Lightweight high-performance bionic jumping robot

Abstract

The application provides a lightweight high-performance bionic jumping robot, and relates to the technical field of robots, and comprises a center metal energy storage wheel disc, a torsional spring, a torsional spring fixed connecting rod and a leg spring structure. The torsional spring is arranged on the two protruding cylindrical shapes on the two sides of the center metal energy storage wheel disc. The torsional spring fixed connecting rod is connected to the two sides of the torsional spring through a metal shaft. The leg spring structure is connected to the torsional spring fixed connecting rod. The motor drives the center metal energy storage wheel disc to rotate. The trigger lever is arranged on the two sides of the center metal energy storage wheel disc and rotates with the center metal energy storage wheel disc. The energy storage of the whole mechanism is realized by driving the torsional spring to rotate through the motor. Then, the trigger buckle position is triggered when the energy storage reaches a specified point, the leg spring structure is folded and unfolded, and the take-off is completed by kicking the ground.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a lightweight, high-performance biomimetic jumping robot. Background Technology

[0002] In the field of modern technology, robotics is constantly developing, but jumping robots still face many challenges. Currently available jumping robots suffer from problems such as large size and poor jumping performance. For example, some robots either have short jump distances or can only perform high jumps, failing to meet the requirements of both long and high jumps. Furthermore, their movement is limited in complex terrain environments. Currently, due to the low controllability of the jumping process and the difficulty in precisely controlling the landing point, they have not been widely used in real-world scenarios. In addition, the lack of innovation in structural design and material application results in a large overall weight and high energy consumption, making it difficult to achieve efficient jumping movements. At the same time, existing technologies are not sufficiently advanced in biomimetic design, failing to fully simulate the mechanical principles and leg structure characteristics of biological jumps.

[0003] This invention aims to solve these problems by achieving a balance between lightweight and high performance through unique structural design and material selection, bringing a new breakthrough to jumping robot technology and enabling it to better adapt to various task requirements, such as obstacle crossing in confined spaces and exploration of complex terrain. Summary of the Invention

[0004] In response to the aforementioned technical problems of existing jumping robots on the market, such as large size and poor jumping performance, this invention provides a lightweight, high-performance bionic jumping robot. This robot, even in limited space, can achieve a long jump distance of more than ten times its body length after pre-stored energy in a torsion spring. Furthermore, by adjusting the initial take-off angle, it can achieve a high jump of five times its height.

[0005] The technical means employed in this invention are as follows:

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

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

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

[0009] The torsion spring fixing link is connected to both sides of the torsion spring via metal shafts.

[0010] The leg-spring-like structure is connected to a torsion spring-fixed connecting rod.

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

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

[0013] A trigger rod is disposed on both sides of the central metal energy storage wheel and rotates with the central metal energy storage wheel;

[0014] A cylindrical rod passes through a torsion spring-fixed connecting rod and a central metal energy storage wheel, with both ends of the cylindrical rod connected to the frame.

[0015] Furthermore, the torsion spring fixing connecting rod includes 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-hand and right-hand torsion springs.

[0016] Furthermore, the leg-jumping structure includes a first jumping link, a second jumping link, a jumping S-shaped link, a jumping center connecting link, a link, a link end member, and a support member;

[0017] The lower end of the torsion spring fixing link is connected to the upper end of the second bouncing link, and the lower end of the second bouncing link is fixedly connected to the bouncing center connecting link; the upper end of the bouncing S-shaped link is slidably connected to the second bouncing link, and the lower end of the bouncing S-shaped link is fixedly connected to the bouncing center connecting link.

[0018] Furthermore, the upper end of the first bouncing link is connected to the frame, and the lower end of the first bouncing link is connected to the bouncing center connecting link.

[0019] One end of the connecting rod is connected to the center hole of the first bouncing connecting rod, and the other end of the connecting rod is connected to one end of the connecting rod end piece, and the other end of the connecting rod end piece is connected to the support member.

[0020] Furthermore, the second bouncing link is provided with a sliding groove, and the upper end of the bouncing S-shaped link is slidably connected in the sliding groove.

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

[0022] Furthermore, the fourth hole is a Y-shaped hole, which 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 mounted on one side of the motor bracket.

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

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

[0026] 2. High Performance: This jumping structure design enables a jump distance of 2 meters. After energy storage, it can be activated instantly, achieving the entire process of energy storage, takeoff, and landing within 30 seconds. Simultaneous takeoff of both sides of the structure is achieved through a DC battery and a small motor.

[0027] 3. Bionic: The entire mechanism stores energy by rotating a torsion spring driven by a motor. Once the stored energy reaches a specified level, it is triggered by the trigger latch position, causing the leg jumping structure to fold and unfold, and the jump is completed by pushing off the ground.

[0028] Compared to existing products, this invention can rapidly store energy to jump to a greater height, achieving a superior conversion of elastic potential energy into kinetic energy. This device can satisfy both jumping and high jump requirements to a certain extent, completing a relatively long jump distance with a parabolic trajectory, and can largely avoid the impact of complex terrain on the robot's forward movement. Simultaneously, its small size reduces the requirements for the take-off environment. The compact design avoids the need for complex operations such as setting up a dedicated take-off platform, allowing it to be placed directly on the ground and remotely controlled to overcome obstacles. Because the overall model is small, with only a few parts made of metal, the overall weight can be kept below 200g, and it can be powered more than 10 times using a small 7.4V battery.

[0029] At the same time, this invention helps to study the mechanical morphological simulation of animal bionics, and to study the leg structure of animals when jumping, which will help to build other bionic animal jumping robots in the future.

[0030] In terms of materials, the design structure can utilize standard torsion springs, standard bearings, screws and nuts, and metal sheets, with the remaining parts capable of being mass-produced via 3D printing. Furthermore, to meet different needs, the processing strength can be improved by changing the type of printing material, allowing control over processing costs and finished product strength for different dimensions. The overall processing time is short, meeting the requirements for mass production. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0034] Figure 3 This is a schematic diagram of the frame structure in this invention.

[0035] Figure 4 This is a schematic diagram of the left torsion spring fixing link structure in this invention.

[0036] Figure 5 This is a schematic diagram of the right torsion spring fixing link structure in this invention.

[0037] Figure 6 This is a schematic diagram of the trigger structure in this invention.

[0038] Figure 7 This is a schematic diagram of the No. 1 bouncing linkage in this invention.

[0039] Figure 8 This is a schematic diagram of the No. 2 bouncing linkage in this invention.

[0040] Figure 9 This is a schematic diagram of the bouncing S-shaped linkage structure in this invention.

[0041] Figure 10 This is a schematic diagram of the support structure in this invention.

[0042] Figure 11 This is a schematic diagram of the connecting rod end component structure in this invention.

[0043] Figure 12 This is a schematic diagram of the connecting rod structure in this invention.

[0044] Figure 13 This is a schematic diagram of the bouncing connection center rod structure in this invention.

[0045] Figure 14 This is a schematic diagram of the motor bracket structure in this invention.

[0046] Figure 15 This is a schematic diagram of the motor structure in this invention.

[0047] Figure 16This is a schematic diagram of the right-handed torsion spring structure in this invention.

[0048] Figure 17 This is a schematic diagram of the left-handed torsion spring structure in this invention.

[0049] Figure 18 This is a schematic diagram of the cylindrical long rod structure in this invention.

[0050] Figure 19 This is a schematic diagram of the trigger rod structure in this invention.

[0051] In the diagram: 1. Central metal energy storage wheel; 2. Frame; 3. Left torsion spring fixing link; 4. Right torsion spring fixing link; 5. Trigger; 6. First bouncing link; 7. Second bouncing link; 71. Slide; 8. Bouncing S-shaped link; 9. Support; 10. Link end piece; 11. Link; 12. Bouncing center connecting link; 121. Hole 1; 122. Hole 2; 123. Hole 3; 124. Hole 4; 13. Motor bracket; 14. Motor; 15. Right-hand torsion spring; 16. Left-hand torsion spring; 17. Cylindrical long rod; 18. Trigger. Detailed Implementation

[0052] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0055] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

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

[0057] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

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

[0059] Includes: a central metal energy storage wheel 1, a frame 2, a torsion spring fixing link, a trigger 5, a leg jumping 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 support the torsion spring and store energy in the torsion spring under the drive of the motor 14.

[0061] The torsion springs, including right-handed torsion spring 15 and left-handed torsion spring 16, are respectively disposed on two protruding cylindrical shapes on both sides of the central metal energy storage wheel 1;

[0062] The torsion spring fixing link includes a left torsion spring fixing link 3 and a right torsion spring fixing link 4, and the left torsion spring fixing link 3 and the right torsion spring fixing link 4 are respectively connected to the left-hand torsion spring 16 and the right-hand torsion spring 15.

[0063] The leg-spring-like structure is connected to a torsion spring-fixed connecting rod.

[0064] Motor 14, which is connected to frame 2 via motor bracket 13, drives the central metal energy storage wheel to rotate;

[0065] Trigger 5, located inside frame 2, is used to release the fixed torsion spring retaining link;

[0066] Trigger rod 18, the trigger rod 18 is disposed on both sides of the central metal energy storage wheel 1 and rotates with the central metal energy storage wheel 1;

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

[0068] The leg bounce structure includes a first bounce link 6, a second bounce link 7, a bounce S-shaped link 8, a bounce center connecting link 12, a link 11, a link end member 10, and a support member 9.

[0069] The lower end of the torsion spring fixing link is connected to the upper end of the second bouncing link 7, and the lower end of the second bouncing link 7 is fixedly connected to the bouncing center connecting link 12; the upper end of the bouncing S-shaped link 8 is slidably connected to the second bouncing link 7, and the lower end of the bouncing S-shaped link 8 is fixedly connected to the bouncing center connecting link 12.

[0070] The upper end of the first jumping link 6 is connected to the frame 2, and the lower end of the first jumping link 6 is connected to the jumping center connecting link 12.

[0071] One end of the connecting rod 11 is connected to the center hole of the first bouncing connecting rod 6, and the other end of the connecting rod 11 is connected to one end of the connecting rod end piece 10. The other end of the connecting rod end piece 10 is connected to the support member 9.

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

[0073] The bouncing center connecting rod is provided with a first hole 121, a second hole 122, a third hole 123 and a fourth hole 124 respectively. The lower ends of the second bouncing connecting rod 7 and the bouncing S-shaped connecting rod 8 are respectively connected to the second hole 122 and the first hole 121; the lower end of the first bouncing connecting rod 6 is connected to the third hole 123.

[0074] The fourth hole 124 is a Y-shaped hole, which is connected to the center hole 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 mounted on one side of the motor bracket 13.

[0076] Because the device structure is relatively small, apart from the cylindrical rod 17 and the frame 2, the left torsion spring fixing link 3, the right torsion spring fixing link 4, the connection between the central metal energy storage wheel 1, the connection between the motor 14 and the motor bracket 13, and the connection between the motor bracket 13 and the frame 2, the remaining positions are all connected by pins and holes.

[0077] The device is triggered by motor 14 rotating the central energy storage wheel 1, causing the torsion springs 15 (right-hand rotation) and 16 (left-hand rotation) to begin storing energy. Simultaneously, the left and right torsion spring fixing links 4 remain stationary under the action of trigger 5. At this point, the torsion springs are pulled open at an angle and begin storing energy. Afterward, trigger rod 18 rotates above trigger 5, inside frame 2, and pulls trigger 5 downward, releasing the previously fixed left and right torsion spring fixing links 3 and 4. These links then cause the entire leg-bounce structure to unfold, ultimately achieving a jump.

[0078] The central metal energy storage wheel 1, frame 2, left torsion spring fixing link 3, right torsion spring fixing link 4, trigger 5, bouncing S-shaped link 8, motor bracket 13, cylindrical long rod 17, and link 11 are all metal parts. The trigger 5 is a titanium alloy part, and the rest are aluminum alloy parts. The remaining parts are made of resin material (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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 biomimetic jumping robot, characterized in that, include: The central metal energy storage wheel (1) is used to support the torsion spring and store energy in the torsion spring under the drive of the motor (14); Torsion springs, including right-handed torsion springs (15) and left-handed torsion springs (16), are respectively set on two protruding cylinders on both sides of the central metal energy storage wheel (1); The torsion spring fixing link is connected to both sides of the torsion spring via metal shafts. The leg-spring-like structure is connected to a torsion spring-fixed connecting rod. The motor (14) is connected to the frame (2) through the motor bracket (13) and drives the central metal energy storage wheel (1) to rotate; Trigger (5), located inside frame (2), is used to release the fixed torsion spring retaining link; Trigger rod (18), which is disposed on both sides of the central metal energy storage wheel (1) and rotates with the central metal energy storage wheel (1); A cylindrical rod (17) passes through a torsion spring fixing link and a central metal energy storage wheel (1), and the two ends of the cylindrical rod (17) are respectively connected to the frame (2).

2. The lightweight, high-performance biomimetic jumping robot according to claim 1, characterized in that, The torsion spring fixing connecting rod includes 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-hand torsion spring (16) and the right-hand torsion spring (15).

3. The lightweight, high-performance biomimetic jumping robot according to claim 2, characterized in that, The leg jumping structure includes a first jumping link (6), a second jumping link (7), a jumping S-shaped link (8), a jumping center connecting link (12), a link (11), a link end member (10), and a support member (9). The lower end of the torsion spring fixing link is connected to the upper end of the second bouncing link (7), and the lower end of the second bouncing link (7) is fixedly connected to the bouncing center connecting link (12); the upper end of the bouncing S-shaped link (8) is slidably connected to the second bouncing link (7), and the lower end of the bouncing S-shaped link (8) is fixedly connected to the bouncing center connecting link (12).

4. The lightweight, high-performance biomimetic jumping robot according to claim 3, characterized in that, The upper end of the first jumping link (6) is connected to the frame (2), and the lower end of the first jumping link (6) is connected to the jumping center connecting link (12). One end of the connecting rod (11) is connected to the center hole of the first bouncing connecting rod (6), and the other end of the connecting rod (11) is connected to one end of the connecting rod end piece (10). The other end of the connecting rod end piece (10) is connected to the support (9).

5. The lightweight, high-performance biomimetic jumping robot according to claim 3, characterized in that, The second bouncing link (7) is provided with a groove (71), and the upper end of the bouncing S-shaped link (8) is slidably connected in the groove (71).

6. The lightweight, high-performance biomimetic jumping robot according to claim 3, characterized in that, The bouncing center connecting rod (12) is provided with a first hole (121), a second hole (122), a third hole (123) and a fourth hole (124). The lower ends of the second bouncing connecting rod (7) and the bouncing S-shaped connecting rod (8) are respectively connected to the second hole (122) and the first hole (121); the lower end of the first bouncing connecting rod (6) is connected to the third hole (123).

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

8. The lightweight, high-performance biomimetic 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 mounted on one side of the motor bracket (13).

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