Bionic jumping robot capable of achieving energy storage locking and controllable release and jumping method of bionic jumping robot

Abstract

The bionic jumping robot comprises a driving mechanism, the driving mechanism is connected with a front leg mechanism, a rear leg mechanism and a slope mechanism, and the front leg mechanism and the rear leg mechanism are further connected with feet. The invention further discloses a jumping method of the bionic jumping robot capable of achieving energy storage locking and controllable release. The bionic jumping robot provided by the invention can achieve controllable continuous forward jumping of the robot.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots, and relates to a bionic jumping robot that can store energy, lock, and release in a controllable manner. The invention also relates to a jumping method of the bionic jumping robot that can store energy, lock, and release in a controllable manner. Background Art

[0002] With the rapid development of robotics technology, the robot's movement ability is subject to increasingly higher requirements in complex geographical environments. Compared with wheeled, walking and tracked mobility modes, jumping motion has better adaptability to unstructured terrain and stronger obstacle-crossing capabilities, and has broad application prospects in future anti-terrorism operations, interstellar exploration and battlefield reconnaissance. Existing bionic jumping robots usually use multiple drives to realize energy storage and bouncing movements respectively, with complex structures, large sizes and low energy utilization. The jumping robot driven by a motor with continuous rotation needs to realize instantaneous energy release through incomplete gear transmission to jump. During the release process, the gears may be damaged and fail due to great impact force, and the reliability is insufficient. In addition, the continuous movement during energy storage and jumping makes it difficult to achieve controllable jumping. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic jumping robot which can store energy, lock it and release it in a controllable manner, and the device can realize the controllable continuous forward jumping of the robot.

[0004] Another object of the present invention is to provide a jumping method for a bionic jumping robot that can store energy, lock it, and release it in a controllable manner.

[0005] The first technical solution adopted by the present invention is a bionic jumping robot that can store energy, lock and release in a controllable manner, including a driving mechanism, which is respectively connected to a front leg mechanism, a rear leg mechanism and an inclined plane mechanism, and the front leg mechanism and the rear leg mechanism are also respectively connected to the feet.

[0006] The first technical solution of the present invention is also characterized in that: The foot part comprises a traction rope, one end of which is fixed on the sole of the foot, and the other end of which is connected to the driving mechanism.

[0007] The front leg mechanism includes a thigh, which is connected to the calf through a pin B to form a revolving pair, the calf is connected to the sole of the foot through a pin C to form a revolving pair, and the thigh is connected to the driving mechanism through a pin A.

[0008] The hind leg mechanism includes a calf A and a calf B. The calf A and the calf B are connected to the sole of the foot through a pin D and a pin F respectively to form a revolving pair. The thigh A and the thigh B are connected to the driving mechanism through a pin D and a pin E respectively. The calf A is connected to the thigh A through a bolt A to form a revolving pair. The calf B is connected to the thigh B through a bolt B to form a revolving pair. One end of a tension spring A is connected between the thigh A and the gasket A, and the other end of the tension spring A is installed between the thigh B and the gasket D.

[0009] The driving mechanism comprises a fuselage, a steering gear is installed on the fuselage, a winch is mounted on the steering gear, a traction rope is wound on the winch, a support column is arranged on the winch, the support column is in contact with the rudder arm, and an output shaft of the steering gear is connected with the rudder arm.

[0010] The inclined plane mechanism comprises an inclined plane block, which is mounted on the machine body and fixed to a connecting block. A pin shaft G is connected to the connecting block, and a tension spring B is sleeved on the pin shaft G.

[0011] The second technical solution adopted by the present invention is a jumping method of a bionic jumping robot that can store and lock energy and release it in a controllable manner, which includes an energy storage stage and an energy release stage.

[0012] The second technical solution of the present invention is also characterized in that: The working process of the energy storage stage is: control the rotation of the servo, the servo drives the rudder arm to rotate, the rudder arm drives the capstan to rotate 300°, so that the traction rope wrapped on the capstan shrinks, drives the hind leg mechanism to bend, and the tension spring stretches to store energy. When the capstan rotates to 300°, due to the pre-pressure generated by the tension spring on the inclined plane mechanism, the pin on the inclined plane mechanism will be inserted into the pre-opened through hole on the capstan to complete the energy storage.

[0013] The working process of the energy release stage is: control the servo to rotate clockwise so that the rudder arm contacts the ramp block. Due to the height difference of the ramp block, the rudder arm applies pressure to the ramp block, so that the ramp block drives the pin G to retract from the capstan, completing the energy release and realizing the jumping of the bionic jumping robot.

[0014] The beneficial effects of the present invention are as follows: (1) The bionic jumping robot is driven by a servo to control the storage and release of energy, and can achieve controllable and continuous jumping. The servo drives the winch to rotate, and the traction rope causes the robot's hind legs to bend and store energy and lock it, and the tension spring is stretched; the servo reverses, and the winch is driven by the inclined plane mechanism to instantly unlock, and the tension spring instantly releases energy, and the bionic jumping robot's hind legs straighten and jump.

[0015] (2) The hind legs of the bionic jumping robot adopt a parallel linkage mechanism design, and the front leg design ensures the lateral stability of the robot's jumping motion. At the same time, the robot has only one degree of freedom, making the hind leg structure of the bionic jumping robot more stable and the movement inertia small, increasing the system's elastic energy storage and improving the stability of the robot's jumping motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the hind legs of the bionic jumping robot capable of storing energy, locking and controllably releasing according to the present invention in an extended state; Figure 2It is a schematic top view of the structure of the hind legs of the bionic jumping robot capable of storing energy, locking and controllably releasing according to the present invention in an extended state; Figure 3 It is a bottom view schematic diagram of the structure of the hind legs of the bionic jumping robot capable of storing energy, locking and controllably releasing according to the present invention in an extended state; Figure 4 It is a left schematic diagram of the structure of the hind legs of the bionic jumping robot capable of storing energy, locking and controllably releasing according to the present invention in a contracted state; Figure 5 It is a schematic diagram of the driving mechanism structure of the bionic jumping robot capable of storing energy, locking and controllably releasing energy according to the present invention; Figure 6 It is a schematic diagram of the structure of the inclined plane mechanism of the bionic jumping robot capable of storing energy, locking and controllably releasing; Figure 7 It is a schematic structural diagram of the contracted state of the hind legs of the bionic jumping robot which can store energy, lock and release in a controllable manner according to the present invention.

[0017] In the figure, 1. foot, 1-1. traction rope, 1-2. sole of foot; 2. Front leg mechanism, 2-1. Thigh, 2-2. Calf, 2-3. Pin A, 2-4. Pin B, 2-5. Pin C; 3. Rear leg mechanism, 3-1. Pin D, 3-2. Lower leg A, 3-3. Extension spring A, 3-4. Bolt A, 3-5. Washer A, 3-6. Nut A, 3-7. Washer B, 3-8. Upper leg A, 3-9. Pin H, 3-10. Pin E, 3-11. Upper leg B, 3-12. Bolt B, 3-13. Washer C, 3-14. Nut B, 3-15. Washer D, 3-16. Lower leg B, 3-17. Pin F; 4. driving mechanism, 4-1. steering gear, 4-2. winch, 4-3. fuselage, 4-4. support column, 4-5. battery, 4-6. rudder arm, 4-7. steering gear controller; 5. Inclined plane mechanism, 5-1. Connecting block, 5-2. Pin G, 5-3. Tension spring B, 5-4. Inclined plane block. DETAILED DESCRIPTION

[0018] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Example 1 The bionic jumping robot of the present invention can store energy, lock it and release it in a controllable manner, such as Figure 1As shown, the robot comprises a foot 1, which is respectively connected to a front leg mechanism 2 and a rear leg mechanism 3, and the front leg mechanism 2 and the rear leg mechanism 3 are also simultaneously connected to a driving mechanism 4, and a ramp mechanism 5 is also connected to the driving mechanism 4. The front leg mechanism 2 is used to ensure the lateral stability of the robot, and the rear leg adopts a parallel connecting rod mechanism. The entire robot has only one degree of freedom, and can realize single-degree-of-freedom directional jumping.

[0020] Example 2 like Figure 2 As shown, the foot 1 includes a traction rope 1-1 and a sole 1-2. The sole 1-2 has a through hole, and one end of the traction rope 1-1 passes through the through hole and is fixed on the sole 1-2.

[0021] Example 3 like Figure 3 , 4 As shown, the front leg mechanism 2 includes a thigh 2-1, a calf 2-2, a pin A2-3, a pin B2-4 and a pin C2-5. The thigh 2-1 is connected to the calf 2-2 through the pin B2-4 to form a revolute pair. The calf 2-2 is connected to the sole 1-2 through the pin C2-5 to form a revolute pair. The thigh 2-1 is connected to the body 4-3 through the pin A2-3 to form a revolute pair. The front leg mechanism 2 plays a certain supporting role on the body part of the bionic jumping robot. At the same time, the front leg mechanism 2 ensures the lateral stability of the bionic jumping robot. When the bionic jumping robot accumulates energy, the front leg mechanism 2 will bend to ensure that the rear leg mechanism 3 can move normally.

[0022] The rear leg mechanism 3 includes a pin D3-1, a shank A3-2, a tension spring A3-3, a bolt A3-4, a gasket A3-5, a nut A3-6, a gasket B3-7, a thigh A3-8, a pin H3-9, a pin E3-10, a thigh B3-11, a bolt B3-12, a gasket C3-13, a nut B3-14, a gasket D3-15, a shank B3-16 and a pin F3-17; like Figure 5 As shown, the driving mechanism 4 includes a steering gear 4-1, a winch 4-2, a fuselage 4-3, a support column 4-4, a battery 4-5, a rudder arm 4-6 and a steering gear controller 4-7.

[0023] The calf A3-2 and calf B3-16 are connected to the sole 1-2 through the pin D3-1 and the pin F3-17 to form a revolute pair, the thigh A3-8 and the thigh B3-11 are connected to the fuselage 4-3 through the pin H3-9 and the pin E3-10 to form a revolute pair, the calf A3-2 is connected to the thigh A3-8 through the bolt A3-4 to form a revolute pair, the calf B3-16 is connected to the thigh B3-11 through the bolt B3-12 to form a revolute pair, the thigh and calf adopt a parallel connecting rod mechanism, the thigh A3-8, calf A3-2 and the thigh B3-11, calf B3- 16 forms a symmetrical structure, and a tension spring A3-3 is installed on the bolt A3-4 and the bolt B3-12 in the hind leg mechanism 3. One end of the tension spring A3-3 is installed between the thigh A3-8 and the gasket A3-5, and the other end of the tension spring A3-3 is installed between the thigh B3-11 and the gasket D3-15. When the bionic jumping robot stores energy, the hind legs are bent and the tension spring A3-3 is stretched to store energy. The number of tension springs A3-3 can be increased as needed to increase energy storage, so that the bionic jumping robot can jump a longer distance. The hind leg mechanism 3 is the main supporting structure of the bionic jumping robot.

[0024] The fuselage 4-3 is used to install and connect other components in the driving mechanism 4 as well as the front leg mechanism 2, the rear leg mechanism 3 and the inclined plane mechanism 5. A servo 4-1 is installed on the fuselage 4-3. A winch 4-2 is mounted on the servo 4-1. The winch 4-2 has a through hole. At the same time, a traction rope 1-1 is wound around the winch 4-2. The other end of the traction rope 1-1 is wound around the winch 4-2. When the robot stores energy, the winch 4-2 rotates, driving the traction rope 1-1 to wind. The traction rope 1-1 is used to transmit the driving force, pulling the fuselage 4-3 close to the sole 1-2, driving the rear leg mechanism 3 to bend, and the tension spring A3-3 is stretched to store energy. There is a support column 4-4 on the winch 4-2, which can contact the rudder arm 4-6 to provide support for the rudder arm 4-6. The output shaft of the servo 4-1 is fixedly connected to the rudder arm 4-6. The rudder arm 4-6 is installed on the support column 4-4 of the fuselage 4-3 and connected to the support column 4-4 to form a rotating pair. The rotation of the servo 4-1 drives the rudder arm 4-6 to rotate, and then drives the winch 4-2 to rotate. A battery 4-5 and a servo controller 4-7 are also installed on the fuselage 4-3. The battery 4-5 provides power for the servo 4-1.

[0025] like Figure 6As shown, the inclined plane mechanism 5 includes a connecting block 5-1, a pin G5-2, a tension spring B5-3 and an inclined plane block 5-4. The inclined plane mechanism 5 is installed on the fuselage 4-3 through the inclined plane block 5-4. The connecting block 5-1 is fixedly connected to the inclined plane block 5-4. The height difference of the inclined plane of the inclined plane block 5-4 is sufficient to make the winch 4-2 clamp and release the locking pin G5-2, which is used for reverse contact and extrusion when the rudder arm 4-6 is unlocked and takes off. The connecting block 5-1 is connected with the pin G5-2, and the tension spring B5-3 is sleeved on the pin G5-2. The tension spring B5-3 and the fuselage 4-3 are in contact with each other to provide a pre-pressure for the inclined plane mechanism 5, so that the inclined plane block 5-4 moves. When the pin G5-2 is facing the through hole of the winch 4-2, the pin G5-2 will enter the through hole and clamp the winch 4-2.

[0026] The foot 1 is connected to the front leg mechanism 2 through the pin C2-5, and the foot 1 is connected to the rear leg mechanism 3 through the pin D3-1 and the pin F3-17. The front leg mechanism 2 is connected to the driving mechanism 4 through the pin A2-3, and the rear leg mechanism 3 is connected to the driving mechanism 4 through the pin H3-9 and the pin E3-10. There is a square through hole on the fuselage 4-3 of the driving mechanism 4, and the inclined plane mechanism 5 is fixed on the through hole and connected to the driving mechanism 4. The role of the foot is to increase its contact area with the ground and enhance the jumping stability. The role of the front leg is to ensure the lateral stability of the bionic jumping robot through the front leg, prevent it from moving left and right, and ensure that it can land smoothly, and at the same time have a certain supporting effect on the upper body of the robot. The role of the rear leg mechanism is that under the action of the tension spring, the rear leg bursts instantly, so that the sole acts on the ground, and the robot is pushed to jump by the reaction force with the ground. The rear leg is the main supporting mechanism, supporting the upper body of the robot. The function of the driving mechanism is to control the movement of the hind legs, so that the hind legs can store energy and release energy to burst out and jump. The function of the inclined plane mechanism is to control the jumping action of the hind legs by locking and releasing between the pin shaft and the winch.

[0027] Example 4 The jumping method of a bionic jumping robot capable of storing and locking energy and releasing it in a controllable manner comprises an energy storing stage and an energy releasing stage.

[0028] Example 5 The working process of the energy storage stage is as follows: in the initial state, the tension spring A3-3 is in a relaxed state, at which time the tension spring A3-3 is not stretched, and the hind leg mechanism 3 is in a relatively stretched state. In the energy storage stage, the steering gear 4-1 is controlled to rotate, and the steering gear 4-1 drives the rudder arm 4-6 to rotate, and the rudder arm 4-6 drives the winch 4-2 to rotate 300°, so that the traction rope 1-1 wound on the winch 4-2 contracts, driving the hind leg mechanism 3 to bend, thereby stretching the tension spring A3-3 to store energy (such as Figure 7As shown), when the capstan 4-2 rotates to 300°, due to the pre-pressure generated by the tension spring B5-3 on the inclined plane mechanism 5, the pin G5-2 on the inclined plane mechanism 5 is inserted into the through hole on the capstan 4-2, completing the locking of the device.

[0029] Example 6 The working process of the energy release stage is: control the servo 4-1 to rotate clockwise so that the rudder arm 4-6 contacts the ramp block 5-4. Since the ramp block 5-4 has a height difference, the rudder arm 4-6 applies a pressure to the ramp block 5-4, so that the ramp block 5-4 drives the ramp mechanism 5 to retract, thereby driving the pin G5-2 to retract from the winch 4-2, completing the release of the device, and the tension spring A3-3 contracts to release energy instantly, realizing the jumping of the bionic jumping robot.

Claims

1. A bionic jumping robot capable of storing energy, locking it and releasing it in a controllable manner, characterized in that: The driving mechanism (4) is respectively connected to a front leg mechanism (2), a rear leg mechanism (3) and an inclined plane mechanism (5); the front leg mechanism (2) and the rear leg mechanism (3) are also respectively connected to a foot (1).

2. The bionic jumping robot capable of storing energy, locking and controllably releasing energy according to claim 1, characterized in that: The foot (1) comprises a traction rope (1-1), one end of the traction rope (1-1) is fixed on the sole (1-2), and the other end of the traction rope (1-1) is connected to a driving mechanism (4).

3. The bionic jumping robot capable of storing energy, locking and controllably releasing energy according to claim 2, characterized in that: The front leg mechanism (2) comprises a thigh (2-1), the thigh (2-1) being connected to the calf (2-2) via a pin shaft B (2-4) to form a rotation pair, the calf (2-2) being connected to the sole (1-2) via a pin shaft C (2-5) to form a rotation pair, and the thigh (2-1) being connected to a driving mechanism (4) via a pin shaft A (2-3).

4. The bionic jumping robot capable of storing energy, locking and controllably releasing energy according to claim 3, characterized in that: The rear leg mechanism (3) comprises a shank A (3-2) and a shank B (3-16). The shank A (3-2) and the shank B (3-16) are respectively connected to the sole (1-2) via a pin D (3-1) and a pin F (3-17) to form a revolute pair. The thigh A (3-8) and the thigh B (3-11) are respectively connected to the driving mechanism (4) via a pin H (3-9) and a pin E (3-10). The shank A (3-2) is connected to the thigh A (3-8) via a bolt A (3-4) to form a revolute pair. The shank B (3-16) is connected to the thigh B (3-11) via a bolt B (3-12) to form a revolute pair. One end of a tension spring A (3-3) is connected between the thigh A (3-8) and the gasket A (3-5). The other end of the tension spring A (3-3) is installed between the thigh B (3-11) and the gasket D (3-15).

5. The bionic jumping robot capable of storing energy, locking and controllably releasing energy according to claim 4, characterized in that: The driving mechanism (4) comprises a fuselage (4-3), a steering gear (4-1) is mounted on the fuselage (4-3), a winch (4-2) is sleeved on the steering gear (4-1), a traction rope (1-1) is wound around the winch (4-2), a support column (4-4) is provided on the winch (4-2), the support column (4-4) is in contact with a rudder arm (4-6), and an output shaft of the steering gear (4-1) is connected to the rudder arm (4-6).

6. The bionic jumping robot capable of storing energy, locking and controllably releasing energy according to claim 5, characterized in that: The inclined plane mechanism (5) comprises an inclined plane block (5-4), the inclined plane block (5-4) being mounted on the machine body (4-3), the inclined plane block (5-4) being fixed to the connecting block (5-1), the connecting block (5-1) being connected to a pin shaft G (5-2), and the pin shaft G (5-2) being sleeved with a tension spring B (5-3).

7. A jumping method for a bionic jumping robot capable of storing energy, locking it and releasing it in a controllable manner, characterized in that: It includes energy storage stage and energy release stage.

8. The jumping method of the bionic jumping robot capable of storing energy, locking and controllably releasing energy according to claim 7, characterized in that: The working process of the energy storage stage is as follows: the steering gear (4-1) is controlled to rotate, the steering gear (4-1) drives the rudder arm (4-6) to rotate, the rudder arm (4-6) drives the capstan (4-2) to rotate 300 degrees, so that the traction rope (1-1) wound on the capstan (4-2) contracts, drives the rear leg mechanism (3) to bend, and the tension spring (3-3) stretches to store energy; when the capstan (4-2) rotates to 300 degrees, due to the pre-pressure generated by the tension spring (5-3) on the inclined plane mechanism (5), the pin shaft (5-2) on the inclined plane mechanism (5) is inserted into the pre-opened through hole on the capstan (4-2), thereby completing the energy storage.

9. The jumping method of the bionic jumping robot capable of storing energy, locking and controllably releasing energy according to claim 8, characterized in that: The working process of the energy release stage is as follows: the steering gear (4-1) is controlled to rotate clockwise so that the rudder arm (4-6) contacts the inclined plane block (5-4); due to the height difference of the inclined plane block (5-4), the rudder arm (4-6) applies a pressure to the inclined plane block (5-4), so that the inclined plane block (5-4) drives the pin G (5-2) to retract from the winch (4-2), thereby completing the energy release and realizing the jumping of the bionic jumping robot.

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