CN109292022B - A Bionic Mechanism That Jumps Continuously - Google Patents

Abstract

A bionic mechanism for continuous jumping of the present invention includes a body, a bouncing mechanism, a driving mechanism and a power source; the body is a bionic torso main body, which is used for the installation and fixing of the bouncing mechanism, the driving mechanism and the power source; the bouncing mechanism is divided into two groups , it is symmetrically installed on the left and right sides of the body through the connecting rod; the drive mechanism is installed in the body, including a deceleration motor, an incomplete gear mechanism and a gear shaft, and the power supply is connected to the deceleration motor for the entire mechanism. source of power. The gear motor is used to drive the incomplete gear mechanism, which further drives the combination of the connecting arm and the rocker arm of the jumping mechanism to rotate, and drives the front and rear legs to rotate through the connecting frame, thereby compressing the torsion spring, the gear meshes with the missing teeth, and the energy of the torsion spring is released. The mechanism takes off. After the take-off, the boom continues to rotate forward to the initial position, and the deceleration motor drives the incomplete gear to rotate to realize the continuous jump of the bionic mechanism. The invention has simple structure and control system and low manufacturing cost.

Description

A Bionic Mechanism That Jumps Continuously

technical field

The invention belongs to the technical field of robots, and in particular relates to a continuous jumping bionic mechanism with continuous jumping capability.

Background technique

At present, the research on continuous jumping bionic robots is less and in its infancy. With the increasing scope of robot applications, it is hoped that robots have a certain ability to overcome obstacles and can work in typical complex environments, including field exploration, emergency rescue, planetary Explore etc. Robots that move in jumping mode have strong obstacle-surmounting ability and strong terrain adaptability, which can meet the corresponding needs. Its main research method is based on the movement mechanism of frogs, kangaroos, locusts, water striders and other animals, and on this basis, the mechanism is designed to realize the function of continuous jumping.

In 2010, Li Fei of Zhejiang University adopted the front-facing method in the later stage of the GRILLO series of robots through the active legs to ensure that the aerial posture is conducive to the smooth landing of the robot and realizes continuous jumping. However, the aerial posture of the robot is still not ideal, and it needs to be achieved through auxiliary rods and wing rods. Reasonable configuration of the center of gravity.

In 2012, Zhang Xinbin of Harbin Institute of Technology designed a miniature jumping robot on the water surface imitating a water strider. It can maintain stability on the water surface through nickel foam, and realize continuous jumping on the water surface through motors, incomplete gears, and springs. However, the leg swing form is relatively simple, and it cannot control the trajectory or the movement process. The jumping state on the water surface is still not stable enough, and the jumping frequency is low.

In 2013, Mirko Kovaˇc of EPFL designed a miniature jumping robot with a flexible ellipsoid cover. It chose to add a spherical cover to ensure the landing attitude, but wrapping a large ellipsoid cover outside the mechanism made the robot take up a lot of space. It is not conducive to the hiding of the robot and affects its flexibility of movement. When the jumping robot is bouncing, it has no directionality and cannot take off according to the specified direction, and does not use the robot's route control.

Therefore, the patent of the present invention proposes a bionic mechanism with a simple mechanism that can realize continuous jumping because the current continuous jumping mechanism is relatively complex, and provides reference value for the research of the bionic jumping robot.

SUMMARY OF THE INVENTION

Technical problem to be solved: In order to avoid the deficiencies of the prior art, the present invention proposes a continuous jumping bionic mechanism based on the physiological characteristics of frogs to improve the application value of the bionic robot. It solves the problems existing in the prior art that the structure and control are relatively complex, the cost is high, and the stable landing and continuous jumping cannot be realized.

The technical scheme of the present invention is: a bionic mechanism for continuous jumping, which is characterized by comprising a body, a bouncing mechanism, a driving mechanism and a power supply;

The body is the main body of the bionic torso, and is used for fixedly installing the bouncing mechanism, the driving mechanism and the power supply;

The bouncing mechanism is divided into two groups, which are symmetrically and parallelly installed on the left and right sides of the body through connecting rods; each group of bouncing mechanisms includes a front leg, a rear leg, a connecting frame, a torsion spring and a rocker arm combination; The legs and the rear legs are respectively installed on both ends of the connecting frame by rivets, and the connecting frame is formed by overlapping two connecting pieces; the included angles between the upper and lower parts of the front and rear legs are all obtuse angles, The intersection of the upper part and the lower part of the front leg is installed between two connecting plates through rivets and is at one end of the connecting frame; the rear leg is composed of two overlapping rear leg pieces, and the upper part and the lower part of the rear leg piece The included angle is smaller than the included angle of the front legs, and the intersection of the upper and lower parts of the two rear leg pieces is installed on the outside of the two connecting pieces through rivets and is at the other end of the connecting frame; the rocker arm is assembled at the The front leg and the rear leg include a small arm, a large arm and a connecting arm. One end of the small arm is installed between the two connecting plates through rivets and is located in the middle of the connecting frame, and the other end is connected to the connecting frame through rivets. One end of the boom is connected; the other end of the boom and one end of the connecting arm are provided with equal-diameter through holes in relative positions; The arm rotates 360 degrees around the rivet connected with the forearm and the connecting arm; the torsion spring is sleeved on the rivet connecting the rear leg and the connecting frame, and is arranged between the two connecting plates. The two ends are clamped between the connecting arm, the rivet connected with the connecting piece and the rivet connected with the lower part of the two rear leg pieces; the front leg, the rear leg, the connecting frame, the rocker arm combination and the connecting arm are connected The rivets are all clearance fit and can achieve relative rotation;

The drive mechanism is installed in the body, including a deceleration motor, an incomplete gear mechanism and a gear shaft; the deceleration motor is fixed in the body, and its output shaft is connected with the driving wheel of the incomplete gear mechanism. The driven wheel of the incomplete gear mechanism is fixed on the gear shaft; the two ends of the gear shaft respectively pass through the body, and at the same time are installed through the equal diameter through holes on the big arm of the bouncing mechanism and the connecting arm;

The power supply is fixedly installed in the body and connected with the deceleration motor.

A further technical solution of the present invention is: the body includes two left-right symmetrical side plates, a front plate and a bottom plate, the two side plates are installed on the bottom plate through the installation grooves on the bottom plate, and are arranged on the side plates There are connecting rod holes, gear shaft holes and front plate mounting slots, the front plate is mounted on the bottom plate and is located at the front end of the bottom plate through the mounting slots on the bottom plate and the mounting slots on the two side plates, and the bottom plate is left with a gear slot , side panel mounting slot and front panel mounting slot.

A further technical solution of the present invention is that: the connecting rods between the front legs, the rear legs and the body are provided with spacers, so that each component of the bouncing mechanism is arranged in parallel with the side plate of the body, and a movement gap is reserved.

A further technical solution of the present invention is: the left and right sides of the bouncing mechanism and the body are connected by four connecting rods, and the four connecting rods respectively pass through the body to connect the two front legs of the bouncing mechanism The upper and lower ends and the two receding upper and lower ends.

A further technical solution of the present invention is that the upper part and the lower part of the front leg form an included angle of 110-140°, and the included angle of the front leg is 15° larger than the included angle between the upper part and the lower part of the rear leg piece.

A further technical solution of the present invention is that the connecting arms are equal in length to the upper parts of the front legs and the rear legs, and are arranged parallel to each other.

A further technical solution of the present invention is: the output shaft of the reduction motor is a D-shaped shaft, the central holes of the main and driven wheels of the incomplete gear mechanism are D-shaped holes, the gear shaft is a D-shaped shaft, and the large The equal diameter through holes connecting the arm and the connecting arm with the gear shaft are D-shaped holes.

A further technical solution of the present invention is: the meshing stroke of the incomplete gear mechanism can make the boom rotate 180 degrees, when the boom continues to rotate forward, the incomplete gear mechanism meshes with the missing teeth, the The bionic mechanism takes off, and the big arm drives the small arm to continue to rotate and return to the initial position.

beneficial effect

The beneficial effects of the present invention are:

(1) The bouncing mechanism designed by the present invention utilizes a reduction motor to drive the gear, the gear drives the gear shaft, the gear shaft drives the combined rotation of the connecting arm and the rocker arm, and drives the front leg and the rear leg to rotate through the connecting frame, and the rotation of the rear leg compresses the torsion spring , when the gear meshes to the missing tooth, the energy of the torsion spring is released to realize the mechanism take-off. After the take-off, the boom continues to rotate forward to the initial position, and the output shaft of the deceleration motor continues to drive the incomplete gear to rotate, realizing the continuous jump of the bionic mechanism. The structure and control system of the present invention are simple, and the manufacturing cost is low.

(2) The present invention adopts the form of rocker arm combination, wherein the big arm can be rotated 360 degrees to drive the small arm to rotate together, so as to realize the continuous jump of the bionic mechanism under the condition that the deceleration motor rotates in one direction.

(3) In the present invention, the output shaft of the deceleration motor is connected with the incomplete gear mechanism, so that the driving wheel and the driven wheel are continuously meshed in one direction, so as to achieve high frequency stability and continuous bounce.

(4) The present invention makes the bionic mechanism bounce forward at the designed take-off angle through the cooperation of the angles of the front and rear legs, so that the bounce of the bionic mechanism has a certain directionality. Auxiliary devices are required, occupying a small space and making it more flexible in movement.

Description of drawings

Fig. 1 is the overall schematic diagram of the embodiment of the present invention;

Fig. 2 is a side view of Fig. 1;

Fig. 3 is the schematic diagram of the body;

4 is a schematic diagram of a side panel;

Figure 5 is a schematic diagram of the front panel;

6 is a schematic diagram of a base plate;

Fig. 7 is the overall schematic diagram of the bouncing mechanism;

Fig. 8 is the side view of Fig. 7;

Fig. 9 is the schematic diagram of Fig. 8 removing the outer rear leg piece and the outer connecting piece;

Figure 10 is a schematic diagram of a driving mechanism;

Description of reference numerals: 1. Body, 2. Bounce mechanism, 3. Drive mechanism, 4. Power supply, 5. Side plate, 6. Front plate, 7. Bottom plate, 8. Side plate mounting slot, 9. Gear shaft hole, 10. Front plate installation slot 1, 11. Connecting rod hole, 12. Front plate installation slot 2, 13. Front leg, 14. Rear leg, 15. Connecting frame, 16. Torsion spring, 17. Spacer, 18. Rivet , 19. Connecting rod, 20. Big arm, 21. Small arm, 22. Connecting arm, 23. Connecting hole, 24. Rear leg piece, 25. Connecting piece, 26. Gear shaft, 27. Geared motor, 28. No Full gear, 29. Bounce gear, 30. Gear slot.

Detailed ways

The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc., or The positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation of the present invention.

The present invention is a continuous jumping bionic mechanism, comprising a body 1 , a bouncing mechanism 2 , a driving mechanism 3 and a power source 4 .

Referring to Figures 1-6, the body 1 includes two side plates 5, a front plate 6 and a bottom plate 7 that are symmetrical and parallel to each other, and the two side plates are respectively installed on the bottom plate through the two side plate mounting slots 8 of the bottom plate. , and a gear shaft hole 9, a front plate installation slot 10 and two connecting rod holes 11 are left on the side plate. The front plate 6 passes through the two front plate installation slots 12 on the bottom plate 7 and the two side plates 5 The front plate installation slot 1 10 is installed on the bottom plate 7 of the body and is located at the front end of the base plate 7 .

1, 2, 7, 8, 9, the bouncing mechanism is symmetrically installed on both sides of the body 1, including front legs 13, rear legs 14, connecting frames 15, torsion springs 16, spacers 17, rivets 18, The connecting rod 19 , the big arm 20 , the small arm 21 , and the connecting arm 22 . The front legs 13 imitate frog legs with a certain bending angle. Specifically, the angle between the upper part and the lower part of the front legs 13 is 110-140 degrees. It is connected with the connecting frame 15 through the connecting hole 23, the lower end is in contact with the ground, and is connected with the other side bouncing mechanism through the connecting rod 19 through the connecting hole 23; the rear leg 14 is assembled by overlapping two identical rear leg pieces 24, The included angle of the front leg 13 is 15° larger than the included angle between the upper part and the lower part of the rear leg piece 24. The upper end of the rear leg piece 24 is connected to the body 1 through the connecting rod 19 through the connecting hole 23, and the intersection of the upper part and the lower part of the rear leg 14 is The rivet 18 is connected to the connecting frame 15 through the connecting hole 23, the lower end is in contact with the ground, and is connected to the other side of the bouncing mechanism through the connecting rod 19 through the connecting hole 23; the connecting frame 15 is assembled by overlapping two identical connecting pieces 25. One end of the two connecting pieces 25 are respectively arranged on the left and right sides of the intersection of the front legs 13, and then the two connecting pieces 25 are connected with the front legs 13 by the rivets 18, and the other ends of the two connecting pieces 25 are arranged on the two rear Between the leg pieces 24 and at the intersection of the rear leg pieces 24 , the two connecting pieces 25 are connected to the rear leg 14 by rivets 18 . The torsion spring 16 is installed on the rivet connecting the rear leg 14 and the connecting frame 15, and is arranged in the middle of the two connecting pieces 25. Between the rivets connected at the lower part of the rear leg piece 24, that is, one foot of the torsion spring is placed between the two rear leg pieces in the lower part of the rear leg and abuts on the rivet connected at the lower part of the two rear leg pieces 24, and the other The foot is placed between the two connecting pieces and abuts below the rivet where the connecting arm 22 and the connecting piece 25 are connected. One end of the big arm 20 is fixed on the gear shaft 26 through the gear shaft 26, the other end is connected with the small arm 21 by the rivet 18, and forms a rotational connection, one end of the small arm 21 is connected with the big arm 20 by the rivet 18, and the other end is connected with the small arm 21 by the rivet 18. One end is connected to the connecting frame 15 through the rivet 18 passing through the two connecting pieces, and is located between the two connecting pieces to form a rotary connection; 20 is installed on one side close to the body 1, and the other end is connected to one side of the connecting frame 15 through rivets passing through two connecting pieces, and is installed on the side of the connecting frame close to the body 1 to form a rotating connection; there are 4 connecting rods 19 in total , connect the bouncing mechanism on the left and right sides and the bouncing mechanism with the body 1, and the four connecting rods 19 respectively pass through the body 1 to connect the upper and lower ends of the two front legs 13 of the bouncing mechanism and the upper and lower ends of the two retreating 14 . Spacers are arranged on the connecting rods 19 between the front legs 13 , the rear legs 14 and the body 1 , so that each component of the bouncing mechanism is arranged in parallel with the side plate of the body 1 , and a movement gap is reserved. The rivets connecting the front legs 13 , the rear legs 14 , the connecting frame 15 , the large arm 20 , the small arm 21 , and the connecting arm 22 are all clearance fit and can realize relative rotation.

1, 2 and 10, the drive mechanism is installed in the body 1, including a reduction motor 27, an incomplete gear mechanism and a gear shaft 26. The driving wheel of the incomplete gear mechanism is an incomplete gear 28, and the driven wheel is a bouncing wheel. Gear 29; the reduction motor 27 is fixed on the base plate 7, the incomplete gear 28 is installed on the output shaft of the reduction motor 27, and is located in the gear groove 30 on the base plate 7, the bouncing gear 29 is installed on the gear shaft 26, and with Incomplete gear 28 meshes. Both ends of the gear shaft 26 are installed on the body 1 through the gear shaft holes 9 on the two side plates 5, and are connected with the connecting arms 22 and the big arms 20 of the bouncing mechanism on both sides. The power supply 4 is connected to the deceleration motor, and is installed on the base plate 7 together with the deceleration motor.

In the working process of the present invention, the bionic mechanism is firstly placed on the working platform, the power supply 4 is turned on, the deceleration motor 27 starts to rotate, the deceleration motor 27 drives the incomplete gear 28 connected to its output shaft to rotate, and the incomplete gear 28 drives and The meshed bouncing gear 29 rotates, and the bouncing gear 29 is fixed on the gear shaft 26. Further, the rotation of the gear shaft 26 drives the connecting arm 22 and the boom 20 installed on both ends of the gear shaft to rotate, and the rotation of the connecting arm 22 makes the connecting frame rotate. 15 drives the front leg 13 and the rear leg 14 to move forward together. At the same time, the rotation of the big arm 20 drives the forearm 21 to push the connecting frame 15 to move forward. When the big arm 20 rotates to 180 degrees, the big arm 20 and the small arm The arm 21 is in a straight line. At this time, the torsion spring 16 placed on the rear leg 14 is compressed to the maximum extent, and the elastic potential energy of the torsion spring 16 is stored to the maximum. Next, the bounce gear 29 continues to rotate, and the big arm 20 continues to rotate. When reaching the missing tooth, the elastic potential energy stored at the torsion spring 16 is released instantly, and the bionic mechanism takes off. At this time, the big arm 20 and the small arm 21 continue to rotate 360 degrees and then return to the original position, the bionic mechanism After landing, the bionic mechanism repeatedly bounces under the continuous rotation of the deceleration motor 27 to achieve continuous jumping.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and those of ordinary skill in the art will not depart from the principles and spirit of the present invention Variations, modifications, substitutions, and alterations to the above-described embodiments are possible within the scope of the present invention without departing from the scope of the present invention.

Claims (8)

1. A bionic mechanism with continuous jumping is characterized in that: comprises a machine body, a bouncing mechanism, a driving mechanism and a power supply;

the body is a bionic trunk main body and is used for fixedly mounting the bouncing mechanism, the driving mechanism and the power supply;

the bouncing mechanisms are divided into two groups and are symmetrically and parallelly arranged on the left side and the right side of the machine body through connecting rods; each group of bouncing mechanisms comprises a front leg, a rear leg, a connecting frame, a torsion spring and a rocker arm combination; the front leg and the rear leg are respectively arranged at two ends of the connecting frame through rivets, and the connecting frame is formed by overlapping two connecting sheets; an included angle between the upper part and the lower part of the front leg and an included angle between the upper part and the lower part of the rear leg form an obtuse angle, and the intersection point of the upper part and the lower part of the front leg is arranged between the two connecting sheets through a rivet and is positioned at one end of the connecting frame; the rear leg is composed of two rear leg pieces which are arranged in an overlapped mode, the included angle between the upper portion and the lower portion of each rear leg piece is smaller than the included angle between the upper portion and the lower portion of each front leg, and the intersection point of the upper portions and the lower portions of the two rear leg pieces is arranged on the outer side of the two connecting pieces through rivets and is located at the other end of the connecting frame; the rocker arm combination is arranged between the front leg and the rear leg and comprises a small arm, a large arm and a connecting arm, one end of the small arm is arranged between the two connecting pieces through a rivet and is positioned in the middle of the connecting frame, and the other end of the small arm is connected with one end of the large arm through a rivet; the other end of the large arm and one end of the connecting arm are provided with constant-diameter through holes at opposite positions; the other end of the connecting arm is arranged on the outer side of the middle part of the connecting frame through a rivet, so that the large arm can rotate 360 degrees around the rivet connected with the small arm and the connecting arm; the torsion spring is sleeved on the rivet for connecting the rear leg with the connecting frame and arranged between the two connecting sheets, and two tail ends of the torsion spring are clamped between the connecting arm, the rivet connected with the connecting sheets and the rivet connected with the lower parts of the two rear leg sheets; the front legs, the rear legs, the connecting frame, the rocker arm combination and the connecting arms are connected through rivets in clearance fit, and relative rotation can be realized;

the driving mechanism is arranged in the machine body and comprises a speed reducing motor, an incomplete gear mechanism and a gear shaft; the speed reducing motor is fixed in the machine body, an output shaft of the speed reducing motor is connected with a driving wheel of the incomplete gear mechanism, and a driven wheel of the incomplete gear mechanism is fixed on the gear shaft; two ends of the gear shaft respectively penetrate through the machine body and simultaneously penetrate through the large arm of the bouncing mechanism and the constant-diameter through hole in the connecting arm to be installed;

the power supply is fixedly arranged in the machine body and connected with the speed reducing motor.

2. The biomimetic mechanism for continuous jumping of claim 1, wherein: the organism includes two curb plates of bilateral symmetry, a front bezel and a bottom plate, two curb plates pass through the mounting groove on the bottom plate and install on the bottom plate to be provided with connecting rod hole, gear shaft hole and front bezel mounting groove on the curb plate, the mounting groove on the front bezel through the bottom plate and two curb plates is installed on the bottom plate and is located the bottom plate front end, leave gear groove, curb plate mounting groove and front bezel mounting groove on the bottom plate.

3. The biomimetic mechanism for continuous jumping of claim 2, wherein: and gaskets are arranged on the connecting rods between the front legs, the rear legs and the machine body, so that all parts of the bouncing mechanism are arranged in parallel with the side plates of the machine body, and movement gaps are reserved.

4. The biomimetic mechanism for continuous jumping of claim 1, wherein: the left side and the right side of the bouncing mechanism are connected with the machine body through four connecting rods, and the four connecting rods respectively penetrate through the machine body to be connected with the upper ends and the lower ends of the two front legs and the upper ends and the lower ends of the two rear legs of the bouncing mechanism.

5. The biomimetic mechanism for continuous jumping of claim 1, wherein: the upper part and the lower part of the front leg form an included angle of 110-140 degrees, and the included angle between the upper part and the lower part of the front leg is 15 degrees larger than that between the upper part and the lower part of the rear leg piece.

6. The biomimetic mechanism for continuous jumping of claim 1, wherein: the connecting arms are equal in length to the upper portions of the front legs and the upper portions of the rear legs and are arranged in parallel.

7. The biomimetic mechanism for continuous jumping of claim 1, wherein: the output shaft of the speed reducing motor is a D-shaped shaft, center holes of a driving wheel and a driven wheel of the incomplete gear mechanism are D-shaped holes, the gear shaft is a D-shaped shaft, and the equal-diameter through holes of the large arm and the connecting arm connected with the gear shaft are D-shaped holes.

8. The biomimetic mechanism for continuous jumping of claim 1, wherein: the meshing stroke of the incomplete gear mechanism can enable the large arm to rotate 180 degrees, when the large arm continues to rotate forwards, the incomplete gear mechanism is meshed to a tooth-missing position, the bionic mechanism jumps, and the large arm drives the small arm to continue to rotate and recover to an initial position.

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