Jumping robot

Abstract

The invention discloses a jumping robot in the technical field of jumping robos.The jumping robot comprises a trunk, a front limb mechanism, a rear limb mechanism and a driving mechanism, the rear limb mechanism comprises a thigh mechanism, a shank mechanism and a foot mechanism, one end of the thigh mechanism is hinged to one end of the trunk, and the other end of the thigh mechanism is hinged to one end of the shank mechanism; the other end of the shank mechanism is hinged to the foot mechanism; the driving mechanism is installed on the hind limb mechanism, and the fore limb mechanism is hinged to the other side of the trunk. The jumping robot is simple in structure, light in self weight, capable of achieving continuous jumping and not prone to rollover when falling to the ground.

Description

Technical Field

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

[0002] Quadruped jumping robots have a wide range of application prospects, including military reconnaissance, disaster relief, exploration, industrial automation and other fields. They can replace humans to perform tasks in dangerous or difficult-to-reach environments, improving operational efficiency and safety.

[0003] At present, although most quadruped jumping robots on the market can achieve continuous jumping, they have too many mechanical parts and too complex structures, which increases their own weight. The robot's posture in the air is difficult to control, and it is easy to roll over when landing and be damaged. Summary of the invention

[0004] The object of the present invention is to overcome the deficiencies in the prior art and to provide a jumping robot which has a simple structure, a small weight, can achieve continuous jumping and is not prone to tipping over when landing.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions: The present invention provides a jumping robot, comprising: a trunk, a forelimb mechanism, a hindlimb mechanism and a driving mechanism; The hind limb mechanism includes a thigh mechanism, a shank mechanism and a foot mechanism, one end of the thigh mechanism is hinged to one end of the trunk, the other end of the thigh mechanism is hinged to one end of the shank mechanism, and the other end of the shank mechanism is hinged to the foot mechanism; The forelimb mechanism is hinged at the other end of the trunk; The driving mechanism includes a mounting platform, a driving motor, an incomplete gear, a complete gear, a rope pulley, a pull rope and a reset spring, wherein the driving motor, the incomplete gear and the complete gear are all mounted on the thigh mechanism through the mounting platform, the incomplete gear is meshed with the complete gear, the complete gear is connected to the rope pulley, one end of the pull rope is fixedly connected to the rope pulley, and the other end is connected to the calf mechanism, the output end of the driving motor is connected to the incomplete gear, and is used to drive the incomplete gear to rotate, thereby driving the complete gear to rotate and the rope pulley to rotate, realizing the winding and releasing action of the pull rope on the rope pulley, and the reset spring is installed between the thigh mechanism and the calf mechanism.

[0006] Furthermore, the hind limb mechanism further comprises a spring outer cylinder and a spring inner cylinder, one end of the spring outer cylinder is sleeved outside one end of the spring inner cylinder, the spring outer cylinder is coaxial with the spring inner cylinder and partially overlaps, and the spring inner cylinder can slide up and down in the spring outer cylinder; The other end of the spring outer tube is hinged to the thigh mechanism, and the other end of the spring inner tube is hinged to the calf mechanism; The return spring is sleeved outside the spring inner cylinder, one end of the return spring abuts against the spring outer cylinder, and the other end abuts against the hinged position of the spring inner cylinder and the calf mechanism.

[0007] Furthermore, the hind limb mechanism further comprises a first rotating shaft, and the spring outer cylinder is hingedly connected to the thigh mechanism via the first rotating shaft; And / or, the hind limb mechanism also includes an end cover, a second rotating shaft perpendicular to the axial direction of the spring inner tube is provided at one end of the spring inner tube, a force-bearing platform is provided in the middle of the height direction of the calf mechanism, a slot matching the second rotating shaft is opened on the force-bearing platform, the top and side of the slot are connected, the second rotating shaft is installed into the slot from the side of the slot, and the end cover is used to limit the lateral displacement of the second rotating shaft.

[0008] Furthermore, the hind limb mechanism also includes a third rotating shaft and a fourth rotating shaft, the thigh mechanism and the calf mechanism are hinged via the third rotating shaft, and the calf mechanism and the foot mechanism are hinged via the fourth rotating shaft.

[0009] Furthermore, the hind limb mechanism also includes a torsion spring, which is sleeved on the outside of the fourth rotating shaft. The calf mechanism is provided with a first limit block at the hinge with the foot mechanism, and the foot mechanism is provided with a second limit block at the hinge with the calf mechanism. One end of the torsion spring abuts against the first limit block, and the other end of the torsion spring abuts against the second limit block.

[0010] Furthermore, the number of the hind limb mechanisms is two, and the two hind limb mechanisms are respectively hinged on both sides of one end of the trunk and are symmetrically arranged relative to the trunk; There are also two driving mechanisms, which are respectively installed on the two hind limb mechanisms, and the two driving motors in the two driving mechanisms can work synchronously.

[0011] Furthermore, the forelimb mechanism includes a large arm mechanism, a small arm mechanism and a support rod; One end of the upper arm mechanism is hinged to one end of the unhinged thigh mechanism of the trunk, the other end of the upper arm mechanism is hinged to one end of the lower arm mechanism, and the other end of the lower arm mechanism is fixedly connected to the support rod; Furthermore, the forelimb mechanism also includes a fifth rotating shaft, and the upper arm mechanism and the lower arm mechanism are hinged through the fifth rotating shaft.

[0012] Furthermore, the end of the support rod in contact with the ground is made of rubber.

[0013] Furthermore, there are two forelimb mechanisms, which are respectively hinged on both sides of one end of the trunk and are symmetrically arranged relative to the trunk.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The jumping robot provided by the present invention comprises a trunk, a forelimb mechanism, a hindlimb mechanism and a driving mechanism, wherein the driving mechanism comprises a mounting platform, a driving motor, an incomplete gear, a complete gear, a pulley, a pull rope and a reset spring. The driving motor, the incomplete gear, the complete gear, the pulley, the pull rope and the reset spring cooperate with each other, so that the jumping robot has a simple structure, a small weight and can achieve continuous jumping.

[0015] The jumping robot provided by the present invention comprises two identical hind limb mechanisms and two identical driving mechanisms. The two hind limb mechanisms are respectively hinged on both sides of one end of a trunk and are symmetrically arranged relative to the trunk. The two driving motors in the two driving mechanisms can work synchronously, so that the jumping action of the robot is more stable and coordinated, and it is not easy to roll over when landing. The jumping robot provided by the present invention has a forelimb mechanism including a big arm mechanism, a small arm mechanism and a support rod. The end of the support rod in contact with the ground is made of rubber, which can play a shock-absorbing role, so that the jumping robot is more stable when landing, which is conducive to achieving continuous jumping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the overall structure of the jumping robot provided by the present invention; Figure 2 A schematic diagram of the structure of the driving mechanism of the jumping robot provided by the present invention; Figure 3 A schematic diagram of the structure of the thigh mechanism and driving mechanism of the jumping robot provided by the present invention; Figure 4 A schematic diagram of the structure of the thigh mechanism and driving mechanism of the jumping robot provided by the present invention; Figure 5 This is a schematic structural diagram of the foot mechanism of the jumping robot provided by the present invention.

[0017] In the figure: 1. foot mechanism; 2. fourth rotating shaft; 3. calf mechanism; 4. pull rope; 5. spring outer cylinder; 6. third rotating shaft; 7. thigh mechanism; 8. pulley; 9. trunk; 10. upper arm mechanism; 11. fifth rotating shaft; 12. lower arm mechanism; 13. support rod; 14. incomplete gear; 15. motor shaft; 16. pulley shaft; 17. complete gear; 18. drive motor; 19. torsion spring; 20. end cover; 21. spring inner cylinder; 22. return spring; 23. first rotating shaft. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0019] Example 1

[0020] This embodiment provides a jumping robot, such as Figure 1 As shown, it includes: a trunk 9, a forelimb mechanism, a hindlimb mechanism and a driving mechanism; In this embodiment, connecting pieces are provided at the bottom of the front and rear ends of the trunk, and hinge shafts are symmetrically provided at the bottom of the connecting pieces. The jumping robot provided in this embodiment includes two forelimb mechanisms, two hindlimb mechanisms and two driving mechanisms, wherein the two forelimb mechanisms are respectively hinged on the two rotating shafts at the bottom of the front end of the trunk 9, and the two hindlimb mechanisms are respectively hinged on the two rotating shafts at the bottom of the rear end of the trunk 9. The two forelimb mechanisms and the two hindlimb mechanisms are symmetrically arranged relative to the trunk 9, and the two driving mechanisms are respectively installed on the two hindlimb mechanisms; like Figure 1 As shown, the hind limb mechanism includes a thigh mechanism 7, a calf mechanism 3 and a foot mechanism 1, one end of the thigh mechanism 7 is hinged to one end of the trunk 9, the other end of the thigh mechanism 7 is hinged to one end of the calf mechanism 3, and the other end of the calf mechanism 3 is hinged to the foot mechanism 1; like Figure 2 As shown, the driving mechanism includes a mounting platform, a driving motor 18, an incomplete gear 14, a complete gear 17, a rope pulley 8, a pull rope 4, a motor shaft 15, a rope pulley shaft 16 and a reset spring 22, wherein the driving motor 18, the incomplete gear 14 and the complete gear 17 are all mounted on the thigh mechanism 7 through the mounting platform, the driving motor 18 is connected to the motor shaft 15 by a coupling, and is rotatably mounted on the mounting platform through a bearing, and the incomplete gear 14 is fixed to the motor shaft 15 by a flat key: the incomplete gear 14 is meshed and connected with the complete gear 17 The complete gear 17 is fixed to the pulley shaft 16 through a flat key, and the complete gear 17 is connected to the pulley 8 through the pulley shaft 16. One end of the pull rope 4 is fixedly connected to the pulley 8, and the other end is connected to the calf mechanism 3. The output end of the drive motor 18 is connected to the incomplete gear 14 through the motor shaft 15, which is used to drive the incomplete gear 14 to rotate, thereby driving the complete gear 17 to rotate and the pulley 8 to rotate, thereby realizing the winding and releasing action of the pull rope 4 on the pulley 8. The reset spring 22 is installed between the thigh mechanism 7 and the calf mechanism 3.

[0021] The jumping robot provided in this embodiment includes two driving mechanisms, in which the two driving motors 18 can work synchronously, so that the robot's jumping action is more stable and coordinated. In this embodiment, a steel wire rope is selected as the pull rope 4 to avoid breakage and insufficient tension of the pull rope during use.

[0022] like Figure 3 , Figure 4As shown, the hind limb mechanism also includes a spring outer tube 5 and a spring inner tube 21, one end of the spring outer tube 5 is sleeved outside one end of the spring inner tube 21, the spring outer tube 5 is coaxial with the spring inner tube 21 and partially overlaps, and the spring inner tube 21 can slide up and down in the spring outer tube 5; The other end of the spring outer tube 5 is hinged to the thigh mechanism 7, and the other end of the spring inner tube 21 is hinged to the calf mechanism 3; the reset spring 22 is sleeved outside the spring inner tube 21, with one end against the spring outer tube 5 and the other end against the hinged position of the spring inner tube 21 and the calf mechanism 3. The spring outer tube 5 and the spring inner tube 3 cooperate as the guide column of the reset spring 22, which can ensure that the reset spring 22 does not bend laterally when it is compressed by force or stretched without force; the reset spring 22, as the main energy storage element of the present invention, can provide the main power for the robot to jump, and also play a role in supporting and maintaining stability for the robot. In addition, it can also play a role in buffering and shock absorption when the robot lands, reducing damage to the robot parts during the jumping process.

[0023] like Figure 5 As shown, the hind limb mechanism also includes a torsion spring 19, which is sleeved on the outside of the fourth rotating shaft 2. The calf mechanism 3 is provided with a first limit block at the hinge with the foot mechanism 1, and the foot mechanism 1 is provided with a second limit block at the hinge with the calf mechanism 3. One end of the torsion spring 19 abuts on the first limit block, and the other end of the torsion spring 19 abuts on the second limit block. The torsion spring 19, as an energy storage element, can play a role in buffering and shock absorption during the landing process of the jumping robot, so as to avoid impact during jumping and reduce damage to the robot caused by jumping. In this embodiment, the part of the foot mechanism 1 that contacts the ground is made of rubber material, and its function is to increase the friction between the foot and the ground, improve the stability of the robot, and avoid the occurrence of slipping.

[0024] The working principle and process of the jumping robot provided in this embodiment are as follows: In the initial state, the return spring 22 is in a relaxed state and is not compressed, and the hind limbs of the robot are in a relatively extended state.

[0025] When the jumping robot needs to jump forward, the driving motor 18 is started to drive the incomplete gear 14 to rotate. When the incomplete gear 14 rotates to mesh with the complete gear 17, the incomplete gear 14 drives the complete gear 17 to rotate through meshing transmission, and then the complete gear 17 drives the rope pulley shaft 16 to rotate, thereby driving the rope pulley 8 to rotate, and the rope pulley 8 reels the pull rope 4. The other end of the pull rope 4 is connected to the calf mechanism 3, so that the angle between the thigh mechanism 7 and the calf mechanism 3 is reduced, and the reset spring 22 is compressed to store energy for the robot to jump forward; When the incomplete gear 14 rotates to the toothless part, the pull rope 4 is released, and the reset spring 22 releases the stored elastic potential energy, so that the angle between the thigh mechanism 7 and the shank mechanism 3 increases, driving the robot to jump forward. When the jumping robot lands, it returns to the initial state. As the driving motor 18 continues to work, the jumping robot will repeat the above-mentioned jumping action to realize continuous forward jumping. When the driving motor 18 power supply is cut off, the jumping robot stops jumping.

[0026] Example 2

[0027] This embodiment provides a jumping robot, which is based on the embodiment 1 and is different from the embodiment 1 in that: Figure 3 As shown, in the jumping robot provided in this embodiment, the hind limb mechanism further includes a first rotating shaft 23, and the spring outer cylinder 5 is hinged to the thigh mechanism 7 through the first rotating shaft 23; The hind limb mechanism also includes an end cover 20, and a second rotating shaft perpendicular to the axial direction of the spring inner tube 21 is arranged at one end of the spring inner tube 21. A force-bearing platform is arranged in the middle of the height direction of the calf mechanism 3, and a slot matching the second rotating shaft is opened on the force-bearing platform. The top and the side of the slot are connected, and the second rotating shaft is installed in the slot from the side of the slot. The end cover 20 is used to limit the lateral displacement of the second rotating shaft.

[0028] like Figure 1 As shown, the hind limb mechanism further includes a third rotating shaft 6 and a fourth rotating shaft 2 , the thigh mechanism 7 is hinged to the calf mechanism 3 via the third rotating shaft 6 , and the calf mechanism 3 is hinged to the foot mechanism 1 via the fourth rotating shaft 2 .

[0029] Example 3

[0030] This embodiment provides a jumping robot, which is based on the embodiment 2 and is different from the embodiment 2 in that: Figure 1 As shown, in the jumping robot provided in this embodiment, the forelimb mechanism includes a large arm mechanism 10, a small arm mechanism 12 and a support rod 13; One end of the upper arm mechanism 10 is hinged to the end of the trunk 9 that is not hinged to the thigh mechanism 7, and the other end of the upper arm mechanism 10 is hinged to one end of the lower arm mechanism 12, and the other end of the lower arm mechanism 12 is fixedly connected to the support rod 13; The forelimb mechanism further includes a fifth rotating shaft 11 , and the upper arm mechanism 10 and the lower arm mechanism 12 are hingedly connected via the fifth rotating shaft 11 .

[0031] In this embodiment, the end of the support rod 13 that contacts the ground is made of rubber, which can play a shock-absorbing role.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only used to explain the relative positional relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] 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 the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0034] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A jumping robot, characterized in that: include: A trunk (9), a forelimb mechanism, a hindlimb mechanism and a driving mechanism; The hind limb mechanism comprises a thigh mechanism (7), a shank mechanism (3) and a foot mechanism (1), one end of the thigh mechanism (7) being hinged to one end of the trunk (9), the other end of the thigh mechanism (7) being hinged to one end of the shank mechanism (3), and the other end of the shank mechanism (3) being hinged to the foot mechanism (1); The forelimb mechanism is hinged to the other end of the trunk (9); The driving mechanism comprises a mounting platform, a driving motor (18), an incomplete gear (14), a complete gear (17), a rope pulley (8), a pull rope (4) and a reset spring (22), wherein the driving motor (18), the incomplete gear (14) and the complete gear (17) are all mounted on the thigh mechanism (7) through the mounting platform, the incomplete gear (14) is meshed with the complete gear (17), the complete gear (17) is connected to the rope pulley (8), one end of the pull rope (4) is fixedly connected to the rope pulley (8), and the other end is connected to the calf mechanism (3), the output end of the driving motor (18) is connected to the incomplete gear (14) for driving the incomplete gear (14) to rotate, thereby driving the complete gear (17) to rotate and the rope pulley (8) to rotate, so as to realize the winding and releasing action of the pull rope (4) on the rope pulley (8), and the reset spring (22) is mounted between the thigh mechanism (7) and the calf mechanism (3).

2. The jumping robot according to claim 1, characterized in that: The hind limb mechanism further comprises a spring outer tube (5) and a spring inner tube (21), one end of the spring outer tube (5) being sleeved outside one end of the spring inner tube (21), the spring outer tube (5) and the spring inner tube (21) being coaxial and partially overlapping, and the spring inner tube (21) being able to slide up and down inside the spring outer tube (5); The other end of the spring outer tube (5) is hinged to the thigh mechanism (7), and the other end of the spring inner tube (21) is hinged to the calf mechanism (3); The return spring (22) is sleeved outside the spring inner cylinder (21), with one end abutting against the spring outer cylinder (5) and the other end abutting against the hinged position between the spring inner cylinder (21) and the calf mechanism (3).

3. The jumping robot according to claim 2, characterized in that: The hind limb mechanism further comprises a first rotating shaft (23), and the spring outer cylinder (5) is hingedly connected to the thigh mechanism (7) via the first rotating shaft (23); And / or, the hind limb mechanism further comprises an end cover (20), one end of the spring inner tube (21) is provided with a second rotating shaft perpendicular to the axial direction of the spring inner tube (21), a force-bearing platform is provided in the middle of the height direction of the calf mechanism (3), a slot cooperating with the second rotating shaft is provided on the force-bearing platform, the top and side of the slot are connected, the second rotating shaft is installed into the slot from the side of the slot, and the end cover (20) is used to limit the lateral displacement of the second rotating shaft.

4. The jumping robot according to claim 1, characterized in that: The hind limb mechanism further comprises a third rotating shaft (6) and a fourth rotating shaft (2); the thigh mechanism (7) is hingedly connected to the calf mechanism (3) via the third rotating shaft (6); and the calf mechanism (3) is hingedly connected to the foot mechanism (1) via the fourth rotating shaft (2).

5. The jumping robot according to claim 4, characterized in that: The hind limb mechanism further comprises a torsion spring (19) sleeved outside the fourth rotating shaft (2); the calf mechanism (3) is provided with a first limit block at a hinged position with the foot mechanism (1); the foot mechanism (1) is provided with a second limit block at a hinged position with the calf mechanism (3); one end of the torsion spring (19) abuts against the first limit block, and the other end of the torsion spring (19) abuts against the second limit block.

6. The jumping robot according to any one of claims 1 to 5, characterized in that: There are two hind limb mechanisms, which are respectively hinged on two sides of one end of the trunk (9) and are symmetrically arranged relative to the trunk (9); The number of the driving mechanisms is also two, which are respectively installed on the two hind limb mechanisms, and the two driving motors (18) in the two driving mechanisms can work synchronously.

7. The jumping robot according to claim 1, characterized in that: The forelimb mechanism comprises a large arm mechanism (10), a small arm mechanism (12) and a support rod (13); One end of the upper arm mechanism (10) is hinged to one end of the trunk (9) that is not hinged to the thigh mechanism (7), the other end of the upper arm mechanism (10) is hinged to one end of the lower arm mechanism (12), and the other end of the lower arm mechanism (12) is fixedly connected to the support rod (13).

8. The jumping robot according to claim 7, characterized in that: The forelimb mechanism further comprises a fifth rotating shaft (11), and the upper arm mechanism (10) and the lower arm mechanism (12) are hingedly connected via the fifth rotating shaft (11).

9. The jumping robot according to claim 7, characterized in that: The end of the support rod (13) in contact with the ground is made of rubber.

10. The jumping robot according to any one of claims 7 to 9, characterized in that: There are two forelimb mechanisms, which are respectively hinged on two sides of one end of the trunk (9) and are symmetrically arranged relative to the trunk (9).

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