Crawling and jumping robot

Abstract

The application discloses a crawling and jumping robot, which comprises a base plate, a cover plate, a motor bracket, a motor positioning support, a driving motor, a power supply, elastic front legs, elastic rear legs, a rear leg connecting rod and a shifting piece; the motor bracket is arranged below the base plate and connected with the base plate and the cover plate through connecting columns; the driving motor is arranged on the motor bracket, and a motor positioning support is arranged on a motor fixing shaft; the upper end of the motor positioning support is connected with the cover plate; the power supply is arranged to provide direct current for the driving motor; the elastic front legs and the elastic rear legs are used for providing support and storing elastic potential energy; the shifting piece is installed on a motor output shaft and used for realizing various movements of the robot under the driving of the driving motor. The robot has the advantages of high anti-overturning performance, good movement robustness, environment self-adapting turning over after toppling, multiple gait modes, high movement efficiency and the ability of realizing unbound movement in most unknown environments. The application has the characteristics of low cost, simple structure and manufacturing process and miniaturization.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a crawling and jumping robot. Background Technology

[0002] Over the past few years, many scholars have conducted extensive research on rigid jumping robots, focusing on the control and stability of the robot's jumping trajectory, and have achieved relatively complete technical solutions. However, due to the disadvantages of rigid robots, such as large mass and size, complex control systems, susceptibility to collision damage, and poor human-robot interaction safety, their application in complex environments is greatly limited.

[0003] To overcome these problems, research has emerged focusing on miniature, lightweight, and flexible jumping robots. For example, the invention patent CN112550515B, filed by Tsinghua University Shenzhen International Graduate School, discloses a miniature jumping robot with controllable jumping direction. This robot consists of a body structure, leg structure, a locking structure made of electrode layers or magnetic materials, and an SMA (Short-Range Mullion) drive structure. Its braking principle involves fixing the locking structure to the ground through electrostatic adsorption or magnetic force. Subsequently, energizing the drive structure causes a change in stiffness, generating elastic potential energy. When the lock is released, the elastic potential energy is released to the robot's legs, generating jumping motion. By changing the release sequence of the locking structure, the robot's jumping direction can be adjusted. However, this robot uses shape memory materials as brakes, which have long cooling times, slow response, and poor motion continuity. Furthermore, when the locking structure uses magnetic materials, it requires an external magnetic field. Additionally, if direct heating is used to drive the shape memory material, an external heating device is required; if electric current heating is used, connecting wires are needed, making it difficult to achieve unconstrained actuation. For example, the invention patent CN110654471B filed by Tsinghua University Shenzhen International Graduate School discloses a miniature bouncing robot. This robot consists of elastic front legs, elastic hind legs, a connecting structure, a braking structure, and a shape memory material driving structure. Its movement mechanism involves the robot's front and hind legs being attracted together by the braking structure. A voltage is then applied to the driving structure, causing the robot's body to deform and generate a driving force. When the driving force exceeds the attraction force, the robot's front and hind legs spring apart, resulting in a jump. However, the main drawback of this robot is the inability to control the jump direction, and the shape memory material driving mechanism requires connecting wires.

[0004] Therefore, there is an urgent need for a crawling and jumping robot that can solve the problem of limited movement for most robots in confined spaces or complex environments. Summary of the Invention

[0005] The present invention aims to overcome the shortcomings of the prior art and provide a crawling and jumping robot that can be applied to deep space, deep earth and polar space exploration and survey, monitoring and maintenance of narrow work spaces such as ventilation ducts, and auxiliary rescue in multi-obstacle environments such as earthquake disaster areas.

[0006] To achieve the above objectives, the present invention provides a crawling and jumping robot, comprising a base plate, a cover plate, a motor bracket, a motor positioning bracket, a drive motor, a power supply, elastic front legs, elastic rear legs, rear leg connecting rods, and a lever. The cover plate is arranged parallel above the base plate. The motor bracket is disposed below the base plate and connected to the base plate and the cover plate via connecting posts located at the top of its two side walls. The drive motor is a dual-axis motor mounted on the motor bracket. The two motor output shafts of the dual-axis motor extend to the left and right sides of its housing, respectively. Motor fixing shafts are provided at the front ends of the left and right sides of the drive motor housing, and motor fixing shafts are mounted on the motor fixing shafts. The system includes a motor positioning bracket; the motor positioning bracket extends vertically through the base plate, and its upper end is connected to the cover plate; a power supply is located on the base plate to provide DC current to the drive motor; two elastic front legs are located on both sides of the bottom front end of the base plate; two elastic rear legs are located on both sides of the bottom rear end of the base plate, and the two elastic rear legs are connected by a rear leg connecting rod; the paddle includes a paddle connector and a flexible tip located at the rear end of the paddle connector; there are two paddles, and the two paddles are respectively mounted on the two motor output shafts for realizing the robot's movement under the drive of the drive motor.

[0007] Furthermore, the front end of the paddle connector is mounted on the motor output shaft, and the rear end of the paddle connector is connected to the head end of the flexible tip, which is a sheet-like structure that gradually thins from the head end to the tail end.

[0008] Furthermore, the rear end of the paddle connector is provided with a connecting hole; the front end of the flexible tip is provided with a connecting shaft that matches the connecting hole.

[0009] Furthermore, the connecting post includes a long connecting post and a short connecting post. The long connecting post extends vertically through the substrate and its upper end is connected to the cover plate. The upper end of the short connecting post is fixedly connected to the substrate.

[0010] Furthermore, the cross-sectional shape of the motor output shaft and the rear leg connecting rod is D-shaped; the cross-sectional shape of the mating hole on the paddle and the elastic rear leg is D-shaped.

[0011] Furthermore, the two wires of the drive motor are respectively connected to the top surface of the substrate and the bottom surface of the cover plate.

[0012] Furthermore, the motor output shaft is located below the motor fixed shaft, and the two paddles are respectively located on the outer sides of the two elastic front legs.

[0013] Furthermore, the elastic front leg has an arc-shaped structure, and the elastic rear leg has a C-shaped, L-shaped, or Z-shaped structure.

[0014] Furthermore, the drive motor is a DC drive motor, the power source is a button battery, the substrate, motor bracket, motor positioning bracket, rear leg connecting rod, and paddle connector are 3D printed from polylactic acid material, the elastic front leg and the elastic rear leg are 3D printed from polyether block amide material, and the cover plate and the flexible tip are 3D printed from TPU material.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention provides a crawling and jumping robot that moves by mimicking the jumping of small creatures in nature; the robot has a certain carrying capacity and can carry small sensing devices for detection work.

[0017] 2. The crawling and jumping robot of the present invention has low cost, simple structure and manufacturing process, and can be miniaturized; the robot has strong anti-tipping ability, good motion robustness, and can achieve environmental adaptive overturning after tipping over; at the same time, the robot has multiple gait modes, strong environmental adaptability, and can achieve obstacle avoidance in the plane and obstacle crossing in the vertical plane; it has high motion efficiency and can achieve unrestricted movement in most unknown environments.

[0018] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of a crawling and jumping robot according to an embodiment of the present invention;

[0021] Figure 2 This is an exploded structural diagram of a crawling and jumping robot according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the elastic rear leg of another embodiment of the present invention;

[0023] Figure 4This is a schematic diagram of the crawling gait of the crawling and jumping robot according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the jumping gait of the crawling and jumping robot according to an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the rolling gait of the crawling and jumping robot according to an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the obstacle-crossing and stair-climbing experiment of the crawling and jumping robot according to an embodiment of the present invention;

[0027] In the figure: 1-Baseboard; 2-Cover plate; 3-Motor bracket; 4-Motor positioning bracket; 5-Drive motor; 5.1-Motor output shaft; 5.2-Motor fixing shaft; 6-Power supply; 7-Elastic front leg; 8-Elastic rear leg; 9-Rear leg connecting rod; 10-Paddle; 10.1-Paddle connector; 10.2-Flexible tip. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Equivalent transformations or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0029] Please see Figure 1 and Figure 2 This invention provides a crawling and jumping robot, comprising a base plate 1, a cover plate 2, a motor bracket 3, a motor positioning bracket 4, a drive motor 5, a power supply 6, two elastic front legs 7, two elastic hind legs 8, hind leg connecting rods 9, and two levers 10; the specific structure is as follows:

[0030] The cover plate 2 is arranged parallel above the substrate 1 and can be pressed up and down as needed to turn the power on or off. The motor bracket 3 is arranged below the substrate 1 and is connected to the substrate 1 and the cover plate 2 through connecting posts located at the top of its two side walls; wherein, each connecting post at the top of the wall includes a long connecting post and a short connecting post, the long connecting post is arranged vertically through the substrate 1 and is fixedly connected to the substrate, and the upper end of the long connecting post is movably connected to the cover plate 2; the upper end of the short connecting post is fixedly connected to the substrate 1. The drive motor 5 is a dual-axis motor mounted on the motor bracket 3. The two output shafts 5.1 of this dual-axis motor extend to the left and right sides of its housing, respectively. Motor fixing shafts 5.2 are located at the front ends of the left and right sides of the drive motor housing. Motor positioning brackets 4 for positioning the drive motor are mounted on the motor fixing shafts 5.2. Alternatively, the motor fixing shafts 5.2 can be a single shaft penetrating the drive motor, with motor positioning brackets 4 at both ends; or, there can be one motor fixing shaft 5.2 on each side of the drive motor 5, with a motor positioning bracket 4 mounted on each of the two fixing shafts 5.2. The motor positioning brackets 4 extend vertically through the base plate 1, and their upper ends are movably connected to the cover plate 2. A power supply 6 is fixedly mounted on the base plate 1 to provide DC current to the drive motor 5. The two power lines of the drive motor 5 are spot-welded to the top surface of the base plate 1 and the bottom surface of the cover plate 2, respectively. Two elastic front legs 7 are respectively located on both sides of the bottom front end of the base plate 1, and two elastic rear legs 8 are respectively located on both sides of the bottom rear end of the base plate 1. The two elastic rear legs 8 are connected by a rear leg connecting rod 9 to ensure synchronous movement of the two elastic rear legs. Two levers 10 are respectively mounted on two motor output shafts 5.1, used to realize the robot's crawling, jumping, and flipping movements under the drive of the drive motor 5. In this structure, the cover plate 2 has through holes. The cover plate 2 can slide up and down on the connecting column and the motor positioning bracket 4 through these through holes. Pressing the cover plate down connects the wire to the battery and energizes it; conversely, pulling the cover plate up disconnects the wire from the battery and de-energizes it. The cover plate 2 uses friction for limiting the movement, and the reserved holes on the cover plate are slightly smaller than the cross-sectional dimensions of the corresponding connecting column. The elastic front legs 7 and elastic rear legs 8 serve as a support for the robot frame, improving the robot's stability. The lever 10 acts directly on the rear leg link 9, causing the rear leg link to shift, which in turn causes the elastic rear leg 8 to deform. The elastic rear leg stores elastic potential energy, providing energy for the robot to jump.

[0031] In one specific embodiment, each of the paddles 10 includes a paddle connector 10.1 and a flexible tip 10.2 located at the rear end of the paddle connector 10.1. The front end of the paddle connector 10.1 is mounted on the motor output shaft 5.1, and the rear end of the paddle connector 10.1 is connected to the head end of the flexible tip 10.2. The flexible tip 10.2 is a sheet-like structure that gradually thins from the head end to the tail end. A connecting hole is provided at the rear end of the paddle connector 10.1, and a connecting shaft matching the connecting hole is provided at the front end of the flexible tip 10.2, which is inserted into the connecting hole. In this structural configuration, the paddle connector 10.1 provides support when the robot rolls over, and works with the flexible tip 10.2 to assist the robot in adjusting its posture. Simultaneously, the paddle connector 10.1 connects the motor output shaft and the flexible tip 10.2, providing a transmission function. The flexible tip 10.2 generates friction with the ground, enabling the robot to move.

[0032] In one specific embodiment, the cross-sectional shape of the motor output shaft 5.1 and the rear leg connecting rod 9 is D-shaped; the cross-sectional shape of the mating hole on the paddle 10 and the elastic rear leg 8 is D-shaped; this structural arrangement can limit the connection between the motor output shaft 5.1 and the elastic rear leg 8, and the structural arrangement is reasonable.

[0033] In one specific embodiment, the motor output shaft 5.1 is located below the motor fixed shaft 5.2, and the two paddles 10 are located on the outside of the two elastic front legs 7 respectively; this structural arrangement can avoid interference between the paddles and the elastic front legs 7 during the movement of the paddles, and the structural arrangement is reasonable.

[0034] In one specific implementation, the elastic foreleg 7 has an arc-shaped structure, and the elastic hind leg 8 has an elastic C-shaped, L-shaped, or Z-shaped structure. In crawling, jumping, and rolling gait experiments, the elastic hind leg 8 adopts the following design: Figure 1 The elastic C-shaped hind leg shown; in obstacle crossing and stair climbing experiments, the elastic hind leg 8 adopts the following configuration: Figure 3 The elastic L-shaped rear leg is shown. In addition, the elastic rear leg 8 can also be replaced by other elastic legs of different shapes and cross sections, such as Z-shaped, as required.

[0035] The crawling and jumping robot of this invention requires the drive motor 5 to provide high output torque at a relatively low operating voltage; therefore, a 1218-N20 DC drive motor is used. The power supply is a CR2025 button battery. The base plate 1, motor bracket 3, motor positioning bracket 4, rear leg connecting rod 9, and paddle connector 10.1 need to have certain rigidity, strength, lightweight, and ease of manufacture; therefore, polylactic acid (PLA) material is used for 3D printing. The elastic front leg 7 and elastic rear leg 8 need to have excellent flexibility, resilience, and durability; therefore, polyether block amide (PEBA) material is used for 3D printing. The cover plate 2 and flexible tip 10.2 are 3D printed using TPU material.

[0036] The assembly steps of the crawling and jumping robot of the present invention are as follows: First, the drive motor 5 with wires connected is installed on the bottom surface of the substrate 1 with reserved mounting holes through the motor bracket 3 and fixed with the motor positioning bracket 3 and the fixing shaft. Then, the battery 6 is fixed on the top surface of the substrate 1 using the cover plate 2. Next, the flexible tip 10.2 is installed on the paddle connector 10.1 with reserved mounting holes. Finally, the paddle connector with flexible tip is installed on the motor output shaft 5.1, and the two elastic front legs 7 and two elastic rear legs 8 are respectively installed on the bottom surface of the substrate 1. When the cover plate is pressed down to contact the battery, the motor is powered on, and the robot prototype is finally completed.

[0037] The crawling and jumping robot of this invention can achieve three different movement modes. The first is crawling, in which the robot can achieve continuous and stable straight-line crawling. The second is jumping, in which the robot can complete continuous large-displacement jumps several times its own body length by storing and rapidly releasing elastic potential energy. The third is rolling, in which the robot can recover from a fallen state to a standing posture and autonomously enter crawling (jumping) movement. Through the combination and conversion of the above three movement modes, the robot has the ability to stably climb stairs and cross obstacles, and can overcome obstacles in most environments to stably perform tasks, exhibiting good environmental adaptability. Specifically:

[0038] (1) Crawling movement: such as Figure 4 As shown, the robot's crawling mechanism is that the drive motor drives the paddle to rotate, so that the flexible tip of the paddle contacts the ground and forms a temporary anchor through the friction between the flexible tip and the ground. As the paddle rotates, the robot body moves forward in an arc-shaped trajectory with the contact point as the center. Then the paddle continues to rotate, and its flexible tip leaves the ground, completing one cycle of crawling gait.

[0039] (2) Jumping movements: such as Figure 5 As shown, the robot's jumping motion is achieved by mimicking the jumping of frogs in nature. Its mechanism involves a drive motor rotating a lever, causing a flexible tip to deform the robot's elastic leg, storing elastic potential energy. When the deformation causes a sufficiently large displacement at the end of the elastic leg, the flexible tip instantly separates from the leg, and the stored elastic potential energy is instantly released and converted into kinetic energy, completing one cycle of jumping gait.

[0040] (3) Rolling over exercise: such as Figure 6As shown, when the robot rolls over, the supporting action of the lever connector causes the robot's body to form a certain angle with the ground. At this angle, the flexible tip contacts the ground, causing the robot to roll backward. Subsequently, the ground provides a reaction force to the flexible tip, preventing the lever from rotating. At this time, the drive motor drives the robot's body to rotate, lifting the robot's body and elastic hind legs, while the curved elastic front legs touch the ground. Then, a first frictional force is generated between the flexible tip and the ground, forming a temporary anchor. Since the first frictional force at the anchor point is greater than the second frictional force between the curved front legs and the ground, the curved elastic front legs slide forward, and the robot's body continues to rotate until the elastic hind legs land, completing one cycle of the rollover motion.

[0041] (4) The process of the robot's obstacle crossing and stair climbing experiments, such as Figure 7 As shown.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A crawling and jumping robot, characterized in that, The system includes a base plate (1), a cover plate (2), a motor bracket (3), a motor positioning bracket (4), a drive motor (5), a power supply (6), elastic front legs (7), elastic rear legs (8), a rear leg connecting rod (9), and a lever (10). The cover plate (2) is arranged parallel above the base plate (1). The motor bracket (3) is located below the base plate (1) and is connected to the base plate (1) and the cover plate (2) through connecting posts located at the top of its two side walls. The drive motor (5) is a dual-axis motor mounted on the motor bracket (3). The two motor output shafts (5.1) of the dual-axis motor extend to the left and right sides of its housing, respectively. Motor fixing shafts (5.2) are provided at the front ends of the left and right sides of the drive motor housing. Motor positioning brackets (4) are installed on the motor fixing shafts (5.2). The support bracket (4) is installed vertically through the base plate (1), and its upper end is connected to the cover plate (2); the power supply (6) is installed on the base plate (1) to provide DC current to the drive motor (5); the elastic front legs (7) are two located on both sides of the bottom front end of the base plate (1); the elastic rear legs (8) are two located on both sides of the bottom rear end of the base plate (1), and the two elastic rear legs (8) are connected by a rear leg connecting rod (9); the paddle (10) includes a paddle connector (10.1) and a flexible tip (10.2) located at the rear end of the paddle connector (10.1); there are two paddles (10), and the two paddles (10) are respectively installed on the two motor output shafts (5.1) to realize the movement of the robot under the drive of the drive motor (5).

2. The crawling and jumping robot according to claim 1, characterized in that, The front end of the paddle connector (10.1) is mounted on the motor output shaft (5.1), and the rear end of the paddle connector (10.1) is connected to the head end of the flexible tip (10.2). The flexible tip (10.2) is a sheet-like structure that gradually thins from the head end to the tail end.

3. The crawling and jumping robot according to claim 2, characterized in that, The rear end of the paddle connector (10.1) is provided with a connecting hole; the front end of the flexible tip (10.2) is provided with a connecting shaft that matches the connecting hole.

4. The crawling and jumping robot according to claim 1, characterized in that, The connecting post includes a long connecting post and a short connecting post. The long connecting post extends through the substrate (1) from top to bottom and its upper end is connected to the cover plate (2). The upper end of the short connecting post is fixedly connected to the substrate (1).

5. The crawling and jumping robot according to claim 1, characterized in that, The cross-sectional shape of the motor output shaft (5.1) and the rear leg connecting rod (9) is D-shaped; the cross-sectional shape of the mating hole on the paddle (10) and the elastic rear leg (8) is D-shaped.

6. The crawling and jumping robot according to claim 1, characterized in that, The two wires of the drive motor (5) are respectively connected to the top surface of the substrate (1) and the bottom surface of the cover plate (2).

7. The crawling and jumping robot according to claim 1, characterized in that, The motor output shaft (5.1) is located below the motor fixed shaft (5.2), and the two paddles (10) are located on the outside of the two elastic front legs (7).

8. The crawling and jumping robot according to claim 1, characterized in that, The elastic front leg (7) has an arc-shaped structure, and the elastic rear leg (8) has a C-shaped, L-shaped, or Z-shaped structure.

9. The crawling and jumping robot according to any one of claims 1-8, characterized in that, The drive motor (5) is a DC drive motor, the power supply (6) is a button battery, the substrate (1), motor bracket (3), motor positioning bracket (4), rear leg connecting rod (9) and paddle connector (10.1) are 3D printed from polylactic acid material, the elastic front leg (7) and the elastic rear leg (8) are 3D printed from polyether block amide material, and the cover plate (2) and the flexible tip (10.2) are 3D printed from TPU material.

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