41 results about "Jumping robot" patented technology

The crawling and jumping robot comprises a base plate, a cover plate, a motor bracket, a motor positioning support, a driving motor, a power source, an elastic front leg, an elastic rear leg, a rear leg connecting rod and a shifting piece. The motor bracket is arranged below the base plate and is connected with the base plate and the cover plate through connecting columns; the driving motor is arranged on the motor bracket; a motor positioning bracket is arranged on the motor fixing shaft; the upper end of the motor positioning bracket is connected with the cover plate; the power supply is used for providing 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 an output shaft of the motor and used for achieving various motions of the robot under driving of the driving motor. The robot is high in anti-overturning performance and good in motion robustness, and environment self-adaptive overturning can be achieved after the robot topples over; the gait modes are multiple, the exercise efficiency is high, and unconstrained exercise can be achieved in most unknown environments. The invention has the characteristics of low cost, simple structure and manufacturing process, and miniaturization.

A kind of small water surface jumping robot based on crank slider mechanism imitating locust, it relates to a kind of small water surface jumping robot based on crank slider mechanism imitating locust.The present application is to solve the problems that the existing water surface jumping robot is small in size, energy storage is not enough, and cannot well utilize the resistance of water, and is difficult to realize functional application.The present application includes driving system, transmission system, two spherical foam legs, energy storage system, main body support system and rectangular foam leg;Two spherical foam legs are arranged side by side at the front end of the main body support system, the rectangular foam leg is installed at the rear end of the main body support system, the driving system is installed at the lower part of the main body support system, the transmission system is installed in the main body support system, and the energy storage system is installed at the top of the main body support system;Driving system is connected with energy storage system, and energy storage system is connected with transmission system.The present application belongs to the technical field of bionic robot.

The bionic frog robot comprises front limbs, rear limbs and a body frame, a front rotating shaft is installed in front of the body frame, the front limbs are installed on the front rotating shaft, and a front driving motor and an attitude sensor are installed on the upper surface of the body frame; the front driving motor drives the front rotating shaft to rotate in a vertical transmission mode, the rear rotating shaft is installed on the rear portion of the body frame, the two ends of the rear rotating shaft are installed at the eccentric positions of the cams, the rear driving motor is installed on the upper surface of the body frame and drives the rear rotating shaft to rotate in a vertical transmission mode, and frog-shaped palms are arranged at the front ends of the posterior limbs. Guiding pieces are mounted at the rear ends of the hind limbs and connected with the stand columns of the body frame through force storage springs; the cam phase locking technology is applied to the jumping robot, the three-stage cam structure achieves the work cycle of energy storage, locking and releasing, continuous jumping is achieved, and the interval of continuous jumping is greatly shortened.

The utility model discloses a bionic frog jumping robot, which belongs to the technical field of bionic robots and comprises a main shell, an integrated board is mounted in the main shell, a bionic front shell is mounted on the front side of the main shell, and front support legs are mounted on the front side of the bottom of the main shell; the linkage jumping mechanism comprises a synchronizing shaft, the synchronizing shaft penetrates through the integrated plate, the two ends of the synchronizing shaft are movably installed on the two sides of the main shell, second gears are fixed to the two ends of the synchronizing shaft, and first gears are meshed with the upper portions of the second gears; and the transmission mechanism comprises a driving motor installed on the integrated board, and a tenth gear is fixed to the output end of the driving motor. The mechanical structure can simulate the leg structure and the mechanics principle of a frog, the jumping mode of a real frog is used for reference, the robot can complete actions more efficiently and flexibly during jumping, and the jumping mechanism can provide better movement performance and adaptability for the robot.

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.

This application discloses a flying and jumping robot, including a flying body and a jumping mechanism connected to the body. The jumping mechanism includes a swing motor and a jumping leg. The jumping leg is rotatably connected to the body. The swing motor is disposed on the body and connected to the jumping leg through a transmission mechanism to drive the jumping leg to rotate relative to the body. During the robot's take-off phase, the swing motor can independently drive the jumping leg to rotate and reorient itself. The jumping leg's direction adjustment can be completed without tilting the entire body, avoiding trajectory deviation and imbalance / falling problems, and improving the posture stability and reliability of the robot's combined flight and jumping motion.

The application discloses a kind of bionic frog robots, including body unit, rear leg unit, power unit and energy storage unit, rear leg unit is rotatably connected with body unit;Power unit is installed in body unit;Energy storage unit includes energy storage assembly, support assembly, pusher assembly and connecting rod, energy storage assembly is connected with power unit, support assembly and pusher assembly, and support assembly is connected with rear leg unit by connecting rod.Compared with prior art, the energy storage assembly of the bionic frog robot provided by the application stores energy when the support assembly is in the supporting state, and after the energy storage is completed, the support assembly is changed from the supporting state to the release state by the pusher assembly, the energy storage assembly releases energy and drives the rear leg unit to move;Instead of traditional cam mechanism, the bionic frog jumping robot is more compact and portable in structure, which not only helps to improve the flexibility and maneuverability of the robot, but also reduces the consumption of energy and prolongs the endurance of the robot.

The application discloses a bionic frog jumping robot, which comprises a head, a trunk, bionic forelimbs, springing hind limbs and supporting hind feet. The head comprises an upper end plate, and the head is connected with the trunk through the upper end plate. The bionic forelimbs are symmetrically arranged on both sides of the front part of the trunk. The supporting hind feet comprise a lower end plate. The springing hind limbs are arranged along the length direction of the trunk at the rear part of the trunk and are connected with the trunk through the upper end plate and the lower end plate. The supporting hind feet are arranged at the rear side of the lower end plate and directly contact the ground. The application is based on the work accumulation principle, breaks through the natural limitation of the limited single burst energy of biological jumping, greatly improves the upper limit of energy storage, has high jumping performance and can realize the crossing of complex environments.

The application provides a bow-shaped bouncing robot, which is composed of a power device, a bouncing system and a controller. The bouncing system comprises a winding rope mechanism and at least three bow-shaped elastic strips, the bow-shaped elastic strips are provided with bowstrings, the winding rope mechanism is used for pulling the bowstrings to store power for the bow-shaped elastic strips, and the controller is used for controlling the forward and reverse rotation of the power device. The power device drives the winding rope mechanism to realize continuous jumping of the robot. The bow-shaped bouncing robot has the characteristics of rigid body and soft body jumping robots, and has the characteristics of low cost, easy disassembly and assembly, continuous bouncing, small size and flexibility, and adaptability to various complex environments.

The utility model discloses a bionic mechanical frog driven by a direct current motor, which comprises a frog body, a front support leg is arranged at the front lower part of the frog body, a rear support leg is arranged at the rear part of the frog body, and an energy storage device is arranged on the rear support leg; a transmission device is arranged in the machine body, the energy storage device enables the rear supporting leg to jump through the transmission device, the front supporting leg comprises a front thigh, a front shank and a front sole, the front thigh is connected with the machine body, the front shank is connected to the tail end of the front thigh, the front sole is connected to the tail end of the front shank, and the front thigh is connected with the machine body through a pin. A rear leg beam is arranged on the rear portion of the machine body, the rear supporting leg is hinged to the rear leg beam, the rear supporting leg comprises a rear thigh, a rear shank and a rear sole, the rear thigh is connected with the machine body, the rear shank is connected to the tail end of the rear thigh, the rear sole is connected to the tail end of the rear shank, and the rear thigh is fixed to the rear end in the machine body through the rear leg beam. The bionic frog jumping robot is simple in structure and convenient to produce and use.

The invention discloses a bouncing robot with the adjustable bouncing direction and angle, and belongs to the technical field of robots, the bouncing robot comprises spring steel, an upper-layer disc, a middle-layer disc, a transmission assembly and an adjusting assembly, and the multiple pieces of spring steel surround and are vertically arranged between the upper-layer disc and the middle-layer disc; the upper end and the lower end of the spring steel are fixedly connected to the lower surface of the upper-layer disc and the upper surface of the middle-layer disc correspondingly. The transmission assembly is used for adjusting the distance between the upper-layer disc and the middle-layer disc; the adjusting assembly is used for adjusting the movement directions of the upper-layer disc and the middle-layer disc; according to the invention, efficient obstacle crossing can be realized.

The utility model belongs to the technical field of robots, and particularly relates to a bionic jumping robot. Comprising a rack, a front limb mechanism, a rear limb mechanism, a driving mechanism and a control module, the rear limb mechanism comprises a sole part, a first connecting rod assembly and a second connecting rod assembly connected to the sole part through a pin shaft, and the ends, away from the sole part, of the first connecting rod assembly and the second connecting rod assembly of an elastic part are connected and slidably connected to the rack through pin shafts; the driving mechanism is used for driving the first connecting rod assembly and the second connecting rod assembly to bend and releasing acting force after the elastic piece stretches and accumulates force, and continuous jumping of the hind limb mechanism is achieved. Through bending of a connecting rod assembly of the hind limb mechanism, an elastic piece is stretched to store force, stored energy is released, and jumping is achieved. The linkage design of the first connecting rod assembly and the second connecting rod assembly reduces the loss of energy in conversion. And continuous multi-time jumping can be achieved, biological motion characteristics are closer, and the jumping performance can be improved.

The invention discloses a single-foot jumping robot motion control method based on coupling flow model driving, and the method comprises the steps: outputting a decision action through an intelligent agent strategy model, and carrying out the online interaction with a single-foot jumping robot, and collecting a real environment sample; an environment dynamic model is constructed through a probabilistic neural network, and the model is trained in a supervised learning mode to simulate the motion state of the robot; building a coupling flow model by utilizing a multi-layer coupling structure, converting the output distribution difference into a reward signal, and realizing dynamic optimization of an environment model by reconstructing a Markov decision process and combining with a reinforcement learning algorithm; and finally, interacting the intelligent agent strategy with the calibrated environment model to generate a high-precision simulation sample, and combining with a real sample to complete strategy iteration updating. According to the method, accumulated rewards equivalent to model-free reinforcement learning can be achieved only through a small amount of environment interaction, and the learning efficiency and the model generalization ability of a single-foot jumping robot strategy are remarkably improved.

The invention provides a lunar surface jumping robot. The lunar surface jumping robot comprises a trunk, a driving device, a transmission mechanism, a leg structure and a control system, the driving device is in driving connection with the leg structure through the transmission mechanism, and the driving device and the transmission mechanism are used for achieving compression energy storage and expansion energy release of the leg structure; and the driving device and the transmission mechanism are connected with the control system. The device has the advantages of sufficient energy storage, active energy release and static self-locking, and can adapt to the low-gravity, soft lunar soil and gradient ground environment of the lunar surface.

1. The name of the design product: jumping robot (mimic locust). 2. The use of the design product: to cross obstacles and explore complex terrain. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective drawing.

The application provides an underactuated flexible biped jumping robot, which comprises a robot body and a flexible leg structure arranged on the robot body, the flexible leg structure comprising a hip, a thigh, a shank and a foot, one end of the hip being connected with the robot body, the other end of the hip being connected with the thigh, one end of the shank being connected with the thigh, the other end of the shank being connected with the foot. The application adopts a stepping motor as a driving source of the robot, and the driving force is large and the response speed is fast; the spring and the cable in the leg structure simulate the muscle effect, the spring can not only play a role of buffering and shock absorption when the robot lands, but also can realize the energy storage function, and the energy utilization efficiency of the robot is improved; the biped robot drives the counterweight mounted thereon through the linear motor in the body, adjusts the gravity center position of the biped robot, and makes the robot obtain a stable posture in the movement process.

This invention discloses a continuous jumping robot with adjustable take-off direction and its jumping method, belonging to the field of robotics technology. The continuous jumping robot includes a continuous energy storage mechanism and a jumping mechanism. The continuous energy storage mechanism includes a main frame, a cover plate, a first servo motor, an incomplete gear, and a spring. The jumping mechanism includes an elastic pad, a connecting rod, a stop block, a micro servo motor, a slider, and supporting legs. The continuous energy storage mechanism and the jumping mechanism are connected by a spring. The robot's energy storage and take-off are achieved through the reciprocating motion of the continuous energy storage mechanism, and the take-off direction can be adjusted by changing the support method of the supporting legs. This invention improves the randomness of the robot's motion trajectory, enabling continuous jumping motion.

The invention discloses a spherical rolling and jumping robot, belongs to the field of specialized robots, and particularly relates to a spherical robot capable of rolling and jumping for detection in a complex environment. The robot can switch motion modes, and the robot advances in a rolling mode on a flat road surface, so that the advancing speed is high, and the energy loss is low; in a complex terrain, especially when the robot encounters an obstacle difficult to roll over, the robot can switch the jumping mode, and the robot can adjust the take-off angle, the jumping direction and the air posture after taking off, so that the jumping track and the posture after landing are changed, and repeated jumping and passing through the complex terrain are carried out. The robot jumps through the six-bar mechanism, the robot can be prevented from flying in advance before the energy storage device is completely released, and the energy utilization rate is high.

The invention relates to a robot jumping model construction and analysis method based on locust bionic jumping and a jumping robot, a locust unilateral model and a six-connecting-rod model are adopted as a simulation structure, a mathematical model is established to analyze jumping according to the position state of the robot during jumping, the structure is continuously adjusted, and the locust bionic jumping model is constructed. Finally, the locust bionic robot with high jumping ability is manufactured. Experiments show that the jumping robot has good jumping ability and stability, can stably jump and autonomously move under the irregular, rugged and obstacle-intensive terrain conditions, is suitable for ecological monitoring, environmental investigation, natural disaster site patrol and other complex environment application scenes, and has wide application prospects. And the application potential of the bionic robot in the fields of environmental protection and field operation is expanded.

The application provides a high-energy storage water surface jumping robot and a jumping method, and belongs to the field of bionic robots. In order to solve the problem that the existing water surface jumping robot uses a spring as an energy storage element, the energy density is low, the deformation is obvious after long-time use, and the service life is short. The application comprises a main support frame, a water surface support system, an efficient transmission system, an energy storage system and a driving system. Through optimization analysis, the energy storage energy density is increased. The driving system is symmetrically distributed on the left and right sides of the robot. The water surface support system is located at the lowermost part of the robot. The efficient transmission system is installed inside the water surface support system. The efficient transmission system drives the energy storage system to store and release energy of carbon fiber sheets and latex strips, provides energy required for jumping, drives the driving system to move and realizes water surface jumping movement. The motor shaft direct drive mode greatly improves the energy storage efficiency. The carbon fiber sheets and the latex strips are used as energy storage elements, and have the characteristics of light weight and high energy storage density.

The invention discloses a self-energy-storage bionic lobster explosive type catapult robot and an explosive type catapult control method thereof. At present, an underwater lobster simulation robot lacks an instantaneous burst ejection motion form; a line control wheel set is arranged in a head shell, a tail joint assembly is arranged in a tail shell, an ejection position control mechanism is arranged between the head shell and the tail joint assembly, a first take-up and pay-off bundle is arranged among the line control wheel set, the tail joint assembly and the top of a tail fin, and a second take-up and pay-off bundle is arranged in the line control wheel set. The third take-up and pay-off bundle is arranged among the bottoms of the wire control wheel set, the tail joint assembly and the tail fin, and the first take-up and pay-off bundle, the second take-up and pay-off bundle and the third take-up and pay-off bundle are driven by the wire control wheel set and the ejection position control mechanism to drive the tail joint assembly to make ejection bending or reset unfolding movement.

The utility model discloses a bionic jumping robot which comprises a base, a supporting front leg is arranged on the front portion of the base, a foldable movable rear leg is arranged on the rear portion of the base, an energy storage mechanism is arranged on the movable rear leg, and a driving mechanism acting on the energy storage mechanism is arranged on the base. The driving mechanism has a first state acting on the movable rear leg to promote the energy storage mechanism to store energy and the movable rear leg to deform, and a second state separating from the movable rear leg to promote the energy storage mechanism to release energy and the movable rear leg to generate take-off action due to rapid recovery to the original shape. The jumping robot has the advantages of being excellent in jumping ability, strong in explosiveness and long in jumping distance, capable of easily crossing obstacles and good in environmental adaptability.

The present invention discloses a jumping robot, comprising a frame, hind limbs mounted on the frame for jumping, and a hind limb drive mechanism mounted on the frame for driving the hind limbs to jump. The robot also comprises a roll wheel module and a pitch wheel module, the roll wheel module and the pitch wheel module being mounted on the front half of the frame, respectively. The roll wheel module comprises a roll wheel whose rotation plane is parallel to the front and rear sides of the frame, and the pitch wheel module comprises a pitch wheel whose rotation plane is parallel to the left and right sides of the frame. The present invention balances the robot's aerial posture by driving the angular momentum generated by the rotation of the roll wheel module and the pitch wheel module through the operation of the roll wheel module and the pitch wheel module. When the jumping robot takes off and lands using its hind limbs, the robot's zero torque point is always within the support polygon formed by the hind limbs, ensuring a stable landing.

The application relates to a crawling and jumping robot based on driving multiplexing, which comprises a crawling assembly, a jumping assembly and a working assembly. The crawling assembly comprises a body, a crawling driving motor, a left-side crawling device and a right-side crawling device. The crawling driving motor is connected to the body. The left-side crawling device comprises a left gear transmission mechanism, a left front wheel claw and a left rear wheel claw. The left front wheel claw and the left rear wheel claw are connected to the left gear transmission mechanism through gears. The right-side crawling device is the same in structure as the left-side crawling device. The left gear transmission mechanism and the right gear transmission mechanism are in transmission connection with the crawling driving motor. The jumping assembly is connected to the body and is used for elastically storing energy and releasing the energy to realize jumping. The working assembly comprises an operation driving gear and a working mechanism. The operation driving gear is rotationally connected to the body and can drive the working mechanism. A clutch mechanism is arranged on the body and can realize the transmission connection of the operation driving gear and the right gear transmission mechanism.

The invention relates to a series connection elastic actuation imitating mouse multi-rod-leg jumping robot, and belongs to the technical field of robots, the imitating multi-rod-leg imitating mouse imitating mouse limb section proportion (thigh rod: shank rod: plantar rod = 49: 55: 64) comprises a thigh rod, a shank rod, a plantar rod, a balance foot and a plurality of groups of linkage rod pieces, and key parameters of each linkage structure are obtained through genetic algorithm optimization; the rack is composed of left and right assembling plates and a connecting shaft and used for installing all parts. The series elastic actuating mechanism comprises a gear, a driving motor, a transmission shaft and a left-handed torsion spring, energy is accumulated through the torsion spring and released when torsion reaches a threshold value, and the multi-rod leg is driven to be in linkage to achieve ground kicking take-off. The device is compact in structure, convenient to machine and install, simple in driving control, high in energy utilization rate, large in bounce height and span distance, large in supporting phase stress, high in swinging phase speed, excellent in stability and suitable for detection operation in a complex lunar surface environment.

The invention discloses a bionic kangaroo jumping propulsion efficient energy-saving driving structure, and belongs to the technical field of movement driving and energy saving. The structure simulates the tendon energy storage-release mechanism of the rear leg of a kangaroo, and high-bounce, high-efficiency and low-energy-consumption movement is realized. Accurate control of the driving performance is achieved through a jumping efficiency calculation formula, the method is suitable for scenes such as jumping robots, rescue equipment, mobile platforms and energy-saving vehicles, and the problems that traditional driving efficiency is low, energy consumption is high and adaptability is poor are solved.

The application discloses a six-legged locust-imitating jumping robot, and relates to the technical field of bionic robots, which comprises a trunk, front limbs, middle limbs and rear limbs arranged in sequence from front to back on both sides of the trunk, and a driving mechanism arranged on the trunk, wherein the driving mechanism comprises a stop unit and a trigger unit in transmission connection, the stop unit is used for limiting the front limbs, the middle limbs and the rear limbs to complete energy storage, and the trigger unit is used for releasing the limitation of the stop unit on the front limbs, the middle limbs and the rear limbs to realize a jumping action. The trigger sequence and the trigger time interval of the trigger unit on the front limbs, the middle limbs and the rear limbs can be changed, different speed or different direction jumping can be realized, and the overall flexibility is improved.

The application discloses a kind of multi-mode jumping robot and its control device in the technical field of robot, to solve the problems such as higher manufacturing cost and weaker crossing height of jumping robot in prior art.The elastic member between upper and lower support, first reset member and second reset member are included, drive assembly includes energy storage motor, machine warehouse and reset spring;Energy storage motor is fixed in the inside of upper support by machine warehouse;The front and rear ends of machine warehouse are respectively provided with trigger piece and clutch arm;Reset spring is installed on clutch arm, so that the elastic end of clutch arm and trigger piece is in the state of clamping;The upper end of transmission rope is fixed on the shaft of energy storage motor, the lower end is horizontally around the steering rod of clutch arm and lower support fixed connection, and is in tension state;The two ends of first reset rope are respectively fixed with first reset member and elastic end of trigger piece;The two ends of second reset rope are respectively fixed with second reset member and machine warehouse;The robot of the application is suitable for complex environment operation, and can flexibly cross obstacles.

The application discloses a bionic frog robot with posture adjustment, which comprises forelimbs, hind limbs and a body frame, a front rotating shaft is arranged at the front of the body frame, the forelimbs are arranged on the front rotating shaft, a front driving motor and a posture sensor are arranged on the upper surface of the body frame, the front driving motor drives the front rotating shaft to rotate through a vertical transmission mode, a rear rotating shaft is arranged at the rear of the body frame, the two ends of the rear rotating shaft are arranged at eccentric positions of a cam, a rear driving motor is arranged on the upper surface of the body frame, the rear driving motor drives the rear rotating shaft to rotate through a vertical transmission mode, the front end of the hind limbs is a frog-shaped palm, a guide is arranged at the rear end of the hind limbs, and the guide is connected with a stand column of the body frame through a force storage spring; the cam phase locking technology is applied to the jumping robot, and a three-stage cam structure realizes a working cycle of "energy storage-locking-releasing", so that not only continuous jumping is realized, but also the interval of the continuous jumping is greatly shortened.