The invention discloses a jumping robot with controllable initial jumping force and direction. The jumping robot comprises a trunk platform, a hind limb module, a controllable clutch retracting and releasing module and a fore limb module. The hind limb module is fixedly connected with the rear portion of the trunk platform and comprises two jumping leg units of the same structure, each jumping legunit is a single-degree-of-freedom six-rod mechanism composed of multiple connecting rods, a tension spring is installed at the butt joint line, and linear jumping force perpendicular to the tensionspring all the time can be provided. The controllable clutch retracting and releasing module is composed of a main motor, a lead screw main shaft, a ratchet mechanism, a winding wheel, a pull wire, abuffer spring and the like, the initial jumping force is changed by controlling the rotating angle of the main motor, and the jumping time is controlled by controlling the rotating direction of the main motor. The fore limb module is fixedly connected with the front portion of the trunk platform and composed of a steering engine, front legs and the like, the steering engine drives the front legs to rotate, and the jumping force direction is adjusted by controlling the included angle between the front legs and the trunk platform. The initial jumping force and the direction are controllable, thejumping force is along a straight line, the structure is compact, and the weight is light.
本发明公开一种初始跳跃力大小和方向可控的跳跃机器人,包括躯干平台、后肢模块、可控离合收放模块、前肢模块。后肢模块与躯干平台后部固连,包括两组结构相同的跳跃腿单元,每个跳跃腿单元为多连杆组成的单自由度六杆机构,其对接线处安装拉簧,可提供始终垂直拉簧的直线跳跃力。可控离合收放模块由主电机、丝杠主轴、棘轮机构、卷线轮、拉线和缓冲弹簧等组成,通过控制主电机的旋转角度而改变初始跳跃力,通过控制主电机的旋转方向而控制起跳时机。前肢模块与躯干平台前部固连,由舵机和前腿等组成,舵机驱动前腿旋转,通过控制前腿与躯干平台的夹角而调整跳跃力方向。本发明初始跳跃力大小和方向可控,跳跃力沿直线,结构紧凑,质量轻。
Jumping robot with controllable jumping force and direction
一种跳跃力大小和方向可控的跳跃机器人
28.08.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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