阅读说明：本技术 一种仿蝗虫弹跳机器人 (Locust-simulated bouncing robot ) 是由 白颖 王青 马仕麟 莫莉萍 赵红顺 马剑 于 2019-11-26 设计创作，主要内容包括：本发明属于机械技术领域,涉及一种仿蝗虫弹跳机器人,包括腿部结构中的起跳支撑件、中间连接件以及躯干连接件,所述腿部结构一方面作为机器人静止时整个装置的支撑,另一方面为跳跃过程中能够达到一定的展开度。动力结构,所述动力结构包括源动力件、气缸与气囊,所述气缸包括进气缸、高压缸与活塞,所述源动力件包括齿轮、绕线筒、绳索和电机；所述中间连接件与起跳支撑件和躯干连接件螺栓螺母连接,所述躯干连接件与身体一端螺栓螺母连接,另一端弹簧连接；所述气缸的通过活塞杆上的绳索和原动力件连接,所述气缸的出气口与气囊的进气口连接；本发明提供一种仿蝗虫弹跳机器人,它能够实现跳跃比自身高的障碍,并能快速复位减少尖点碰撞。(The invention belongs to the technical field of machinery, and relates to a locust-simulated bouncing robot which comprises a take-off support piece, a middle connecting piece and a trunk connecting piece in a leg structure, wherein the leg structure is used as a support of the whole device when the robot is static on one hand, and can reach a certain spreading degree in a bouncing process on the other hand. The power structure comprises a power source part, a cylinder and an air bag, wherein the cylinder comprises an air inlet cylinder, a high-pressure cylinder and a piston, and the power source part comprises a gear, a winding drum, a rope and a motor; the middle connecting piece is connected with the take-off supporting piece and the trunk connecting piece through bolts and nuts, the trunk connecting piece is connected with one end of the body through bolts and nuts, and the other end of the body is connected with a spring; the air cylinder is connected with the prime power piece through a rope on the piston rod, and an air outlet of the air cylinder is connected with an air inlet of the air bag; the invention provides a locust-simulated bouncing robot which can realize obstacles with higher jumping ratio and can quickly reset to reduce the collision of sharp points.)

1. An locust-simulated bounce robot is characterized by comprising a take-off support piece (1), a middle connecting piece (3) and a trunk connecting piece (10), wherein the trunk connecting piece provides power and is used for bearing a body (12); the power structure comprises a power source part, a cylinder (14) and an air bag (2), wherein the cylinder comprises a longer air inlet cylinder, a shorter high pressure cylinder and a piston rod (13), and the power source part comprises an intermittent gear (5), a winding drum (7), a rope (8) and a motor (9); one end of the motor (9) is connected with the intermittent gear (5), the intermittent gear (5) is meshed with the driven gear (6), and the winding reel (7) is fixed on the driven gear (6); one end of a rope (8) is wound on the bobbin (7), and the other end of the rope is connected with the piston rod (13); the source power parts are respectively and fixedly arranged in the hollow interiors of the middle connecting part (3) and the trunk connecting part (10);

two ends of the middle connecting piece (3) are respectively connected with the take-off support piece (1) and one end of the trunk connecting piece (10), the other end of the trunk connecting piece (10) is connected with one end of the body (12) through a bolt and a nut, and a spring (11) is arranged between the bottom surface of the other end of the body (12) and the upper surface of the trunk connecting piece (10);

the air bags (2) are respectively and fixedly arranged between the take-off support piece (1) and the middle connecting piece (3) and between the middle connecting piece (3) and the trunk connecting piece (10) through two air bag frames (4).

2. An locust-simulated bouncing robot as claimed in claim 1, wherein the air cylinder (14) is connected with the motive power element through the rope (8) on the piston rod (13), and the air outlet of the air cylinder (14) is connected with the air inlet of the air bag (2).

3. The locust-simulated bouncing robot as claimed in claim 1 or 2, wherein a spring is mounted on a piston rod (13) of the cylinder (14), and a pressure sensor is mounted in a high-pressure cylinder of the cylinder (14).

4. An locust-simulated bouncing robot as claimed in claim 1 or 2, wherein the air-bag (2) is of a quadrilateral structure, the upper side of the air-bag is connected with the middle connecting piece (3), the lower side of the air-bag is connected with the upper surface of the take-off support piece (1), and the included angle between the rear side of the air-bag (2) and the take-off support piece (1) is larger than the included angle between the front side of the air-bag and the take-off support piece (1).

5. A locust-simulated bouncing robot as claimed in claim 3, wherein the air-bag (2) is of a quadrilateral structure, the upper side surface thereof is connected with the middle connecting piece (3), the lower side surface thereof is connected with the upper surface of the take-off support piece (1), and the included angle between the rear side of the air-bag (2) and the take-off support piece (1) is larger than the included angle between the front side thereof and the take-off support piece (1).

Technical Field

The invention belongs to the technical field of machinery, and relates to a locust-simulated bouncing robot.

Background

In many field tasks (e.g. scouting and rescue), the robot needs to traverse unknown rough terrain. Scout missions require that the robot not be discovered, while rescue missions require that it be able to enter enclosed spaces, such as through cracks and narrow passages in collapsed buildings and caves. Therefore, in the design of the robot, the most suitable motion form should be found based on the expected task and working environment of the robot. The most common ground robot movement methods are walking or tracked, but in recent years it has been found that jumping provides a movement solution that can overcome higher obstacles relative to the robot itself. Thus, many researchers consider jumping to be the most suitable movement of a mobile robot across rugged complex terrain.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: when the mobile robot traverses rugged and complicated terrain, the mobile robot can better overcome higher obstacles relative to the robot and keep a stable movement scheme of the robot.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a locust-simulated bouncing robot comprises a take-off support member, wherein the take-off support member mainly has the design functions of supporting and assisting take-off; the middle connecting piece is mainly used for connecting the take-off support piece and the trunk connecting piece and is used for loading a power system; a torso connector for providing power and for carrying a body; the power structure comprises a power source part, a cylinder and an air bag, wherein the cylinder comprises a longer air inlet cylinder, a shorter high-pressure cylinder and a piston rod, and the power source part comprises an intermittent gear, a winding reel, a rope and a motor; one end of the motor is connected with the intermittent gear, the intermittent gear is meshed with the driven gear, and the winding reel is fixed on the driven gear; one end of the rope is wound on the winding reel, and the other end of the rope is connected with the piston rod. The source power piece is respectively and fixedly arranged in the middle connecting piece and the hollow part of the trunk connecting piece.

The two ends of the middle connecting piece are respectively connected with the take-off support piece and one end of the trunk connecting piece, the other end of the trunk connecting piece is connected with one end of the body through bolts and nuts, and a spring is arranged between the bottom surface of the other end of the body and the upper surface of the trunk connecting piece.

The air bags are respectively and fixedly arranged between the take-off support piece and the middle connecting piece and between the middle connecting piece and the trunk connecting piece through two air bag frames.

The air cylinder is connected with the prime power piece through a rope on the piston rod, and an air outlet of the air cylinder is connected with an air inlet of the air bag.

Furthermore, the piston rod is extruded inwards in the air inlet cylinder to press air into the high-pressure cylinder, so that the air pressure in the high-pressure cylinder gradually rises, the pressure sensor is arranged at the step cylinder opening of the high-pressure cylinder, and when the pressure in the high-pressure cylinder reaches a certain value, the cylinder opening is opened to flush the air into the air bag in a short time to expand the air bag, so that the leg of the robot is stressed, stretched and jumps away from the ground.

Furthermore, the air bag is of a quadrilateral structure, the upper edge surface of the air bag is connected with the middle connecting piece, the lower edge surface of the air bag is connected with the upper surface of the take-off support piece, and the included angle between the rear edge of the air bag and the take-off support piece is larger than the included angle between the front edge of the air bag and the take-off support piece.

By adopting the technical scheme, the intermittent gear is driven by the motor under the continuous driving, the periodic winding and unwinding of the rope on the winding drum are realized, meanwhile, the other end of the rope is tied on the piston rod of the cylinder piston, and the spring is arranged on the piston rod, so that the working mode of periodic slow air intake and rapid air exhaust can be realized. In addition, when the gear reaches an intermittent position, the piston is extruded inwards in the air inlet cylinder to press gas into the high-pressure cylinder so that the gas pressure in the high-pressure cylinder gradually rises, a pressure sensor is arranged at a cylinder opening of the high-pressure cylinder, and when the pressure in the high-pressure cylinder reaches a certain value, the cylinder opening is opened to flush the gas into the airbag in a short time so that the airbag is expanded, so that the leg of the robot is stressed to stretch and jump off the ground, and meanwhile, the spring connection is adopted so that the robot can reset quickly and sharp point collision is reduced.

The invention has the beneficial effects that:

when the mobile robot traverses rugged and complicated terrains, the mobile robot can better overcome higher obstacles relative to the robot and keep the robot stable.

Drawings

Fig. 1 is a schematic overall structure diagram of the locust-simulated bouncing robot of the invention.

Fig. 2 is a schematic structural view of the power structure of the present invention.

Fig. 3 is a schematic structural view of the power source of the present invention.

Fig. 4 is a cylinder assembly view.

In the figure, 1, a take-off support; 2, an air bag; 3 an intermediate connecting piece; 4, an air bag frame; 5 an intermittent gear; 6, a driven gear; 7, a bobbin; 8, ropes; 9, a motor; 10 a torso connector; 11 a spring; 12 a body; 13 a piston rod; 14 air cylinders.

Detailed Description

In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

As shown in fig. 1-3, a locust-simulated bouncing robot comprises a take-off support member 1, wherein the take-off support member mainly has the design functions of supporting and assisting take-off;

an intermediate connector 3, which mainly functions to connect the take-off support 1 and the trunk connector 10 and is used for loading the power system;

a torso joint 10 that provides power and is used to carry a body 12;

the power structure comprises a power source part, a cylinder 14 and an air bag 2, wherein the cylinder comprises a longer air inlet cylinder and a shorter high-pressure cylinder and a piston rod 13, and the power source part comprises a gear 5, a winding reel 7, a rope 8 and a motor 9;

as shown in fig. 1, the middle connecting piece 3 is connected with the take-off support 1 and the trunk connecting piece 10 through bolts and nuts, the trunk connecting piece 10 is connected with one end of the body 12 through bolts and nuts, and the other end of the body is connected with the spring 11.

As shown in fig. 1, the power source is fixedly installed in the hollow interiors of the middle connecting piece 3 and the trunk connecting piece 10, respectively.

As shown in fig. 1, the airbag 2 is fixedly installed between the takeoff supporting member 1 and the intermediate link 3 and between the intermediate link 3 and the trunk link 10 through two airbag frames 4, respectively.

As shown in fig. 3, the air cylinder 14 is connected with the motive power piece through the rope 8 on the piston rod 13, and the air outlet of the air cylinder 14 is connected with the air inlet of the air bag 2.

The working principle of the invention is as follows:

the motor 9 transmits power to the driven gear 6 through the transmission of the intermittent gear 5, the driven gear 6 is provided with the winding drum 7 with the rope 8, the other end of the rope 8 is tied on the piston rod 13 of the air cylinder 14, and the periodic winding and unwinding of the rope 8 and the periodic air inlet and exhaust of the air cylinder 14 are realized through the driving of the motor 9. Before jumping begins, the piston rod 13 is pulled out to drive the air cylinder 14 to extract air in the air bag 2, the air bag 2 is contracted to drive the leg structure to be slightly folded, when the intermittent gear 5 reaches an intermittent position, the piston rod 13 is inwards extruded in the air inlet cylinder 14 to press the air into the high-pressure cylinder, so that the air pressure in the high-pressure cylinder gradually rises, a pressure sensor is arranged at a cylinder opening of the high-pressure cylinder, when the pressure in the high-pressure cylinder reaches a certain value, the cylinder opening is opened to flush the air bag 2 in a short time to expand the air bag, and therefore the leg of the robot is enabled to stretch and jump off the ground under force. When the highest point is reached, the piston rod 13 is pulled out backwards again to pump out air, so that the robot returns to the initial state to finish landing, and meanwhile, the spring 11 is used at one end of the body 12 and one end of the trunk connecting piece 10, so that the spring serves as a support for body parts on one hand, and the swing stroke of the whole leg can be limited to prevent the swing stroke from being too large to scatter.

The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.