Lightweight high-performance bionic jumping robot

Abstract

The invention provides a light-weight high-performance bionic jumping robot, and relates to the technical field of robots. The light-weight high-performance bionic jumping robot comprises a central metal energy storage wheel disc used for bearing a torsional spring and enabling the torsional spring to store energy under the driving of a motor; the torsional springs are arranged on the two protruding cylinders on the two sides of the central metal energy storage wheel disc respectively; the torsion spring fixing connecting rod pieces are connected to the two sides of the torsion spring through metal shafts respectively; the leg bouncing structures are respectively connected with the torsional spring fixing connecting rod pieces; the motor drives the central metal energy storage wheel disc to rotate; the trigger is used for releasing the fixed torsion spring fixing connecting rod piece; and the trigger rod pieces are arranged on the two sides of the central metal energy storage wheel disc and rotate along with the rotation of the central metal energy storage wheel disc. The motor drives the torsion spring to rotate to achieve energy storage of the whole mechanism, then after energy storage reaches a specified point position, triggering is conducted by triggering the trigger buckle position, and the leg bouncing structure is folded and unfolded and steps on the ground to complete take-off.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a lightweight and high-performance bionic jumping robot. Background Art

[0002] In the field of modern science and technology, robotics technology continues to develop, but jumping robots still face many challenges. The jumping robots currently on the market have problems such as large size and poor jumping performance. For example, some robots either have a short jumping distance or can only achieve high jump functions, making it difficult to take into account both long jump and high jump requirements, and their movements are limited in complex terrain environments. At present, due to the low controllability of the bouncing process and the difficulty in accurately controlling the landing point, they have not been widely used in actual scenarios. In addition, the lack of innovation in structural design and material application has resulted in a large overall weight and high energy consumption, making it difficult to achieve efficient jumping movements. At the same time, the existing technology is not deep enough in bionic design, and has failed to fully simulate the mechanical principles and leg structure characteristics of biological jumping.

[0003] The present invention aims to solve these problems. Through unique structural design and material selection, it achieves the unity of lightweight and high performance, bringing new breakthroughs to jumping robot technology, enabling it to better adapt to various task requirements, such as obstacle crossing in a small space and detection of complex terrain. Summary of the invention

[0004] According to the above technical problems that the jumping robots currently on the market have large size and poor jumping performance, a lightweight and high-performance bionic jumping robot is provided. In the case of limited space, the robot of the present invention can achieve a long jump distance of more than ten times the body length by pre-storing energy with a torsion spring, and can also achieve a high jump of five times the body length by adjusting the initial take-off angle.

[0005] The technical means adopted by the present invention are as follows:

[0006] A lightweight and high-performance bionic jumping robot, comprising:

[0007] The central metal energy storage wheel is used to carry the torsion spring and store energy in the torsion spring under the drive of the motor;

[0008] Torsion springs, including right-handed torsion springs and left-handed torsion springs, are respectively arranged on two protruding cylinders on both sides of the central metal energy storage wheel;

[0009] The torsion spring fixing connecting rod is respectively connected to two sides of the torsion spring through a metal shaft;

[0010] A leg bouncing structure, wherein the leg bouncing structure is respectively connected to the torsion spring fixing connecting rod;

[0011] A motor, which is connected to the frame through a motor bracket and drives the central metal energy storage wheel to rotate;

[0012] A trigger, located inside the frame, is used to release the fixed torsion spring fixed link member;

[0013] A trigger rod, wherein the trigger rod is arranged on both sides of the central metal energy storage wheel disc and rotates with the rotation of the central metal energy storage wheel disc;

[0014] A cylindrical long rod passes through the torsion spring fixing connecting rod and the central metal energy storage wheel, and both ends of the cylindrical long rod are respectively connected to the frame.

[0015] Further, the torsion spring fixing connecting rod comprises a left torsion spring fixing connecting rod and a right torsion spring fixing connecting rod, and the left torsion spring fixing connecting rod and the right torsion spring fixing connecting rod are respectively connected to the left-handed torsion spring and the right-handed torsion spring.

[0016] Further, the leg bouncing structure includes a No. 1 bouncing connecting rod, a No. 2 bouncing connecting rod, a bouncing S-shaped connecting rod, a bouncing central connecting rod, a connecting rod, a connecting rod end piece and a supporting piece;

[0017] The lower part of the torsion spring fixed connecting rod is connected to the upper end of the No. 2 bouncing connecting rod, and the lower end of the No. 2 bouncing connecting rod is fixedly connected to the bouncing center connecting rod; the upper end of the bouncing S-shaped connecting rod is slidably connected to the No. 2 bouncing connecting rod, and the lower end of the bouncing S-shaped connecting rod is fixedly connected to the bouncing center connecting rod.

[0018] Further, the upper end of the No. 1 bounce connecting rod is connected to the frame, and the lower end of the No. 1 bounce connecting rod is connected to the bounce center connecting rod;

[0019] One end of the connecting rod is connected to the central hole of the No. 1 bounce connecting rod member, the other end of the connecting rod is connected to one end of the connecting rod end rod, and the other end of the connecting rod end rod is connected to the support member.

[0020] Furthermore, a slide groove is provided on the No. 1 bouncing connecting rod, and the upper end of the bouncing S-shaped connecting rod is slidably connected in the slide groove.

[0021] Furthermore, the bouncing center connecting rod is respectively provided with hole No. 1, hole No. 2, hole No. 3 and hole No. 4, the lower ends of the No. 2 bouncing connecting rod and the bouncing S-shaped connecting rod are respectively connected to the No. 2 hole and the No. 1 hole; the lower end of the No. 1 bouncing connecting rod is connected to the No. 3 hole.

[0022] Furthermore, the fourth hole is a Y-shaped hole, and the Y-shaped hole is connected to the center hole of the connecting rod end piece.

[0023] Furthermore, the motor bracket is connected to the front end of the frame, and the motor is installed on one side of the motor bracket.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. Lightweight: The connecting rod structure is driven directly by the rotation of the torsion spring. The connecting rod structure uses 3D printing technology, resin materials are used to achieve lightweight weight reduction, and aluminum alloy materials are used to assist in ensuring the overall mechanical strength. Some aluminum alloy materials are further reduced in weight through hollowing and other designs without affecting the original performance.

[0026] 2. High performance: This jumping structure design can achieve a jumping distance of 2m. It can start instantly after energy storage, and realize the whole process of storage, jump and landing within 30 seconds. The DC battery and small motor can realize the simultaneous jump of both sides.

[0027] 3. Bionics: The motor drives the torsion spring to rotate to realize energy storage of the entire mechanism. After the energy storage reaches the specified point, the trigger buckle position is triggered, the leg bouncing structure is folded and unfolded, and the jump is completed by pushing off the ground.

[0028] Compared with the current existing products, the present invention can jump to a higher height by quickly storing energy, and complete the conversion of relatively excellent elastic potential energy into bouncing kinetic energy. This device can meet the needs of both jumping and high jumping to a certain extent, and complete a relatively long jump distance with a parabolic trajectory, which can avoid the impact of complex terrain on the robot's forward movement to a certain extent. At the same time, the body volume is small and the requirements for the take-off environment are small. The design of a smaller structure can avoid complex operations such as setting up a special take-off platform, and can be placed directly on the ground and remotely controlled to cross obstacles. Because the overall model is small and only a small number of parts are made of metal, the overall weight can be controlled within 200g, and a small 7.4v battery can be used to drive more than 10 times.

[0029] At the same time, the present invention is helpful to study the mechanical morphological simulation of animal bionics and the leg structure of animals when they jump, which is helpful for the subsequent construction of other bionic animal jumping robots.

[0030] In terms of materials, the design structure can use standard torsion spring parts, standard bearings, screws and nuts, and metal plates, and the remaining parts can be processed in batches through 3D printing. At the same time, under different needs, the processing strength can be improved by changing the type of printing materials, and the processing cost and finished product strength of different sizes can be controlled. The overall processing time is short and can meet the needs of batch processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0033] Figure 2 It is a schematic diagram of the structure of the central metal energy storage wheel in the present invention.

[0034] Figure 3 It is a schematic diagram of the framework structure in the present invention.

[0035] Figure 4 It is a schematic diagram of the structure of the left torsion spring fixing connecting rod in the present invention.

[0036] Figure 5 It is a schematic diagram of the structure of the right torsion spring fixing connecting rod in the present invention.

[0037] Figure 6 It is a schematic diagram of the trigger structure of the present invention.

[0038] Figure 7 This is a schematic diagram of the structure of a No. 1 bouncing connecting rod in the present invention.

[0039] Figure 8 It is a schematic diagram of the structure of the second bounce connecting rod in the present invention.

[0040] Fig. 9 It is a schematic diagram of the bouncing S-shaped connecting rod structure in the present invention.

[0041] Fig.10 It is a schematic diagram of the support structure in the present invention.

[0042] Fig.11 It is a schematic diagram of the structure of the connecting rod end piece in the present invention.

[0043] Fig.12 It is a schematic diagram of the connecting rod structure in the present invention.

[0044] Fig.13 It is a schematic diagram of the structure of the spring-connected central rod in the present invention.

[0045] Fig.14 It is a schematic diagram of the motor bracket structure in the present invention.

[0046] Fig.15 It is a schematic diagram of the motor structure in the present invention.

[0047] Fig.16It is a schematic diagram of the right-hand structure of the torsion spring in the present invention.

[0048] Fig.17 It is a schematic diagram of the left-handed structure of the torsion spring in the present invention.

[0049] Fig.18 It is a schematic diagram of the cylindrical long rod structure in the present invention.

[0050] Fig.19 It is a schematic diagram of the trigger rod structure in the present invention.

[0051] In the figure: 1. Central metal energy storage wheel; 2. Frame; 3. Left torsion spring fixing connecting rod; 4. Right torsion spring fixing connecting rod; 5. Trigger; 6. No. 1 bouncing connecting rod; 61. Center hole; 7. No. 2 bouncing connecting rod; 71. Slide; 8. Bouncing S-shaped connecting rod; 9. Support; 10. Connecting rod end piece; 101. Center hole; 11. Connecting rod; 12. Bouncing center connecting rod; 121. No. 1 hole; 122. No. 2 hole; 123. No. 3 hole; 124. No. 4 hole; 13. Motor bracket; 14. Motor; 15. Right-handed torsion spring; 16. Left-handed torsion spring; 17. Cylindrical long rod; 18. Trigger rod. DETAILED DESCRIPTION

[0052] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0055] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0056] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0057] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0058] like Figure 1-19 As shown, the present invention provides a lightweight, high-performance bionic jumping robot, the overall structure of which is a structure in which a motor 14 drives a torsion spring to rotate to complete elastic potential energy storage compression, and then the folded leg structure is unfolded by releasing the trigger to push off the ground to achieve jumping.

[0059] It includes: a central metal energy storage wheel 1, a frame 2, a torsion spring fixing connecting rod, a trigger 5, a leg bouncing structure, a motor bracket 13, a motor 14, a cylindrical long rod 17, and a trigger rod 18;

[0060] The central metal energy storage wheel 1 is used to carry the torsion spring and store energy in the torsion spring under the drive of the motor 14;

[0061] Torsion springs, including right-handed torsion springs 15 and left-handed torsion springs 16, are respectively arranged on two protruding cylinders on both sides of the central metal energy storage wheel 1;

[0062] A torsion spring fixing connecting rod, wherein the torsion spring fixing connecting rod comprises a left torsion spring fixing connecting rod 3 and a right torsion spring fixing connecting rod 4, and the left torsion spring fixing connecting rod 3 and the right torsion spring fixing connecting rod 4 are respectively connected to the left-handed torsion spring 16 and the right-handed torsion spring 15;

[0063] A leg bouncing structure, wherein the leg bouncing structure is respectively connected to the torsion spring fixing connecting rod;

[0064] The motor 14 is connected to the frame 2 through the motor bracket 13 to drive the central metal energy storage wheel to rotate;

[0065] A trigger 5 is located inside the frame 2 and is used to release the fixed torsion spring fixing link member;

[0066] A trigger rod 18, wherein the trigger rod 18 is arranged on both sides of the central metal energy storage wheel 1 and rotates with the rotation of the central metal energy storage wheel 1;

[0067] A cylindrical long rod 17 passes through the torsion spring fixing connecting rod and the central metal energy storage wheel 1, and both ends of the cylindrical long rod 17 are respectively connected to the frame 2.

[0068] The leg bouncing structure comprises a first bouncing connecting rod 6, a second bouncing connecting rod 7, a bouncing S-shaped connecting rod 8, a bouncing central connecting rod 12, a connecting rod 11, a connecting rod end piece 10 and a supporting piece 9;

[0069] The lower end of the torsion spring fixed connecting rod is connected to the upper end of the No. 2 bouncing connecting rod 7, and the lower end of the No. 2 bouncing connecting rod 7 is fixedly connected to the bouncing center connecting rod 12; the upper end of the bouncing S-shaped connecting rod 8 is slidably connected to the No. 2 bouncing connecting rod 7, and the lower end of the bouncing S-shaped connecting rod 8 is fixedly connected to the bouncing center connecting rod 12.

[0070] The upper end of the No. 1 bounce connecting rod 6 is connected to the frame 2, and the lower end of the No. 1 bounce connecting rod 6 is connected to the bounce center connecting rod 12;

[0071] One end of the connecting rod 11 is connected to the central hole 61 of the No. 1 bounce connecting rod member 6 , and the other end of the connecting rod 11 is connected to one end of the connecting rod end rod 10 , and the other end of the connecting rod end rod 10 is connected to the support member 9 .

[0072] The first bounce connecting rod 6 is provided with a slide groove 71, and the upper end of the bounce S-shaped connecting rod 8 is slidably connected in the slide groove 71.

[0073] The bouncing center connecting rod is respectively provided with a No. 1 hole 121, a No. 2 hole 122, a No. 3 hole 123 and a No. 4 hole 124; the lower ends of the No. 2 bouncing connecting rod 7 and the bouncing S-shaped connecting rod 8 are respectively connected to the No. 2 hole 122 and the No. 1 hole 121; the lower end of the No. 1 bouncing connecting rod 6 is connected to the No. 3 hole 123.

[0074] The fourth hole 124 is a Y-shaped hole, and the Y-shaped hole is connected to the central hole 101 of the connecting rod end piece 10 .

[0075] The motor bracket 13 is connected to the front end of the frame 2 , and the motor 14 is installed on one side of the motor bracket 13 .

[0076] Since the device of the present invention has a relatively small structure, except for the cylindrical long rod 17 and the frame 2, the left torsion spring fixing connecting rod 3, the right torsion spring fixing connecting rod 4, 1 between the central metal energy storage wheel, between the motor 14 and the motor bracket 13, and between the motor bracket 13 and the frame 2, the remaining positions are connections between pins and holes.

[0077] The implementation trigger of the device is that the motor 14 drives the central energy storage wheel 1 to rotate, so that the right-handed torsion spring 15 and the left-handed torsion spring 16 start to store energy, and at the same time, the left torsion spring fixed link member and the right torsion spring fixed link member 4 do not move under the action of the trigger 5. At this time, the torsion spring is pulled open at an angle and starts to store energy. After that, the trigger rod 18 rotates above the trigger 5, inside the frame 2, and the trigger 5 is pulled downward to release the previously fixed left torsion spring fixed link member 3 and the right torsion spring fixed link member 4. The left torsion spring fixed link member 3 and the right torsion spring fixed link member 4 drive the entire leg bouncing structure to unfold and finally achieve jumping.

[0078] The central metal energy storage wheel 1, frame 2, left torsion spring fixed connecting rod 3, right torsion spring fixed connecting rod 4, trigger 5, spring S-shaped connecting rod 8, motor bracket 13, cylindrical long rod 17, connecting rod 11 are all metal parts, the trigger 5 is a titanium alloy part, and the rest are aluminum alloy parts. The remaining other parts are all made of resin materials (high-performance PLA or carbon fiber PLA).

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lightweight, high-performance bionic jumping robot, characterized in that: include: A central metal energy storage wheel (1) is used to carry the torsion spring and store energy in the torsion spring under the drive of the motor (14); Torsion springs, including a right-handed torsion spring (15) and a left-handed torsion spring (16), are respectively arranged on two protruding cylinders on both sides of the central metal energy storage wheel (1); The torsion spring fixing connecting rod is respectively connected to two sides of the torsion spring through a metal shaft; A leg bouncing structure, wherein the leg bouncing structure is respectively connected to the torsion spring fixing connecting rod; A motor (14) connected to the frame (2) via a motor bracket (13) to drive the central metal energy storage wheel (1) to rotate; A trigger (5) is located inside the frame (2) and is used to release the fixed torsion spring fixed connecting rod; A trigger rod (18), wherein the trigger rod (18) is arranged on both sides of the central metal energy storage wheel disc (1) and rotates with the rotation of the central metal energy storage wheel disc (1); A cylindrical long rod (17) passes through the torsion spring fixing connecting rod and the central metal energy storage wheel (1), and both ends of the cylindrical long rod (17) are respectively connected to the frame (2).

2. The lightweight, high-performance bionic jumping robot according to claim 1, characterized in that: The torsion spring fixing connecting rod comprises a left torsion spring fixing connecting rod (3) and a right torsion spring fixing connecting rod (4), and the left torsion spring fixing connecting rod (3) and the right torsion spring fixing connecting rod (4) are respectively connected to a left-handed torsion spring (16) and a right-handed torsion spring (15).

3. The lightweight, high-performance bionic jumping robot according to claim 2, characterized in that: The leg bouncing structure comprises a first bouncing connecting rod (6), a second bouncing connecting rod (7), a bouncing S-shaped connecting rod (8), a bouncing central connecting rod (12), a connecting rod (11), a connecting rod end piece (10) and a supporting piece (9); The lower end of the torsion spring fixed connecting rod is connected to the upper end of the second bouncing connecting rod (7), and the lower end of the second bouncing connecting rod (7) is fixedly connected to the bouncing center connecting rod (12); the upper end of the bouncing S-shaped connecting rod (8) is slidably connected to the second bouncing connecting rod (7), and the lower end of the bouncing S-shaped connecting rod (8) is fixedly connected to the bouncing center connecting rod (12).

4. The lightweight, high-performance bionic jumping robot according to claim 3, characterized in that: The upper end of the No. 1 bounce connecting rod (6) is connected to the frame (2), and the lower end of the No. 1 bounce connecting rod (6) is connected to the bounce center connecting rod (12); One end of the connecting rod (11) is connected to the central hole (61) of the No. 1 bouncing connecting rod member (6), the other end of the connecting rod (11) is connected to one end of the connecting rod end rod (10), and the other end of the connecting rod end rod (10) is connected to the supporting member (9).

5. The lightweight, high-performance bionic jumping robot according to claim 3, characterized in that: The first bouncing connecting rod (6) is provided with a slide groove (71), and the upper end of the bouncing S-shaped connecting rod (8) is slidably connected in the slide groove (71).

6. The lightweight, high-performance bionic jumping robot according to claim 3, characterized in that: The bouncing center connecting rod is respectively provided with a No. 1 hole (121), a No. 2 hole (122), a No. 3 hole (123) and a No. 4 hole (124); the lower ends of the No. 2 bouncing connecting rod (7) and the bouncing S-shaped connecting rod (8) are respectively connected to the No. 2 hole (122) and the No. 1 hole (121); and the lower end of the No. 1 bouncing connecting rod (6) is connected to the No. 3 hole (123).

7. The lightweight, high-performance bionic jumping robot according to claim 6, characterized in that: The fourth hole (124) is a Y-shaped hole, and the Y-shaped hole is connected to the central hole (101) of the connecting rod end piece (10).

8. The lightweight, high-performance bionic jumping robot according to claim 1, characterized in that: The motor bracket (13) is connected to the front end of the frame (2), and the motor (14) is installed on one side of the motor bracket (13).

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