Bouncing robot and bouncing method

Abstract

The invention discloses a bouncing robot and a bouncing method, relates to the technical field of robots, and solves the technical problem of poor flexibility caused by complex structure of an existing device. The robot comprises a robot body and a driving assembly, the driving assembly comprises two first driving motors, two first transmission assemblies and a connecting rod set, the two first driving motors are connected with the two first transmission assemblies correspondingly, and the connecting rod set comprises two driving connecting rods and two driven connecting rods; one ends of the two driving connecting rods are connected with the output ends of the two first transmission assemblies correspondingly, the other ends of the two driving connecting rods are hinged to one ends of the two driven connecting rods correspondingly, the other ends of the two driven connecting rods are hinged to each other, and the first driving motor and the first transmission assemblies are both connected with the machine body. The invention has the advantages of simple structure, flexible jumping and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a jumping robot and a jumping method. Background Art

[0002] Jumping motion has strong obstacle-crossing and environmental adaptability due to the discreteness of its landing points and the suddenness and explosiveness of its force generation. In recent years, robots with jumping ability have shown broad application scenarios and important strategic significance in fields such as disaster rescue, field exploration, and planetary exploration. Jumping robots can cross obstacles through intermittent jumps, adapt to unstructured terrains, and have high terrain adaptability and motion flexibility. In the research of jumping robots, imitating the body structures and motion mechanisms of jumping organisms such as frogs, kangaroos, and fleas to design similar jumping robots has become a new research direction.

[0003] Currently, most domestic jumping robots are mainly of bipedal or quadrupedal structures, having problems such as complex mechanical structures, large body weights, and the need for continuous driving of motors, resulting in limited motion flexibility in unstructured environments.

[0004] In view of the problems existing in the existing devices, it is necessary to study a jumping robot with a simple structure and flexible takeoff. Summary of the Invention

[0005] The present invention discloses a jumping robot and a jumping method, aiming to solve the technical problem of poor flexibility caused by the complex structure of the existing device.

[0006] To solve the above-mentioned existing technical problems, the technical solution adopted by the present invention is as follows:

[0007] A jumping robot, comprising a fuselage and a driving assembly,

[0008] The driving assembly includes two first driving motors, two sets of first transmission assemblies, and a connecting rod group. The two first driving motors are respectively connected to the two sets of first transmission assemblies. The connecting rod group includes two active connecting rods and two driven connecting rods. One ends of the two active connecting rods are respectively connected to the output ends of the two sets of first transmission assemblies. The other ends of the two active connecting rods are respectively hinged to one ends of the two driven connecting rods. The other ends of the two driven connecting rods are hinged to each other.

[0009] The first driving motor and the first transmission assembly are both connected to the fuselage.

[0010] After adopting this technical solution, it should be noted that the hinged joint between the two driven connecting rods serves as the grounding support point. The two driving connecting rods, two driven connecting rods, and two first driving motors form a planar five-bar linkage mechanism. The planar five-bar linkage mechanism is a closed kinematic chain. The two first driving motors, as independent driving points, respectively drive the two driving connecting rods to achieve precise takeoff angle control, and the movement of the grounding support point can be realized by controlling the output torque of the two first driving motors, thereby adjusting the roll angle of the device. The closed kinematic chain structure also further enhances the structural stiffness and is convenient for maintaining the overall stability during landing.

[0011] The two first driving motors drive the two driving connecting rods to contract respectively, thereby driving the hinged point of the driven connecting rod and the driven connecting rod to move upward to prepare for takeoff. When the first driving motor drives the driving connecting rod to rotate downward to drive the driven connecting rod to extend, the device generates a bounce through the ground reaction force.

[0012] In addition, the function of the first transmission component is to amplify the output torque of the first driving motor, thereby enhancing the explosive power and jumping height of the device and expanding the applicable range of the device.

[0013] Finally, it should be noted that before takeoff, the driving connecting rod drives the driven connecting rod to be in a contracted state. When the first driving motor drives the driving connecting rod to rotate downward to drive the driven connecting rod to extend, the device generates a bounce through the ground reaction force.

[0014] Preferably, a first connecting member is connected between the driving connecting rod and the driven connecting rod. One end of the first connecting member is hinged to the driving connecting rod, and the other end of the first connecting member is connected to the driven connecting rod. A second connecting member is connected between the two driven connecting rods. One end of the second connecting member is hinged to one of the driven connecting rods, and the other end of the second connecting member is connected to the other second driven connecting rod.

[0015] After adopting this technical solution, the first connecting member and the second connecting member, as joint parts, play a role in connection and load-bearing. The first connecting member and the second connecting member are hinged to the corresponding connecting rods through hinge parts, and no restrictions are imposed on the hinge parts here. In addition, to reduce the weight of the device, the first connecting member and the second connecting member are made of aluminum alloy materials, which are small in volume and light in weight.

[0016] Preferably, a support seat is installed at the lower end of the second connecting member, and an anti-slip sticker is attached to the lower end of the support seat.

[0017] After adopting this technical solution, the support seat and the second connecting member are in a hinged connection relationship, and they are hinged through hinge parts. No restrictions are imposed on the hinge parts here. During the process of leaving the ground, the support seat keeps the bottom surface facing down, and the hinged connection is convenient for adapting to the ground undulation and subsequent posture adjustment.

[0018] Preferably, a cross support base is provided below the support base to increase the grounding area.

[0019] Preferably, a first balance assembly is further provided on the fuselage.

[0020] The first balance assembly includes a support rod, a second drive motor, and a propeller. The support rods are symmetrically arranged on both sides of the fuselage. The second drive motor is provided on the support rod, and the propeller is connected to the second drive motor.

[0021] After adopting this technical solution, it should be noted that the two propellers are arranged in the X-axis direction, and the second drive motor and the propeller are provided on both support rods. The rotation speeds of the corresponding two propellers are respectively controlled by the two second drive motors. The yaw angle of the overall device is adjusted by the opposite thrust generated by the two propellers, so as to prevent the device from rotating in the Z-axis direction and keep the device balanced. The roll angle is adjusted by the same thrust generated by the two propellers to keep it balanced.

[0022] Preferably, a second balance assembly is further provided on the fuselage.

[0023] The second balance assembly includes a third drive motor, a second transmission assembly, and a balance rod. The input end and the output end of the second transmission assembly are respectively connected to the third drive motor and the balance rod. Counterweights are provided at both ends of the balance rod, and the third drive motor is connected to the fuselage.

[0024] After adopting this technical solution, it should be noted that the second balance assembly is used to maintain the pitch angle of the overall device. The balance rod is driven by the third drive motor to rotate at different speeds, and the angular momentum generated during the rotation of the balance rod is transmitted to the fuselage, causing the fuselage to be subjected to a torque effect, thereby adjusting the pitch angle of the device.

[0025] In addition, the function of the second transmission assembly is to increase the torque effect.

[0026] Furthermore, the fuselage includes a first fixing plate and a second fixing plate.

[0027] The first fixing plate and the second fixing plate are connected by a plurality of connecting columns. The first transmission assembly is arranged between the first fixing plate and the second fixing plate. The first drive motor and the first balance assembly are connected to the first fixing plate, and the output shaft of the first drive motor passes through the first fixing plate to connect the first drive assembly.

[0028] After adopting this technical solution, it should be noted that the first transmission assembly is clamped between the first fixed plate and the second fixed plate, and is limited by the connecting column between the first fixed plate and the second fixed plate. The first fixed plate and the second fixed plate form the fuselage, which plays a role in connection and load-bearing. In addition, to reduce the weight of the device, the first fixed plate and the second fixed plate are made of carbon fiber material, which has high strength and low weight.

[0029] Preferably, the first balance assembly further includes a connecting plate, and the support rods are symmetrically arranged on both sides of the connecting plate. The connecting plate is located between the first fixed plate and the second fixed plate, and the connecting plate is connected to the first fixed plate and the second fixed plate.

[0030] A sleeve is provided on the connecting plate, and the third driving motor is arranged in the sleeve.

[0031] After adopting this technical solution, it should be noted that the connecting plate is clamped between the first fixed plate and the second fixed plate, and the support rods extend upward outside the fuselage. In addition, the third driving motor cooperates with the sleeve to fixedly connect the second balance assembly to the sleeve. Therefore, the connecting plate improves the strength of the first balance assembly on the one hand, and plays a role in connecting the second balance assembly and providing support for the second balance assembly on the other hand.

[0032] In addition, it should be noted that in this preferred solution, the third driving motor is fixedly arranged in the sleeve on the connecting plate, or other components of the third driving motor or the second balance assembly can be connected to the fuselage to fix the second balance assembly.

[0033] Preferably, the second balance assembly includes a third fixed plate and a fourth fixed plate.

[0034] The second transmission assembly is arranged between the third fixed plate and the fourth fixed plate. The third driving motor penetrates through the fourth fixed plate and is connected to the input end of the second transmission assembly. A rotating shaft is connected to the output end of the second transmission assembly. The rotating shaft penetrates through the third fixed plate and extends outward. A connecting member is provided on the rotating shaft, and the balance rod is connected to the connecting member.

[0035] After adopting this technical solution, it should be noted that the third fixed plate and the fourth fixed plate are clamped to form the frame of the second balance assembly. The second transmission assembly is clamped between the third fixed plate and the fourth fixed plate. The driving shaft of the third driving motor penetrates through the fourth fixed plate and is connected to the input end of the second transmission assembly to drive the second transmission assembly to move. After increasing the torque through the second transmission assembly, the balance rod is driven to rotate. Therefore, the third fixed plate and the fourth fixed plate also play a role in connection and support.

[0036] In addition, it should be noted that the fourth fixing plate is close to the second fixing plate, while the third fixing plate and the first fixing plate are away from each other.

[0037] Preferably, the first transmission component includes a first gear, a first-stage gear, and a second-stage gear that are meshed in sequence.

[0038] The first gear is arranged on the output shaft of the first driving motor, and the active connecting rod is connected to the second-stage gear.

[0039] The structure of the second transmission component is the same as that of the first transmission component.

[0040] After adopting the improved technical solution, it should be noted that both the first transmission component and the second transmission component adopt a two-stage reduction gear set to amplify the output torque of the first driving motor and the second driving motor. Among them, the first gear has 10 teeth, the first-stage gear adopts 40 + 10 teeth, the reduction ratio is 1:4, the second-stage gear adopts 50 teeth, and the reduction ratio is 1:5. Therefore, the reduction ratio of the first transmission component is 1:20, thereby amplifying the output torque of the first driving motor by 20 times.

[0041] Preferably, a power supply support is provided on the second fixing plate, a power supply is provided on the power supply support, and a distance sensor is provided on each of the left and right sides, the lower end of the power supply support, and the upper end of the sleeve.

[0042] An angle sensor corresponding to the first driving motor is provided on the second fixing plate, and an angle sensor corresponding to the rotating shaft is provided on the fourth fixing plate.

[0043] An IMU module is also provided on the second fixing plate.

[0044] After adopting this technical solution, the distance sensor can measure the distance between the device and obstacles around it. A first magnetic part is provided at one end of the output shaft of the first driving motor close to the second fixing plate, an angle sensor corresponding to the first magnetic part is provided on the second fixing plate, a second magnetic part is provided at one end of the rotating shaft, and the second magnetic part penetrates through the fourth fixing plate and extends outwards. An angle sensor corresponding to the second magnetic part is also provided on the fourth fixing plate.

[0045] In addition, the angle sensor is a magnetic encoding angle sensor. Taking the rotation of the output shaft of the first driving motor as an example, when the rotation of the output shaft of the first driving motor drives the rotation of the first magnetic part, the magnetic encoding angle sensor corresponding to the first driving motor detects the magnetic field change of the first magnetic part, realizing the non-contact measurement of the rotation angle of the output shaft of the first driving motor, and providing data for subsequent control of the output torque of the first driving motor; the cooperation between the second magnetic part and the angle sensor can measure the rotation angle of the rotating shaft, obtain the angle difference and calculate the required rotation speed, so as to adjust the rotation speed of the third driving motor.

[0046] Preferably, a main control module is provided on the connecting plate. The main control module integrates a motor driving module. The motor driving module is electrically connected to the two first driving motors respectively. The main control module is electrically connected to the second driving motor, the third driving motor, the distance sensor, the angle sensor and the IMU module respectively. The main control module, the motor driving module, the first driving motor, the second driving motor, the third driving motor, the distance sensor, the angle sensor and the IMU module are electrically connected to the power supply respectively.

[0047] In this application, the main control module uses STM32F405RGT6. The on-board motor driving chip can directly drive the second driving motor and the third driving motor; the motor driving module uses STM32F405RGT6 as the main control; the first driving motor uses a brushless motor with the model of Sunnysky X2302-V3 1500KV; the second driving motor is a 716 coreless motor; the distance sensor uses a TOF distance sensor. The IMU module can be used to read nine-axis data and calculate its own attitude angle, including the BNO085 attitude sensor, the ICM42688P attitude sensor and the MS5611 barometer. Among them, the BNO085 is used to obtain accurate angle information. The ICM42688P uses the SPI interface and can read acceleration and angular velocity information at a rate of 20M. In actual control, the main control obtains acceleration and angular velocity at a rate of 1KHz and obtains the attitude angle at a rate of 100Hz. The measurement range of the MS5611 barometer is 10-1200mbar, and the resolved height accuracy is 10cm, and it has a 20M SPI interface for quick data reading.

[0048] In this application, with the Y-axis direction as the forward direction, the roll angle refers to the rotation of the device along the Y-axis direction, the yaw angle refers to the rotation of the device along the Z-axis direction, and the pitch angle refers to the rotation of the device along the X-axis direction. The X-axis, Y-axis and Z-axis directions here are based on the directions in the attached drawings of the specification Figure 1 in the specification.

[0049] A bouncing method for a bouncing robot includes the following steps:

[0050] S1. Takeoff preparation

[0051] The main control module controls two first driving motors to contract two active connecting rods. The IMU module monitors the body attitude and controls the second driving motor to drive the propeller to adjust the roll angle and the yaw angle, and controls the third driving motor to drive the balance bar to adjust the pitch angle.

[0052] S2. Takeoff

[0053] The IMU module monitors the body attitude, compares with the target takeoff pitch angle and controls the output torque of two first driving motors. The two first driving motors drive two active connecting rods to push downward simultaneously, and cooperate with the third driving motor to drive the balance bar to rotate, so as to achieve front-back jumping.

[0054] S3. Leaving the ground

[0055] The IMU module monitors the body attitude, controls the second driving motor to drive the propeller to adjust the yaw angle to correct the course, controls the third driving motor to drive the balance bar to adjust the pitch angle, and obtains obstacle information through the distance sensor, so as to adjust the output torque of the first driving motor in the next stage.

[0056] S4. Landing

[0057] The IMU module and the distance sensor respectively detect the acceleration and the distance from the ground. When the acceleration is greater than the acceleration preset value or the distance from the ground is less than the ground distance preset value, control the first driving motor to contract the active connecting rod, and control the third driving motor to drive the balance bar to adjust the pitch angle.

[0058] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0059] 1. A bouncing robot provided by the present invention, the connecting rod group adopts a planar five-link mechanism, uses a single-point support, and separately drives two active connecting rods through two first driving motors to realize the control of the takeoff height, direction and stability, and greatly improves the flexibility of the device.

[0060] 2. A bouncing robot provided by the present invention, by setting a first balance component, respectively controls the rotation speeds of two corresponding propellers through two second driving motors, and adjusts the yaw angle and roll angle of the whole device through the thrust generated by the propellers, so as to keep the device balanced.

[0061] 3. A bouncing robot provided by the present invention, by setting a second balance component, keeps the pitch angle of the whole device, drives the balance bar to rotate at different speeds through the third driving motor, and the angular momentum generated during the rotation of the balance bar is transmitted to the fuselage to make the fuselage receive a torque effect, so as to adjust the pitch angle of the device. The first balance component and the second balance component interact to realize the attitude stability of the device in the whole process.

[0062] 4. A bouncing robot provided by the present invention measures the attitude of the device, the distance between the device and the obstacle, and the rotation angles of the first driving motor and the rotating shaft by setting an IMU module, a distance sensor, and an angle sensor, so as to control the corresponding components to adjust the attitude, jumping direction, and jumping intensity. Description of the Drawings

[0063] The present invention will be described by way of examples and with reference to the drawings, where:

[0064] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0065] Figure 2 is a schematic diagram of the overall structure of the present invention from another perspective;

[0066] Figure 3 is an exploded view of the structure of the present invention;

[0067] Figure 4 is an exploded view of the structure of the present invention from another perspective.

[0068] Reference Numerals

[0069] 1 - fuselage, 101 - first fixing plate, 102 - second fixing plate, 2 - first driving motor, 3 - first transmission assembly, 301 - first - stage gear, 302 - second - stage gear, 303 - first gear, 4 - link group, 401 - active link, 402 - driven link, 403 - support base, 404 - first connecting piece, 405 - second connecting piece, 5 - first balancing assembly, 501 - connecting plate, 502 - support rod, 503 - second driving motor, 504 - propeller, 505 - sleeve, 6 - second balancing assembly, 601 - third fixing plate, 602 - fourth fixing plate, 603 - third driving motor, 604 - second gear, 605 - second transmission assembly, 606 - balance rod, 607 - counterweight, 608 - connecting piece, 7 - main control module, 8 - power supply, 9 - angle sensor, 10 - first magnetic part, 11 - second magnetic part, 12 - power supply support, 13 - distance sensor, 14 - rotating shaft. Detailed Embodiments

[0070] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will, in conjunction with the embodiments of this application and the accompanying drawings, clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. The components of the embodiments of this application usually described and marked in the accompanying drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.

[0071] In the description of the embodiments of this application, it should be noted that the orientation or positional relationships indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships in which the invention is customarily placed during use. These are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0072] To enable those skilled in the art to better understand the technical solutions of this invention, the following will further introduce this invention in detail in conjunction with the accompanying drawings. It should be noted that with the Y-axis direction as the forward direction, the roll angle refers to the rotation of this device along the Y-axis direction, the yaw angle refers to the rotation of this device along the Z-axis direction, and the pitch angle refers to the rotation of this device along the X-axis direction. The directions of the X-axis, Y-axis, and Z-axis here are based on Figure 1 the directions in the accompanying drawings of the specification.

[0073] Embodiment 1

[0074] A bouncing robot, as Figures 1 - 4 shown, includes a fuselage 1 and a drive assembly.

[0075] The drive assembly includes two first drive motors 2, two sets of first transmission assemblies 3, and a link group 4. The two first drive motors 2 are respectively connected to the two sets of first transmission assemblies 3. The link group 4 includes two active links 401 and two driven links 402. One ends of the two active links 401 are respectively connected to the output ends of the two sets of first transmission assemblies 3. The other ends of the two active links 401 are respectively hinged to one ends of the two driven links 402. The other ends of the two driven links 402 are hinged to each other.

[0076] The first driving motor 2 and the first transmission assembly 3 are both connected to the fuselage 1.

[0077] A first connecting member 404 is connected between the driving link 401 and the driven link 402. One end of the first connecting member 404 is hinged to the driving link 401, and the other end of the first connecting member 404 is connected to the driven link 402. A second connecting member 405 is connected between the two driven links 402. One end of the second connecting member 405 is hinged to one of the driven links 402, and the other end of the second connecting member 405 is connected to the other second driven link 402.

[0078] A support base 403 is installed at the lower end of the second connecting member 405, and an anti-slip sticker is attached to the lower end of the support base 403.

[0079] The first transmission assembly 3 includes a first gear 303, a primary gear 301, and a secondary gear 302 that are meshed in sequence.

[0080] The first gear 303 is provided on the output shaft of the first driving motor 2, and the driving link 401 is connected to the secondary gear 302.

[0081] In this embodiment, the two driving links 401, the two driven links 402, and the two first driving motors 2 form a planar five-bar linkage. The planar five-bar linkage is a closed kinematic chain. The two first driving motors 2 are used as independent driving points to drive the two driving links 401 respectively, so as to realize precise takeoff angle control and takeoff height control; the closed kinematic chain structure also further enhances the structural stiffness and is convenient for maintaining the overall stability during landing.

[0082] In this embodiment, the first connecting member 404 and the second connecting member 405 serve as joint parts and play a role in connection and load bearing. The first connecting member 404 and the second connecting member 405 are hinged to the corresponding links through hinge members. This embodiment does not limit the hinge members, and the first connecting member 404 and the second connecting member 405 are made of aluminum alloy material to reduce weight.

[0083] The first transmission assembly 3 is a two-stage reduction gear set. Among them, the first gear 303 has 10 teeth, the primary gear 301 has 40 + 10 teeth, and the reduction ratio is 1:4. The secondary gear 302 has 50 teeth, and the reduction ratio is 1:5. Therefore, the reduction ratio of the first transmission assembly 3 is 1:20, so as to amplify the output torque of the first driving motor 2 by 20 times. In this embodiment, the primary gear 301 and the secondary gear 302 are made of copper alloy and POM materials respectively.

[0084] Embodiment 2

[0085] The difference between this embodiment and Embodiment 1 is that, as Figures 1 - 4As shown, a first balance assembly 5 is further provided on the fuselage 1.

[0086] The first balance assembly 5 includes a support rod 502, a second drive motor 503, and a propeller 504. The support rods 502 are symmetrically arranged on both sides of the fuselage 1. The second drive motor 503 is provided on the support rod 502, and the propeller 504 is connected to the second drive motor 503.

[0087] In this embodiment, the two propellers 504 are arranged in the X-axis direction, and the second drive motor 503 and the propeller 504 are provided on both support rods 502. The rotation speeds of the corresponding two propellers 504 are respectively controlled by the two second drive motors 503, and the roll angle of the overall device is adjusted by the thrust generated by the propellers 504, thereby preventing the device from rotating in the X-axis direction and keeping the device balanced.

[0088] Embodiment 3

[0089] The difference between this embodiment and Embodiment 2 is that, as Figures 1 - 4 shown, a second balance assembly 6 is further provided on the fuselage 1.

[0090] The second balance assembly 6 includes a third drive motor 603, a second transmission assembly 605, and a balance rod 606. The input end and the output end of the second transmission assembly 605 are respectively connected to the third drive motor 603 and the balance rod 606. Counterweights 607 are provided at both ends of the balance rod 606, and the third drive motor 603 is connected to the fuselage 1.

[0091] In this embodiment, the second balance assembly 6 is used to maintain the pitch angle of the overall device. The balance rod 606 is driven by the third drive motor 603 to rotate at different speeds, and the angular momentum generated during the rotation of the balance rod 606 is transmitted to the fuselage 1 to cause the fuselage 1 to be subjected to a torque effect, thereby adjusting the pitch angle of the device; in this embodiment, the function and structure of the second transmission assembly 605 are basically the same as those of the first transmission assembly 3, and both use a two-stage reduction gear set, and the function is to increase the torque effect, which will not be elaborated here.

[0092] Embodiment 4

[0093] The difference between this embodiment and Embodiment 3 is that, as Figures 1 - 4 shown, the fuselage 1 includes a first fixing plate 101 and a second fixing plate 102.

[0094] The first fixing plate 101 and the second fixing plate 102 are connected by a plurality of connecting columns. The first transmission assembly 3 is arranged between the first fixing plate 101 and the second fixing plate 102. The first driving motor 2 and the second balancing assembly 6 are respectively located on both sides of the first fixing plate 101. The first driving motor 2 and the first balancing assembly 5 are connected to the first fixing plate 101, and the output shaft of the first driving motor 2 penetrates through the first fixing plate 101 to connect the first driving assembly.

[0095] The first balancing assembly 5 further includes a connecting plate 501. The supporting rods 502 are symmetrically arranged on both sides of the connecting plate 501. The connecting plate 501 is located between the first fixing plate 101 and the second fixing plate 102, and the connecting plate 501 is connected to the first fixing plate 101 and the second fixing plate 102.

[0096] A sleeve 505 is arranged on the connecting plate 501. The third driving motor 603 is arranged in the sleeve 505.

[0097] The second balancing assembly 6 includes a third fixing plate 601 and a fourth fixing plate 602.

[0098] The second transmission assembly 605 is arranged between the third fixing plate 601 and the fourth fixing plate 602. The third driving motor 603 penetrates through the fourth fixing plate 602 and is connected to the input end of the second transmission assembly 605. A rotating shaft 14 is connected to the output end of the second transmission assembly 605. The rotating shaft 14 penetrates through the third fixing plate 601 and extends outwards. A connecting member 608 is arranged on the rotating shaft 14. The balance rod 606 is connected to the connecting member 608.

[0099] In this embodiment, the first transmission assembly 3 is clamped between the first fixing plate 101 and the second fixing plate 102 and is limited by the connecting columns between the first fixing plate 101 and the second fixing plate 102. The first fixing plate 101 and the second fixing plate 102 form the fuselage 1, which plays a role in connection and load-bearing. In addition, the connecting plate 501 is clamped between the first fixing plate 101 and the second fixing plate 102, and the supporting rods 502 extend upwards outside the fuselage 1. In this embodiment, to reduce the weight of the device, the first fixing plate 101 and the second fixing plate 102 are made of carbon fiber material, which has high strength and light weight.

[0100] In this embodiment, the fourth fixing plate 602 is close to the second fixing plate 102, while the third fixing plate 601 and the first fixing plate 101 are far away from each other. The connecting plate 501, the third fixing plate 601 and the fourth fixing plate 602 all play a role in connection and load-bearing. The third fixing plate 601 and the fourth fixing plate 602 are clamped with each other to form the frame of the second balancing assembly 6, which limits and fixes the second transmission assembly 605.

[0101] Example 5

[0102] The difference between this embodiment and Embodiment 4 is that, as Figures 1 - 4 shown, a power supply support 12 is provided on the second fixing plate 102, a power supply 8 is provided on the power supply support 12, and a distance sensor 13 is provided on each of the left and right sides and the lower end of the power supply support 12 and the upper end of the sleeve 505,

[0103] an angle sensor 9 corresponding to the first driving motor 2 is provided on the second fixing plate 102, and an angle sensor 9 corresponding to the rotating shaft 14 is provided on the fourth fixing plate 602.

[0104] An IMU module is further provided on the second fixing plate 102.

[0105] A main control module 7 is provided on the connecting plate 501. The main control module 7 integrates a motor driving module. The motor driving module is electrically connected to the two first driving motors 2 respectively. The main control module 7 is electrically connected to the second driving motor 503, the third driving motor 603, the distance sensor 13, the angle sensor 9 and the IMU module respectively. The main control module 7, the motor driving module, the first driving motor 2, the second driving motor 503, the third driving motor 603, the distance sensor 13, the angle sensor 9 and the IMU module are electrically connected to the power supply 8 respectively.

[0106] In this embodiment, a first magnetic member 10 is provided at one end of the output shaft of the first driving motor 2 close to the second fixing plate 102. An angle sensor 9 corresponding to the first magnetic member 10 is provided on the second fixing plate 102. A second magnetic member 11 is provided at one end of the rotating shaft 14, and the second magnetic member 11 penetrates through the fourth fixing plate 602 and extends outwards. An angle sensor 9 corresponding to the second magnetic member 11 is further provided on the fourth fixing plate 602. The angle sensor 9 is a magnetic encoding angle sensor 9. Taking the rotation of the output shaft of the first driving motor 2 as an example, when the output shaft of the first driving motor 2 rotates to drive the first magnetic member 10 to rotate, the magnetic encoding angle sensor 9 corresponding to the first driving motor 2 detects the magnetic field change of the first magnetic member 10, realizing non-contact measurement of the rotation angle of the output shaft of the first driving motor 2, and providing data for subsequent control of the output torque of the first driving motor 2; the cooperation between the second magnetic member 11 and the angle sensor 9 can measure the rotation angle of the rotating shaft 14, obtain the angle difference and calculate the required rotational speed, so as to adjust the rotational speed of the third driving motor 603;

[0107] In this embodiment, the main control module 7 uses STM32F405RGT6, and the on-board motor drive chip can directly drive the second drive motor 503 and the third drive motor 603; the motor drive module uses STM32F405RGT6 as the main control; the first drive motor 2 uses a brushless motor with the model of Sunnysky X2302-V3 1500KV; the second drive motor 503 is a 716 coreless motor; the distance sensor 13 uses a TOF distance sensor 13, and the IMU module includes a BNO085 attitude sensor, an ICM42688P attitude sensor, and an MS5611 barometer. Among them, the BNO085 is used to obtain accurate angle information, the ICM42688P uses the SPI interface and can read acceleration and angular velocity information at a rate of 20M. In actual control, the main control obtains acceleration and angular velocity at a rate of 1KHz and obtains attitude angles at a rate of 100Hz. The measurement range of the MS5611 barometer is 10-1200 mbar, the resolved height accuracy is 10 cm, and it has a 20M SPI interface for fast data reading. The distance sensor 13 uses a TOF distance sensor and can measure the distance between the device and obstacles around it.

[0108] Embodiment 6

[0109] A bouncing method for a bouncing machine includes the following steps:

[0110] Step 1: Takeoff preparation

[0111] The main control module 7 controls the two first drive motors 2 to contract the two active linkages 401 until the angle between the active linkage 401 and the plumb line is 140°, and then controls the first drive motor 2 to stop. This angle is Figure 1 the α angle in the figure. The IMU module monitors the attitude of the fuselage 1 and controls the second drive motor 503 to drive the propeller 504 to adjust the roll angle and the third drive motor 603 to drive the balance bar 606 to adjust the pitch angle;

[0112] Step 2: Takeoff

[0113] The main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angle, compares it with the target takeoff pitch angle, and controls the output torque of the two first drive motors 2. The two first drive motors 2 drive the two active linkages 401 to push downward at the same time, and cooperate with the third drive motor 603 to drive the balance bar 606 to rotate, so as to achieve forward and backward jumps;

[0114] Step 3: Leaving the ground

[0115] The main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angle, and controls the second drive motor 503 to drive the propeller 504 to adjust the roll angle to correct the heading. It controls the third drive motor 603 to drive the balance bar 606 to adjust the pitch angle, and obtains obstacle information through the distance sensor 13, so as to adjust the output torque of the first drive motor 2 in the next stage.

[0116] Step 4: Landing

[0117] The acceleration and the distance from the ground are respectively detected through the IMU module and the distance sensor 13. When the acceleration is greater than the acceleration preset value or the distance from the ground is less than the ground preset value, the first drive motor 2 is controlled to contract the active link 401, and the third drive motor 603 is controlled to drive the balance bar 606 to adjust the pitch angle.

[0118] Embodiment 7

[0119] The difference between this embodiment and Embodiment 6 is that the attitude adjustment in Steps 1, 2, 3, and 4 includes the following steps:

[0120] Step a: Adjustment of the roll angle

[0121] The main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angle. When there is a deviation between the roll angle and the preset roll angle, the main control module 7 controls the motor drive module, and then separately controls the two first drive motors 2 to make the two active links 401 rotate separately, and then adjusts the position of the support base 403 to offset part of the roll angle deviation, so that the device can maintain stability on uneven ground as much as possible.

[0122] In this step, the roll angle adjustment can also be achieved by controlling the two second drive motors 503 to drive the two propellers 504 to rotate in the same direction, so as to realize the joint adjustment of the roll angle by the first drive motor 2 and the second balance assembly 6.

[0123] Step b: Adjustment of the pitch angle

[0124] The main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angle. When there is a deviation between the pitch angle and the pitch angle when the device is balanced, the angle difference of the rotating shaft 14 is obtained through the magnetic encoding angle sensor 9, and the main control module 7 calculates the rotation speed required for the rotating shaft 14 to overcome the pitch angle deviation, so as to control the third drive motor 603 to operate at a certain rotation speed, realizing the adjustment of the pitch angle of the device. The faster the rotation speed, the greater the torque generated by the balance bar 606 on the fuselage 1.

[0125] Step c: Adjustment of the course deviation angle

[0126] The main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angles. When there is a deviation between the course deviation angle and the course deviation angle at the time of device balance, it controls the two second drive motors 503 to rotate at different speeds or in different directions, and relies on the thrust generated by the propellers 504 to correct the roll angle, as Figure 1 shown. It is set that the counterclockwise rotation of the device along the Z-axis is the negative roll angle, and the clockwise rotation along the Z-axis is the positive roll angle. Taking the device with a negative roll angle as an example, first, the BNO085 attitude sensor detects and calculates the negative roll angle of the device, compares it with the preset roll angle at balance to calculate the difference value, and then the main control module 7 controls the second drive motor 503 on the left to drive the propeller 504 to generate forward thrust, and at the same time controls the second drive motor 503 on the right to drive the propeller 504 to generate backward thrust, thereby realizing the correction of the roll angle. When the device is in a positive roll angle, the control process is opposite to the above and will not be elaborated here. During this process, the attitude sensor monitors the attitude angles in real time to control the start and stop of the second drive motor 503.

[0127] Embodiment 8

[0128] The difference between this embodiment and Embodiment 7 is that step 2 specifically includes the following steps:

[0129] Step 2.1: Control of takeoff intensity

[0130] Four TOF distance sensors 13 detect obstacles around the device. When there is an obstacle above, the output torque of the first drive motor 2 is controlled according to the measured distance to adjust the takeoff height. When the distance above is less than the safety preset distance, the height of the obstacle in front is detected by the TOF distance sensor 13, and the output torque of the first drive motor 2 is controlled to adjust the takeoff height, so that the takeoff height of the device is reasonable, reducing power waste and the possibility of damage.

[0131] Step 2.1: Attitude control

[0132] The adjustment of the roll angle and course deviation angle of the device is the same as in step a and step c, and will not be elaborated here.

[0133] Step 2.2: Control of takeoff direction

[0134] The main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angles of the overall device, uses the current pitch angle of the device as the measured value, compares it with the target pitch value, so that the main control module 7 controls the output of different torques of the two first drive motors 2, and controls the third drive motor 603 to drive the balance bar 606 to rotate, jointly realizing forward and backward jumps.

[0135] Embodiment 9

[0136] The difference between this embodiment and Embodiment 7 is that the following steps are further included in Step 3:

[0137] Step 3.1: Ascending attitude control

[0138] The control of the roll angle, pitch angle, and yaw angle of the device is the same as in Steps a, b, and c, which will not be elaborated here. However, it should be noted that during the process from takeoff to the highest point, the pitch angle needs to be gradually adjusted to 0, and this adjustment process is the same as in Step b.

[0139] Step 3.2: Descending attitude control

[0140] During the descent, the main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angle, and controls the third drive motor 603 to drive the balance bar 606 to rotate to adjust the pitch angle according to the attitude angle and the current machine height, so that the pitch angle remains 0.

[0141] Step 3.3: Obstacle scanning

[0142] In the air, the TOF distance sensor is used to collect the size information of ground obstacles, such as the height of the front obstacle and the jumping height of itself, etc. These information facilitate the machine to adjust the jumping height and jumping distance through the main control module 7 in the next stage of the jumping process.

[0143] Embodiment 10

[0144] The difference between this embodiment and Embodiment 7 is that the following steps are further included in Step 4:

[0145] Step 4.1: Primary pitch angle adjustment

[0146] When the device touches the ground, the main control module 7 reads the nine-axis data in the IMU module, calculates the attitude angle, and controls the two first drive motors 2 to generate different output torques by the main control module 7 to achieve different buffering effects of the link group 4 until the IMU module detects that the pitch angle is less than the preset value, so that the device maintains an upright state.

[0147] Step 4.2: Secondary pitch angle adjustment

[0148] After performing Step 4.1, the pitch angle adjustment in Step b is carried out, which is the secondary pitch angle adjustment, so as to keep the device stable.

[0149] Step 4.3: Balance control

[0150] Repeat the processes of Step b and Step c to adjust the roll angle and yaw angle, and finally achieve a smooth landing.

[0151] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A bouncing robot, characterized in that: comprising a body (1) and a drive assembly, The driving assembly comprises two first driving motors (2), two groups of first transmission assemblies (3) and a connecting rod assembly (4); the two first driving motors (2) are respectively connected to the two groups of first transmission assemblies (3); the connecting rod assembly (4) comprises two active connecting rods (401) and two driven connecting rods (402); one end of the two active connecting rods (401) is respectively connected to the output ends of the two groups of first transmission assemblies (3); the other ends of the two active connecting rods (401) are respectively hinged to one end of the two driven connecting rods (402); and the other ends of the two driven connecting rods (402) are hinged to each other. The first drive motor (2) and the first transmission assembly (3) are both connected to the fuselage (1).

2. A jumping robot according to claim 1, characterized in that: The fuselage (1) is also provided with a first balancing component (5). The first balancing assembly (5) comprises a support rod (502), a second drive motor (503) and a propeller (504); the support rods (502) are symmetrically arranged on both sides of the fuselage (1); the second drive motor (503) is arranged on the support rod (502); the propeller (504) is connected to the second drive motor (503); The first balancing component (5) is used to adjust the yaw angle and / or the roll angle.

3. A jumping robot according to claim 1 or 2, characterized in that: The fuselage (1) is also provided with a second balancing component (6). The second balancing assembly (6) comprises a third driving motor (603), a second transmission assembly (605) and a balancing rod (606); an input end and an output end of the second transmission assembly (605) are respectively connected to the third driving motor (603) and the balancing rod (606); counterweight blocks (607) are provided at both ends of the balancing rod (606); the third driving motor (603) is connected to the fuselage (1); The second balancing component (6) is used to adjust the pitch angle.

4. A jumping robot according to claim 2, characterized in that: The fuselage (1) comprises a first fixing plate (101) and a second fixing plate (102), and the fuselage (1) is also provided with a second balancing assembly (6). The first fixing plate (101) and the second fixing plate (102) are connected via a plurality of connecting columns; the first transmission assembly (3) is arranged between the first fixing plate (101) and the second fixing plate (102); the first drive motor (2) and the first balancing assembly (5) are both connected to the first fixing plate (101); and the output shaft of the first drive motor (2) passes through the first fixing plate (101) and is connected to the first transmission assembly (3).

5. A jumping robot according to claim 4, characterized in that: The first balancing assembly (5) further comprises a connecting plate (501), the supporting rods (502) being symmetrically arranged on both sides of the connecting plate (501), the connecting plate (501) being located between the first fixing plate (101) and the second fixing plate (102), and the connecting plate (501) being connected to the first fixing plate (101) and the second fixing plate (102). The connecting plate (501) is provided with a sleeve (505), and the third driving motor (603) is arranged in the sleeve (505).

6. A jumping robot according to claim 5, characterized in that: The second balancing assembly (6) comprises a third fixing plate (601) and a fourth fixing plate (602), The second transmission assembly (605) is arranged between the third fixed plate (601) and the fourth fixed plate (602), the third drive motor (603) passes through the fourth fixed plate (602) and is connected to the input end of the second transmission assembly (605), the output end of the second transmission assembly (605) is connected to a rotating shaft (14), the rotating shaft (14) passes through the third fixed plate (601) and extends outward, the rotating shaft (14) is provided with a connecting piece (608), and the balance bar (606) is connected to the connecting piece (608).

7. The jumping robot according to claim 3, characterized in that: The first transmission assembly (3) comprises a first gear (303), a first gear (301) and a second gear (302) which are meshed in sequence. The first gear (303) is arranged on the output shaft of the first driving motor (2), and the active connecting rod (401) is connected to the secondary gear (302). The structure of the second transmission assembly (605) is consistent with the structure of the first transmission assembly (3).

8. The jumping robot according to claim 5, characterized in that: A power supply support (12) is provided on the second fixing plate (102), a power supply (8) is provided on the power supply support (12), and a distance sensor (13) is provided on the left and right sides and the lower end of the power supply support (12) and the upper end of the sleeve (505), respectively. The second fixing plate (102) is provided with an angle sensor (9) corresponding to the first drive motor (2), and the fourth fixing plate (602) is provided with an angle sensor (9) corresponding to the rotating shaft (14). An IMU module is also provided on the second fixing plate (102).

9. The jumping robot according to claim 8, characterized in that: The connecting plate (501) is provided with a main control module (7), the main control module (7) is integrated with a motor drive module, the motor drive modules are electrically connected to the two first drive motors (2) respectively, the main control module (7) is electrically connected to the second drive motor (503), the third drive motor (603), the distance sensor (13), the angle sensor (9) and the IMU module respectively, and the main control module (7), the motor drive module, the first drive motor (2), the second drive motor (503), the third drive motor (603), the distance sensor (13), the angle sensor (9) and the IMU module are electrically connected to the power supply (8) respectively.

10. A bouncing method of a bouncing robot, implemented by using a bouncing robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Preparation for the jump The main control module (7) controls two first drive motors (2) to retract two active connecting rods (401), monitors the posture of the fuselage (1) through the IMU module, controls the second drive motor (503) to drive the propeller (504) to adjust the yaw angle and the roll angle, and controls the third drive motor (603) to drive the balance bar (606) to adjust the pitch angle; Step 2: Take off The posture of the fuselage (1) is monitored by an IMU module, and the output torque of the two first drive motors (2) is controlled by comparing it with the target take-off pitch angle. The two first drive motors (2) simultaneously drive the two active connecting rods (401) to push downward, and cooperate with the third drive motor (603) to drive the balance rod (606) to rotate, thereby achieving forward and backward jumping; Step 3: Lift off the ground The posture of the fuselage (1) is monitored through the IMU module, and the second drive motor (503) is controlled to drive the propeller (504) to adjust the yaw angle and the heading, and the third drive motor (603) is controlled to drive the balance bar (606) to adjust the pitch angle, and obstacle information is obtained through the distance sensor (13), so as to adjust the output torque of the first drive motor (2) in the next stage; Step 4: Landing The acceleration and the distance from the ground are detected respectively by an IMU module and a distance sensor (13); when the acceleration is greater than a preset acceleration value or the distance from the ground is less than a preset distance from the ground, the first drive motor (2) is controlled to cause the active link (401) to contract, and the third drive motor (603) is controlled to drive the balancing rod (606) to adjust the pitch angle.

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