Jumping robot

Abstract

The application discloses a jumping robot, which comprises a jumping body, the jumping body can generate a folding before jumping and a jumping action under the driving of an energy storage mechanism; and further comprises a buffering mechanism for buffering when the jumping body lands; the buffering mechanism comprises a buffering leg, a connecting member and a supporting member; the lower end of the connecting member is rotationally connected with the buffering leg in the front-rear direction, the upper end of the connecting member is rotationally connected with the jumping body in the front-rear direction; the lower end of the supporting member is arranged on the jumping body, and the upper end of the supporting member is rotationally connected with the connecting member to form a follow-up support for the connecting member; wherein the jumping body is provided with an elastic part corresponding to the connecting member; during the landing process of the jumping body, the connecting member will extrude the elastic part and be forced to rotate, so as to allow the buffering leg to first contact the ground and be lifted relative to the jumping body, thereby realizing the landing buffering of the jumping body. The application has the advantages of compact structure, good stability and strong practicability.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a jumping robot. Background Technology

[0002] Jumping robots can perform jumping actions to overcome obstacles (such as water jumps, land jumps, or amphibious jumps), thus efficiently traversing complex terrain and having broad application prospects in fields such as space exploration, battlefield reconnaissance, and life rescue.

[0003] The problem of repeatable jumping in robots has always been a technical challenge and a focus of attention for researchers at home and abroad. If a robot can only achieve a single jump and then rely on human intervention to correct its posture before jumping again, its practical application value is very limited.

[0004] In the prior art, jumping robots need to use a straightening mechanism to actively straighten their posture before they can jump to the next stage. For example, the straightening device for a jumping robot disclosed in Chinese patent document CN202211337221.9 drives the straightening leg to rotate relative to the lower jumping plate through a transmission link, so as to straighten the support plate and complete the active straightening operation.

[0005] However, jumping robots in the prior art, such as those mentioned above, lack cushioning upon landing (they bounce off the ground upon impact) or use wings for gliding deceleration and cushioning (their aerial trajectory is easily affected by the external environment), resulting in inaccurate landing points. In addition, the jumping robot will tip over after landing, requiring a righting device to straighten the body, which is cumbersome to operate and has a complex structure. Summary of the Invention

[0006] To at least partially address the shortcomings of the prior art, the main objective of this invention is to provide a jumping robot capable of landing cushioning.

[0007] To achieve the above-mentioned main objectives, the present invention provides a jumping robot, including a jumping body that can fold before jumping and generate a jumping action under the drive of an energy storage mechanism; and a buffering mechanism for cushioning the landing of the jumping body.

[0008] The buffer mechanism includes buffer legs, connecting components, and supporting components;

[0009] The lower end of the connecting component is rotatably connected to the buffer leg in the front-back direction, and the upper end of the connecting component is rotatably connected to the jumping body in the front-back direction.

[0010] The lower end of the support member is set on the jumping body, and the upper end of the support member is rotatably connected to the connecting member to form a follow-up support for the connecting member;

[0011] The jumping body has an elastic part corresponding to the connecting member. During the landing of the jumping body, the connecting member will squeeze the elastic part and be forced to rotate, so as to allow the cushioning leg to contact the ground first and be lifted relative to the jumping body, thereby achieving the landing cushioning of the jumping body.

[0012] According to one specific embodiment of the present invention, the elastic part is a leaf spring, which is connected to or prefabricated as a whole with the jumping body.

[0013] According to one specific embodiment of the present invention, the buffer leg is provided with an attachment structure, the attachment structure including at least one of an adhesive material layer and a suction cup assembly.

[0014] According to a specific embodiment of the present invention, the buffer leg includes a buffer leg body and a first elastic piece disposed on the buffer leg body. The first elastic piece can contact the ground and generate elastic deformation during the landing of the jumping body.

[0015] Furthermore, the buffer leg has a plate-like structure arranged in the front-to-back direction; the first spring is located on the front side of the buffer leg.

[0016] Furthermore, the buffer leg also includes a second spring plate, and the lower end of the connecting member is connected to the buffer leg body through the second spring plate.

[0017] According to one specific embodiment of the present invention, the upper end of the support member and the connecting member are in movable engagement.

[0018] According to one specific embodiment of the present invention, the cushioning leg can automatically lift up and detach from the ground when the jumping body is folded.

[0019] Furthermore, the lower end of the support member is rotatably connected to the jumping body, forming a crank-slider mechanism between the support member and the connecting member; wherein, when the jumping body is folded, the distance between the lower end of the support member and the upper end of the connecting member is shortened, so as to support the connecting member and raise the buffer leg through the support member.

[0020] According to one specific embodiment of the present invention, there are two sets of buffer mechanisms, which are arranged on the left and right sides of the jumping body.

[0021] The present invention has the following beneficial effects:

[0022] The buffer mechanism in this invention can cushion the landing of the jumping body, so that the jumping robot has a precise position after landing, and thus the entire trajectory of the jumping robot can be accurately controlled; it ensures the reliability of the landing, and can realize continuous jumping of the jumping robot without the need for a righting device. It has the advantages of compact structure, good stability and strong practicality.

[0023] Furthermore, the buffer legs in this invention are equipped with attachment structures, allowing them to adhere to the ground upon landing for positioning. Compared to existing technologies that only focus on takeoff control to achieve precise aerial trajectories, this invention effectively prevents the jumping robot from bouncing away after landing. In particular, the attachment structure allows the jumping robot to directly attach to the landing point upon landing, ensuring a precise and unique landing location. This enables continuous and precise jumping trajectories, ensuring accurate and controllable trajectory throughout the entire continuous jumping process. Simultaneously, the buffer legs automatically detach (lose contact with the ground) before the next jump without the need for additional actuators, without affecting the robot's continuous jumping performance.

[0024] To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0025] Figure 1 This is a perspective view of an embodiment of the jumping robot of the present invention;

[0026] Figure 2 This is a first side view of an embodiment of the jumping robot of the present invention;

[0027] Figure 3 This is a second side view of an embodiment of the jumping robot of the present invention;

[0028] Figure 4 This is a folded state diagram of an embodiment of the jumping robot of the present invention;

[0029] Figure 5 This is a structural diagram of the jumping entity;

[0030] Figure 6 This is a 3D view of the reset mechanism;

[0031] Figure 7 This is a top view of the reset mechanism;

[0032] Figure 8 This is a schematic diagram of the reset mechanism;

[0033] Figure 9 It is a 3D view of the gear assembly;

[0034] Figure 10 This is a structural diagram of the anti-slip mechanism;

[0035] Figure 11 It is a 3D diagram of the buffer mechanism;

[0036] Figure 12 This is a side view of the buffer mechanism;

[0037] Figure 13It is a structural diagram showing the fit between connecting and supporting components. Detailed Implementation

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0039] like Figure 1-3 As shown, the jumping robot of the embodiment includes a jumping body 10, a reset mechanism 20, an energy storage mechanism 30, an anti-slip mechanism 40, and a buffer mechanism 50; wherein, the reset mechanism 20 is used to drive the jumping body 10 to fold before jumping, the energy storage mechanism 30 is used to drive the jumping body 10 to generate a jumping action, the anti-slip mechanism 40 is used to increase the friction with the ground during tilting jumps to avoid relative sliding with the ground during take-off, and the buffer mechanism 50 is used to buffer the jumping body 10 when it lands to keep the jumping body 10 landing in a normal posture.

[0040] For example, the jumping body 10 adopts as follows Figure 5 The fully symmetrical nine-bar linkage shown is designed to maximize the stability of the robot's posture upon landing and to ensure that the ground reaction force always passes through the center of mass during the jump, thus stabilizing the robot's posture in the air. The specific structure of the jumping body 10 can be found in, for example, the relevant structure of the jumping body 10 in patent document CN202211337224.2, which will not be elaborated here.

[0041] like Figure 11-13 As shown, there are two sets of buffer mechanisms 50, which are arranged on the left and right sides of the jumping body 10. The following description will focus on the buffer mechanism 50 on the left side.

[0042] The cushioning mechanism 50 includes a cushioning leg 51, a connecting member 52, and a supporting member 53. Preferably, the cushioning leg 51 is provided with an attachment structure, which includes at least one of an adhesive material layer 54 and a suction cup assembly, or both. For example, a preferred adhesive material layer 54 is prepared by mixing silicone and silicone gel in a 1:1 ratio, then thoroughly stirring and degassing; then pouring the mixture into a mold to cover the surface, closing the mold, and allowing it to stand at, for example, 55°C for a period of time (e.g., 12 hours or more), before demolding.

[0043] For example, the buffer leg 51 includes a buffer leg body 511 and a first elastic piece 512; the buffer leg 51 has a plate-like structure arranged in the front-to-back direction, and an adhesive material layer 54 is disposed on the lower side of the buffer leg body 511 so as to be in direct contact with the ground; for example, the first elastic piece 512 has a bent arched structure, and the first elastic piece 512 is preferably disposed at the front end of the buffer leg 51. During the landing of the jumping body 10, it contacts the ground and undergoes elastic deformation, which also plays a buffering role. Moreover, the deformed first elastic piece 512 helps to increase the force between the attachment structure and the ground, thereby making the attachment structure and the ground form a more effective contact. Preferably, there are two first elastic pieces 512, and the two first elastic pieces 512 are respectively disposed at the front and rear ends of the buffer leg body 511.

[0044] The buffer leg body 511 is also provided with a second spring plate 513. The second spring plate 513 is located above the buffer leg body 511 and extends upward by a certain distance. The lower end of the connecting member 52 is connected to the buffer leg body 511 through the second spring plate 513. The second spring plate 513 can also play a buffering role.

[0045] The connecting member 52 is preferably in the form of a long strip or a rod. The lower end of the connecting member 52 is rotatably connected to the buffer leg 51 in the front-back direction, and the upper end of the connecting member 52 is rotatably connected to the jumping body 10 in the front-back direction. The supporting member 53 is also preferably in the form of a long strip or a rod. The lower end of the supporting member 53 is disposed on the jumping body 10, and the upper end of the supporting member 53 is rotatably connected to the connecting member 52 to form a follow-up support for the connecting member 52.

[0046] The jumping body 10 is provided with an elastic part 11 corresponding to the connecting member 52. The elastic part 11 is, for example, a leaf spring. The leaf spring and the jumping body 10 are preferably prefabricated as one piece. In other embodiments, the leaf spring and the jumping body 10 can also be connected together. During the landing of the jumping body 10, the connecting member 52 will compress the elastic part 11 and be forced to rotate, so as to allow the cushioning leg 51 to contact the ground first and be lifted relative to the jumping body 10, thereby achieving the landing cushioning of the jumping body 10.

[0047] Furthermore, the upper end of the support member 53 and the connecting member 52 are movablely engaged. One purpose of this arrangement is that when the jumping robot lands, this movable engagement allows the support member 53 and the connecting member 52 to move, further enhancing the cushioning effect. Another purpose is that when the jumping robot jumps, this movable engagement also plays a compliant role, mitigating the impact between the cushioning leg 51 and the ground, and preventing structural damage to the cushioning leg 51 and the components connected to it. For example, the upper end of the support member 53 is provided with a guide groove 531 extending along its length. The connecting member 52 has a connecting rod 521, which is fixedly mounted on the connecting member 52 and can slide within the guide groove 531, thus enabling the support member 53 and the connecting member 52 to form a movable engagement. To allow the supporting member 53 to pass through, the connecting member 52 has a clearance groove 522, through which the upper end of the support member 53 can pass.

[0048] like Figure 4 As shown, the buffer leg 51 in the embodiment can automatically lift and detach from the ground when the jumping body 10 is folded; just as most animal attachment organs push away from the body to reduce adhesion, by pushing the buffer leg 51 outward, the buffer leg 51 is separated from the ground, preparing for the next jump; when jumping, the buffer leg 51 leaves the ground or there is no longer any contact force between it and the ground, which will not affect the normal jump.

[0049] Please continue reading. Figure 11-13 In this embodiment, the lower end of the support member 53 is rotatably connected to the jumping body 10, forming a crank-slider mechanism between the support member 53 and the connecting member 52; wherein, when the jumping body 10 is folded, the distance between the lower end of the support member 53 and the upper end of the connecting member 52 is shortened (see...). Figure 4 ), so as to support the connecting member 52 and raise the buffer leg 51 by means of the support member 53.

[0050] Please continue reading. Figure 12 To better lift the buffer leg 51 and maintain its posture, the lower end of the connecting member 52 in the embodiment is preferably provided with an outer baffle 523 and an inner baffle 524 to limit the rotation angle range between the buffer leg 51 and the connecting member 52. The outer baffle 523 is used to limit the buffer leg 51 (second spring piece 513) from continuing to turn outward and to keep the buffer leg 51 in a relatively horizontal state. The inner baffle 524 is used to lift the buffer leg 51 from the inside and prevent the buffer leg 51 from shaking, making the process of lifting the buffer leg 51 more stable.

[0051] like Figure 6-9As shown, the reset mechanism 20 includes a carrier 21, a gear assembly 22, a transmission rope 23, and a traction rope (not shown in the figure); wherein, the carrier 21 is mounted on the top of the jumping body 10, and the gear assembly 22 is disposed on the carrier 21.

[0052] The gear assembly 22 includes a drive gear 221, a toothed gear 222, and a rope-wound gear 223. The toothed gear 222 is located on the first side of the drive gear 221 and meshes with the drive gear 221. The rope-wound gear 223 is located on the second side of the drive gear 221 and is disengaged from the drive gear 221 due to a gap. A portion of the toothed gear 222 has a gear section 222a, and another portion forms a clearance section 222b. The toothed gear 222 can mesh with the drive gear 221 through the gear section 222a and rotate under the drive of the drive gear 221. During the rotation of the toothed gear 222, the gear section 222a disengages from the drive gear 221 and avoids the drive gear 221 through the clearance section 222b. At this time, the toothed gear 222 no longer rotates.

[0053] The toothed gear 222 is rotatably mounted on the carrier 21 via the toothed gear shaft 224, and the rope-winding gear 223 is movably mounted on the carrier 21 via the rope-winding gear shaft 225, such that the rope-winding gear 223 has a first position disengaged from the driving gear 221 and a second position engaged with the driving gear 221; for example, the rope-winding gear 223 and the toothed gear 222 are flush in the height direction, and the driving gear 221 is preferably located on the lower or upper side, so as to make the structure more compact.

[0054] One end of the transmission rope 23 is fixedly mounted on the toothed gear shaft 224 of the toothed gear 222, and the other end of the transmission rope 23 is sleeved on the winding gear shaft 225 of the winding gear 223. The reverse rotation of the toothed gear shaft 224 will wind the transmission rope 23 and pull the winding gear shaft 225, while the forward rotation of the toothed gear shaft 224 will release the wound transmission rope 23.

[0055] One end of the traction rope is fixedly mounted on the rope winding gear shaft 225, and the other end of the traction rope is connected to the jumping body 10. The reverse rotation of the rope winding gear shaft 225 will wind the traction rope and drive the jumping body 10 to fold before jumping. The forward rotation of the rope winding gear shaft 225 will release the wound traction rope.

[0056] The reset mechanism 20 in the embodiment also includes a motor 24, which is mounted on the carrier 21 and driven by the drive gear 221 through a reducer assembly. The control module 60 of the jumping robot controls the forward and reverse rotation of the motor 24. Preferably, the locking of the reset mechanism 20 is achieved by the locking torque of the motor 24. For example, the motor 24 is a coreless motor with a built-in four-stage planetary gear reduction, which can provide sufficient locking torque.

[0057] Please continue reading. Figure 7-9 Preferably, at least two carrier plates 211 are provided on the carrier 21, and the toothed gear shaft 224 and the rope-winding gear shaft 225 are rotatably supported on different carrier plates 211 by the rotary seat 25 respectively; wherein, the carrier plate 211 is provided with a sliding groove 212, the rope-winding gear shaft 225 is rotatably disposed in the sliding groove 212, and the rope-winding gear shaft 225 can slide in the sliding groove 212.

[0058] For example, there are two transmission ropes 23, which are respectively arranged on both sides of the toothed gear 222 and the winding gear 223, so that the movement of the winding gear 223 is more stable.

[0059] In the embodiment, when the drive gear 221 rotates forward, it can drive the toothed gear 222 to rotate, so that the transmission rope 23 is wound around the toothed gear shaft 224, and then the rope-winding gear 223 is pulled from the first position to the second position through the transmission rope 23. When the rope-winding gear 223 moves to the second position and meshes with the drive gear 221, the toothed gear 222 enters the toothed state and stops rotating. At the same time, the drive gear 221 drives the rope-winding gear 223 to rotate in the opposite direction, and the traction rope is wound around the rope-winding gear shaft 225 and shortened, so as to drive the jumping body 10 to fold before jumping.

[0060] To enable the rope-winding gear 223 to quickly disengage from the driving gear 221, the carrier 21 is preferably provided with an elastic element 26, such as a spring or a highly elastic rope; when the rope-winding gear 223 moves from the first position to the second position, the elastic element 26 is stretched; preferably, there are two elastic elements 26, which are respectively arranged on both sides of the toothed gear 222 and the rope-winding gear 223, so that the movement of the rope-winding gear 223 is more stable.

[0061] When the traction rope needs to be released, as the drive gear 221 reverses, the toothed gear 222, based on the tension from the transmission rope 23 (specifically, the tension from the elastic element 26), resumes engagement with the drive gear 221 and releases the transmission rope 23. Simultaneously, the rope-winding gear 223, based on the tension from the elastic element 26, disengages from the drive gear 221, and the traction rope wound on the rope-winding gear shaft 225 is released. At the same time, the jumping body 10 can be driven to generate a jumping action through the energy storage mechanism 30. Preferably, the energy storage mechanism 30 in the embodiment includes, for example, a tension spring. At the instant the traction rope is released, the tension spring resets and shortens instantaneously to drive the jumping body 10 to generate a jumping action.

[0062] like Figure 10 As shown, the anti-slip mechanism 40 includes a support leg 41 and a connecting rope 42, which is specifically an elastic rope, such as a rubber band.

[0063] The support leg 41 is arranged in the front-to-back direction, and its middle part is rotatably connected to the jumping body 10 via a connecting shaft 43. The first end of the support leg 41 is connected to the jumping body 10 via a connecting rope 42. The reset mechanism 20 operates so that when the jumping body 10 is folded, the connecting rope 42 contracts, making the force between the second end of the support leg 41 and the ground zero. When the jumping body 10 takes off, it unfolds and pulls the connecting rope 42, causing the support leg 41 to rotate and generate a force on the ground at its second end. This force on the ground is used for anti-slip and its impact on the jumping process is negligible.

[0064] Furthermore, the second end of the support leg 41 is provided with an anti-slip pad 411, which is made of silicone, for example. This anti-slip pad can adapt to deformation to increase the contact area with the ground, while avoiding adverse reaction forces on the jumping action. Specifically, the second end of the support leg 41 preferably deforms under force, allowing the anti-slip pad 411 to make more full contact with the ground. As the jumping body 10 folds, the pitch angle adjusts, increasing the effective contact area between the anti-slip pad 411 and the ground, thereby increasing the friction between it and the ground. The anti-slip mechanism 40 in this embodiment prevents relative sliding with the ground at the start of the jump, ensuring that the force exerted on the jumping body 10 at takeoff passes through the center of mass of the jumping robot. This eliminates the rotation caused by the body deflection after takeoff (if the body rotates during the jump, some energy will be converted into rotational kinetic energy, thus reducing the jump height), which is beneficial for improving the jump height and stability.

[0065] In this embodiment, the jumping robot's movement process is as follows: the active gear 221 in the reset mechanism 20 rotates forward to drive the jumping body 10 to fold, while the buffer leg 51 detaches from the ground; then, the active gear 221 rotates in reverse, and the energy storage mechanism 30 quickly releases energy to complete the jumping action; during takeoff, the anti-slip mechanism 40 enhances stability; then, after the jump is completed, the robot enters the landing phase, and the buffer leg 51's cushioning and adsorption effect ensures that the jumping robot lands smoothly on the ground without tipping over or bouncing away; finally, the reset mechanism 20 moves again to press down, completing the detachment of the buffer leg 51 from the ground, preparing for the next jump.

[0066] Although the present invention has been described above through embodiments, it should be understood that the above embodiments are only used to exemplarily describe possible implementations of the present invention and should not be construed as limiting the scope of protection of the present invention. That is, any substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection of the claims of the present invention.

Claims

1. A jumping robot, comprising a jumping body, wherein the jumping body is capable of folding before jumping and generating a jumping action under the drive of an energy storage mechanism; characterized in that: It also includes a buffer mechanism for cushioning the impact when the jumping body lands; The buffer mechanism includes buffer legs, connecting components, and supporting components; The lower end of the connecting member is rotatably connected to the buffer leg in the front-back direction, and the upper end of the connecting member is rotatably connected to the jumping body in the front-back direction. The lower end of the support member is disposed on the jumping body, and the upper end of the support member is rotatably connected to the connecting member to form a follow-up support for the connecting member; The jumping body is provided with an elastic part corresponding to the connecting member; during the landing of the jumping body, the connecting member will squeeze the elastic part and be forced to rotate, so as to allow the buffer leg to contact the ground first and be lifted relative to the jumping body, thereby realizing the landing cushioning of the jumping body; The buffer leg includes a buffer leg body and a first elastic piece disposed on the buffer leg body. The first elastic piece can contact the ground and generate elastic deformation during the landing of the jumping body. The upper end of the support member is provided with a guide groove along its length direction, and the connecting member has a connecting rod. The connecting rod is fixedly mounted on the connecting member and can slide in the guide groove so as to cooperate so that the support member and the connecting member form a movable engagement.

2. The jumping robot as described in claim 1, characterized in that: The elastic part is a leaf spring, which is connected to or prefabricated as a whole with the jumping body.

3. The jumping robot as described in claim 1, characterized in that: The buffer leg is provided with an attachment structure, which includes at least one of an adhesive material layer and a suction cup assembly.

4. The jumping robot as described in claim 1, characterized in that: The buffer leg is a plate-shaped structure arranged in the front-to-back direction; the first spring is disposed on the front side of the buffer leg.

5. The jumping robot as described in claim 1, characterized in that: The buffer leg also includes a second spring plate, and the lower end of the connecting member is connected to the buffer leg body through the second spring plate.

6. The jumping robot as described in claim 1, characterized in that: The upper end of the supporting member is movable and engaged with the connecting member.

7. The jumping robot as described in claim 1, characterized in that: The cushioning leg can automatically lift and detach from the ground when the jumping body folds.

8. The jumping robot as described in claim 7, characterized in that: The lower end of the support member is rotatably connected to the jumping body, forming a crank-slider mechanism between the support member and the connecting member; wherein, when the jumping body is folded, the distance between the lower end of the support member and the upper end of the connecting member is shortened, so that the connecting member is supported by the support member and the buffer leg is raised.

9. The jumping robot as described in claim 1, characterized in that: The number of buffer mechanisms is two sets, and the two sets of buffer mechanisms are arranged on the left and right sides of the jumping body.

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