axle 53. The pitch motor 52 is fixedly mounted on the frame 10. The pitch momentum wheel axle 53 extends left and right and is connected to the output shaft of the pitch motor 52. The pitch momentum wheel 51 is fixedly mounted on the pitch momentum wheel axle 53. When the pitch motor 52 is running, it can drive the pitch momentum wheel axle 53 to rotate, thereby driving the pitch momentum wheel 51 to rotate. The rotation plane of the pitch momentum wheel 51 is parallel to the left and right side surfaces of the frame 10, and generates corresponding angular momentum. In this preferred embodiment, the pitch momentum wheel 51 is generally I-shaped, with counterweights at both ends and a central portion connected to the pitch momentum wheel axle 53 to generate corresponding angular momentum when rotated. It is understood that in other preferred embodiments, the pitch momentum wheel 51 can also adopt other structural forms.

[0043] Please refer to Figures 1 to 3The bouncing robot also includes a yaw momentum wheel module, which includes a yaw momentum wheel 71 whose rotation plane is parallel to the upper and lower side surfaces of the frame 10. The yaw momentum wheel module also includes a yaw motor 72 and a yaw momentum wheel shaft 73. The yaw motor 72 is fixedly mounted on the frame 10. The yaw momentum wheel shaft 73 extends up and down and is connected to the output shaft of the yaw motor 72. The yaw momentum wheel 71 is fixedly mounted on the yaw momentum wheel shaft 73. At this time, when the yaw motor 72 is running, it can drive the yaw momentum wheel shaft 73 to rotate, thereby driving the yaw momentum wheel 71 to rotate. The rotation plane of the yaw momentum wheel 71 is parallel to the upper and lower side surfaces of the frame 10 and generates corresponding angular momentum. The angular momentum generated by the yaw momentum wheel module can help adjust the left and right steering of the bouncing robot during the bouncing process. In this preferred embodiment, the yaw momentum wheel 71 is generally I-shaped, with counterweights at both ends and a central portion connected to the yaw momentum wheel axle 73 to generate corresponding angular momentum when rotated. It is understood that in other preferred embodiments, the yaw momentum wheel 71 may also adopt other structural forms.

[0044] In the bouncing robot of this application, Figure 5 and Figure 6 As shown, the hind limb 20 includes a second rotating shaft 21 and a hind limb assembly, and the hind limb assembly includes a first upper bouncing link 22, a first lower bouncing link 23, a hind limb support block 24, a hind limb torsion spring, a second upper bouncing link 25 and a second lower bouncing link 26. The second rotating shaft 21 is laterally rotatably mounted on the frame 10 and driven to rotate by the hind limb driving mechanism. One end of the first upper bouncing link 22 is fixedly connected to the end of the second rotating shaft 21, and the other end is rotatably connected to one end of the first lower bouncing link 23. The other end of the first lower bouncing link 23 is rotatably connected to one end of the second lower bouncing link 26. The other end of the second lower bouncing link 26 is rotatably connected to one end of the second upper bouncing link 25. The other end of the second upper bouncing link 25 is rotatably connected to the end of the second rotating shaft 21. A hind limb torsion spring is respectively provided at the connection between the first upper bouncing link 22 and the first lower bouncing link 23, the connection between the first lower bouncing link 23 and the second lower bouncing link 26, and the connection between the second lower bouncing link 26 and the second upper bouncing link 25. The end of the second lower bouncing link 26 connected to the first lower bouncing link 23 is rotatably connected to the hind limb supporting block 24, and a hind limb torsion spring is provided at the connection. In this preferred embodiment, the first upper bounce link 22, the first lower bounce link 23, the second upper bounce link 25 and the second lower bounce link 26 form a quadrilateral structure as a whole, and due to the mutual rotation connection, and under the rotation action of the second rotating shaft 21, the quadrilateral structure formed as a whole by the first upper bounce link 22, the first lower bounce link 23, the second upper bounce link 25 and the second lower bounce link 26 are compressed with each other (refer to Figure 8 and Figure 9), and hind limb torsion springs are provided at some of the connections. When compressed, they enter an energy storage state. When the restriction on the second rotating shaft 21 is released, the hind limb torsion springs act to instantly expand the quadrilateral structure formed by the first upper bounce link 22, the first lower bounce link 23, the second upper bounce link 25, and the second lower bounce link 26, thereby completing the bouncing motion of the hind limb 20 and thus the robot's bouncing motion, such as forward or backward bouncing. The end of the second lower bounce link 26 connected to the first lower bounce link 23 is rotatably connected to the hind limb support block 24, and a hind limb torsion spring is provided at the connection, thereby forming a support with a certain degree of deformation, which facilitates the bouncing takeoff and stable landing. In this preferred embodiment, there are two hind limb assemblies, which are located on both sides of the frame 10 and at both ends of the second rotating shaft 21. At this time, being located on both sides of the frame 10 helps the jumping robot to take off and land smoothly. By setting the hind limb assemblies at both ends of the second rotating shaft 21, the two hind limb assemblies can be driven at the same time by one second rotating shaft 21, and the consistent operation of the two hind limb assemblies can be achieved at the same time.

[0045] In this preferred embodiment, the hind limb drive mechanism includes a hind limb drive motor 31, a partial gear 32, a first rotating shaft 33, and a gear 34. The hind limb drive motor 31 is fixedly mounted on the frame 10, the first rotating shaft 33 is laterally rotatably mounted on the frame 10 and connected to the output shaft of the hind limb drive motor 31, the partial gear 32 is fixedly mounted on the first rotating shaft 33, and the gear 34 is fixedly mounted on the second rotating shaft 21. When the partial gear 32 rotates to a certain angle, the gear teeth on it can mesh with the gear teeth of the gear 34. Correspondingly, when the partial gear 32 rotates to another certain angle, because part of the outer periphery of the partial gear 32 has no gear teeth, it will not contact the gear 34. The hind limb driving motor 31 drives the incomplete gear 32 to rotate to a certain angle through the first rotating shaft 33 so that the gear teeth on it can mesh with the gear teeth of the gear 34 and continue to rotate. In this process, the gear 34 can be driven to rotate to a certain angle. At this time, the gear 34 drives the second rotating shaft 21 to rotate. The rotation of the second rotating shaft 21 drives the first upper bouncing link 22, the first lower bouncing link 23, the second upper bouncing link 25 and the second lower bouncing link 26 to form a quadrilateral structure that compresses each other and stores energy. When the incomplete gear 32 continues to rotate to another certain angle, the gear 34 can be driven to rotate to a certain angle. At this point, the incomplete gear 32, lacking teeth on a portion of its outer periphery, temporarily disengages from the gear 34. Gear 34 and the second rotating shaft 21 are temporarily in a relatively unrestricted state (able to rotate). When the restriction on the second rotating shaft 21 is released, the quadrilateral structure formed by the first upper bouncing link 22, the first lower bouncing link 23, the second upper bouncing link 25, and the second lower bouncing link 26 instantly expands under the action of the hind limb torsion spring, completing the bouncing motion of the hind limb 20 and thereby enabling the robot to perform a bouncing motion, such as a forward or backward bouncing motion. Preferably, the incomplete gear 32 is in the form of a small gear, and the gear 34 is in the form of a large gear. The drive mode of the small gear meshing with the large gear can achieve a large torque, thereby facilitating the bouncing motion.

[0046] The jumping robot also includes a forelimb 60, which can be referred to Figures 7 to 9The forelimb 60 includes a forelimb slide rail limit block 61, a forelimb slide rail 62, a forelimb torsion spring, a forelimb support block 64, a forelimb column 65, a first self-locking slider 66, a spring 67 and a second self-locking slider 68. The forelimb slide rail 62 is vertically arranged at the front end of the frame 10, the forelimb slide rail limit blocks 61 are arranged at both ends of the forelimb slide rail 62, the first self-locking slider 66 and the second self-locking slider 68 are arranged on the forelimb slide rail 62, the second self-locking slider 68 is located below the first self-locking slider 66, and the second self-locking slider 68 is provided with a vertical light rod 69, which passes through the first self-locking slider 66. The spring 67 is sleeved on the light rod 69 and is located between the first self-locking slider 66 and the second self-locking slider 68. The upper end of the forelimb column 65 is connected to the second self-locking slider 68, and the other end extends downward over the bottom end of the forelimb slide rail 62. The forelimb support block 64 is rotatably connected to the lower end of the forelimb column 65, and a forelimb torsion spring is provided at the connection. The provision of forelimbs 60 facilitates a smooth landing for the jumping robot on complex terrain, such as on a staircase. During landing, forelimb support blocks 64 on forelimb columns 65 are able to contact the ground. The provision of springs 67 acts as a buffer, reducing the impact of the robot's landing. At this point, the jumping robot's forelimbs and hindlimbs touch the ground simultaneously. Forelimb support blocks 64 are rotatably connected to the lower ends of forelimb columns 65, and a forelimb torsion spring is provided at the connection, creating a support with a certain degree of deformation, further facilitating a smooth landing. The first self-locking slider 66 is self-locked in a certain position of the forelimb slide rail 62. At this time, the first self-locking slider 66 is fixed, and the second self-locking slider 68 can compress the spring 67 when landing. Therefore, by adjusting the position of the first self-locking slider 66 self-locking on the forelimb slide rail 62, the elastic force of the compression spring 67 when landing can be adjusted. For example, the further the first self-locking slider 66 goes downward, the forelimb column 65 and the forelimb support block 64 thereon will be urged upward and compress the spring 67. The greater the elastic force given by the spring 67, in other words, the greater the impact force, that is, the impact force of the forelimb column 65 and the forelimb support block 64 thereon when landing can be adjusted by adjusting the position of the first self-locking slider 66 self-locking on the forelimb slide rail 62. By adjusting the first self-locking slider 66 self-locking on the forelimb slide rail 62 to be in a relatively reasonable position, the forelimb 60 can be landed with a reasonable impact force to ensure a smooth landing. In a preferred embodiment, there are two front limbs 60 , which are respectively located on both sides of the front end of the frame 10 .

[0047] During implementation, the hind limb drive mechanism controls the hind limbs 20 to bounce to achieve the bouncing of the bouncing robot. During the bouncing process of the bouncing robot, the roll measuring wheel 41 of the roll measuring wheel module can rotate parallel to the front and rear sides of the frame 10, and the pitch momentum wheel 51 of the pitch momentum wheel module can rotate parallel to the left and right sides of the frame 10. That is, through the operation of the roll measuring wheel module and the pitch momentum wheel module, the angular momentum generated by the rotation of the roll measuring wheel 41 and the pitch momentum wheel 51 balances the robot's aerial posture, so that the robot's ZMP (zero moment) point is always within the support polygon. When the bouncing robot of the present invention takes off and lands using the hind limbs 20, the robot's ZMP (zero moment) point is always within the support polygon formed by the hind limbs 20. When the bouncing robot lands using both the hind limbs 20 and the forelimbs 60, the robot's ZMP (zero moment) point is always within the support polygon formed by the hind limbs 20 and the forelimbs 60, ensuring a smooth landing.

[0048] In this preferred embodiment, coreless motors are preferably used for roll motor 42, pitch motor 52, and yaw motor 72. Coreless motors are suitable for light load applications, have high rotational speeds, and are brushless motors. Controlling their rotational speed facilitates control of the roll, pitch, and yaw momentum wheel modules. A servo is preferably used for hind limb drive motor 31. Its precise and controllable rotation angle and high output torque make it suitable for heavy load applications, facilitating control of the rotation angle of the partial gear 32 and high-load driving.

[0049] In a preferred embodiment, the present invention also includes an stm32 single-chip microcomputer and an MPU6050 attitude sensor. The roll motor 42, the pitch motor 52, the yaw motor 72, the hind limb drive motor 31 and the MPU6050 attitude sensor are electrically connected to the stm32 single-chip microcomputer respectively. The motor drives the roll momentum wheel 41, the pitch momentum wheel 51 and the like to rotate to bring additional angular momentum to change the robot's attitude angle and angular velocity. Then, the robot's attitude angle and angular velocity are transmitted back in real time through the MPU6050 attitude sensor. The speed of the momentum wheel is adjusted by the control algorithm in the stm32 single-chip microcomputer, and the entire system realizes closed-loop control to achieve the purpose of controlling the robot's aerial attitude.

[0050] The roll wheel module and pitch momentum wheel module are respectively mounted in the front half of the frame 10. This layout positions the robot's total center of mass slightly forward of the robot, preventing the robot from tipping backwards during takeoff due to the combined force of gravity and the takeoff force. The yaw momentum wheel module is located in the rear half of the frame 10. Furthermore, through a control algorithm, such as a PID control algorithm, the robot's pitch angular velocity can be maintained at zero before landing. The momentum wheel bears the majority of the robot's total system kinetic energy, minimizing the impact of irregular terrain on the robot during landing. Combining the momentum wheel to control the robot's attitude angle and angular velocity creates conditions for the robot to land stably on irregular and complex terrain.

[0051] The present invention provides two different landing postures, such as Figures 1 to 4 As shown, a bipedal upright posture is adopted. This posture provides a smaller support polygon and can adapt to the situation where the landing and take-off platforms are small. Figure 8 and Figure 9 , which is a four-legged posture. This posture provides a larger support polygon and can adapt to situations with larger slopes and large height differences between landing and take-off platforms.

[0052] Conventional jumping robots require complex structural design and jumping force calculation to achieve special posture tasks such as front flips, back flips, and jumps. The present invention utilizes posture adjustment mechanisms (such as a roll wheel module and a pitch momentum wheel module) to achieve different posture changes in the air using the angular momentum provided by the rotation of the roll wheel 41, pitch momentum wheel 51, and yaw momentum wheel 71. This eliminates the need to modify the robot's jumping mechanism, providing greater flexibility in posture changes.

[0053] Traditional jumping robots require a large support polygon to ensure landing stability, making their forelimbs generally unable to perform specialized tasks at the landing position. The jumping robot of the present invention can achieve stable landings with a smaller support polygon. Therefore, the forelimbs are equipped with height adjustment mechanisms, enabling free vertical adjustment. This allows for takeoff and landing on terrain with a certain height difference. Springs in the forelimbs also reduce the impact of the robot landing.

[0054] Research on the landing stability of bouncing robots shows that there are two prerequisites for a stable robot landing: First, the robot's center of mass should be within the support polygon when it lands. This is related to the robot's attitude angles (pitch angle and roll angle) when it lands. Second, the robot's pitch angular velocity (around the x-axis) and roll angular velocity (around the y-axis) when it lands should not be too large, otherwise it will easily cause the robot to tip over after landing.

[0055] Existing jumping robots rely on a large support polygon, which generally requires a larger landing platform and a certain inclination. If the angle difference between the landing platform and the robot is too large, a significant collision will occur, increasing the angular velocity during landing and affecting the robot's landing stability. The jumping robot of the present invention features a posture adjustment mechanism (a roll momentum wheel module and a pitch momentum wheel module) that can adapt to different landing posture angles for terrains with varying inclination angles, thereby minimizing landing collisions. Furthermore, the posture adjustment mechanism can simultaneously adjust the landing angular velocity and the landing posture angle, ensuring a smoother landing. Consequently, the robot of the present invention is less dependent on the robot's support polygon during landing, enabling stable landings with a smaller landing platform compared to conventional jumping robots. Furthermore, the posture adjustment mechanism not only enables the robot to land smoothly on complex terrain but also allows it to be controlled to achieve any desired posture in mid-air, eliminating the need to modify the jumping mechanism or complicate the robot's design. Finally, the vertically adjustable forelimbs facilitate the robot's takeoff and landing in terrain with varying elevation differences.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A bouncing robot comprising a frame (10), a hind limb (20) arranged on the frame (10) for bouncing, and a hind limb driving mechanism arranged on the frame (10) for driving the hind limb (20) to bounce, characterized in that: It also includes a transverse rolling measuring wheel module and a pitching momentum wheel module, the transverse rolling measuring wheel module and the pitching momentum wheel module are respectively mounted on the front half of the frame (10), the transverse rolling measuring wheel module includes a transverse rolling measuring wheel (41) whose rotation plane is parallel to the front and rear side surfaces of the frame (10), and the pitching momentum wheel module includes a pitching momentum wheel (51) whose rotation plane is parallel to the left and right side surfaces of the frame (10); The hind limb (20) includes a second rotating shaft (21) and a hind limb assembly, wherein the hind limb assembly includes a first upper bouncing link (22), a first lower bouncing link (23), a hind limb support block (24), a hind limb torsion spring, a second upper bouncing link (25) and a second lower bouncing link (26); The second rotating shaft (21) is laterally rotatably mounted on the frame (10) and driven to rotate by the hind limb driving mechanism. One end of the first upper bouncing link (22) is fixedly connected to the end of the second rotating shaft (21), and the other end is rotatably connected to one end of the first lower bouncing link (23). The other end of the first lower bouncing link (23) is rotatably connected to one end of the second lower bouncing link (26). The other end of the second lower bouncing link (26) is rotatably connected to one end of the second upper bouncing link (25). The other end of the second upper bouncing link (25) is rotatably connected to the end of the second rotating shaft (21). The hind limb torsion springs are respectively provided at the connection between the first upper bouncing link (22) and the first lower bouncing link (23), the connection between the first lower bouncing link (23) and the second lower bouncing link (26), and the connection between the second lower bouncing link (26) and the second upper bouncing link (25). One of the ends of the first lower bounce connecting rod (23) and the second lower bounce connecting rod (26) connected is rotatably connected to the hind limb support block (24), and the hind limb torsion spring is provided at the connection; The bouncing robot further comprises a forelimb (60), wherein the forelimb (60) comprises a forelimb slide rail limit block (61), a forelimb slide rail (62), a forelimb torsion spring, a forelimb support block (64), a forelimb column (65), a first self-locking slider (66), a spring (67) and a second self-locking slider (68); The forelimb slide rail (62) is vertically arranged at the front end of the frame (10), the forelimb slide rail limit blocks (61) are arranged at both ends of the forelimb slide rail (62), the first self-locking slider (66) and the second self-locking slider (68) are arranged on the forelimb slide rail (62), the first self-locking slider (66) is self-locked at a certain position of the forelimb slide rail (62), the second self-locking slider (68) is located below the first self-locking slider (66), and the second self-locking slider (68) is provided with a vertical light rod (69), the light rod (69) passes through the first self-locking slider (66), the spring (67) is mounted on the light rod (69) and is located between the first self-locking slider (66) and the second self-locking slider (68), the upper end of the forelimb column (65) is connected to the second self-locking slider (68), and the other end extends downward through the bottom end of the forelimb slide rail (62), the forelimb support block (64) is rotatably connected to the lower end of the forelimb column (65), and the forelimb torsion spring is provided at the connection.

2. The jumping robot according to claim 1, characterized in that: The transverse rolling measuring wheel module further comprises a transverse rolling motor (42) and a transverse rolling measuring wheel shaft (43), wherein the transverse rolling motor (42) is fixedly mounted on the frame (10), the transverse rolling measuring wheel shaft (43) extends forward and backward and is connected to the output shaft of the transverse rolling motor (42), and the transverse rolling measuring wheel (41) is fixedly mounted on the transverse rolling measuring wheel shaft (43).

3. The jumping robot according to claim 1, characterized in that: The pitch momentum wheel module further comprises a pitch motor (52) and a pitch momentum wheel axle (53), wherein the pitch motor (52) is fixedly mounted on the frame (10), the pitch momentum wheel axle (53) extends left and right and is connected to the output shaft of the pitch motor (52), and the pitch momentum wheel (51) is fixedly mounted on the pitch momentum wheel axle (53).

4. The jumping robot according to claim 1, characterized in that: The bouncing robot further comprises a yaw momentum wheel module, wherein the yaw momentum wheel module comprises a yaw momentum wheel (71) whose rotation plane is parallel to the upper and lower side surfaces of the frame (10).

5. The jumping robot according to claim 4, characterized in that: The yaw momentum wheel module further includes a yaw motor (72) and a yaw momentum wheel axle (73), wherein the yaw motor (72) is fixedly mounted on the frame (10), the yaw momentum wheel axle (73) extends up and down and is connected to the output shaft of the yaw motor (72), and the yaw momentum wheel (71) is fixedly mounted on the yaw momentum wheel axle (73).

6. The jumping robot according to claim 1, characterized in that: There are two hind limb assemblies, which are respectively located on both sides of the frame (10) and at both ends of the second rotating shaft (21).

7. The jumping robot according to claim 1, characterized in that: The hind limb drive mechanism includes a hind limb drive motor (31), an incomplete gear (32), a first rotating shaft (33) and a gear (34); The hind limb drive motor (31) is fixedly mounted on the frame (10), the first rotating shaft (33) is laterally rotatably mounted on the frame (10) and is connected to the output shaft of the hind limb drive motor (31), the incomplete gear (32) is fixedly mounted on the first rotating shaft (33), and the gear (34) is fixedly mounted on the second rotating shaft (21), and the gear teeth on the incomplete gear (32) can mesh with the gear teeth of the gear (34) when the incomplete gear (32) rotates to a certain angle.

8. The jumping robot according to claim 1, characterized in that: There are two forelimbs (60), which are respectively arranged on both sides of the front end of the frame (10).

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