The invention discloses a multi-motion-mode track-adjustable bionic bouncing robot which comprises a bouncing mechanism and a clutch mechanism. The bouncing mechanism is formed by integrating a bouncing insect imitating bouncing mechanism and a gall midge larva imitating bouncing mechanism, the whole bouncing mechanism is similar to a six-rod mechanism, the bouncing insect imitating bouncing mechanism comprises four torsional spring mechanisms which are symmetrically arranged vertically, and the gall midge larva imitating bouncing mechanism comprises four arc-shaped elastic elements located inthe middle of the torsional spring mechanisms; the clutch mechanism is mainly composed of a bouncing steering engine, a driving wheel, a driven wheel and a reel. The robot also comprises a shell mechanism which is composed of a top cover, a carbon fiber rod and a hemispherical base, and the overall gravity center of the robot is located below the centroid of the shell mechanism. According to theinvention, a proper motion trail can be adjusted according to the sizes of different environmental barriers, and the robot has multiple motion modes capable of adapting to various environments, has strong load capacity and continuous motion capacity, and is suitable for carrying equipment such as a camera, a sensor and the like to carry out reconnaissance, rescue and other activities in an unstructured environment.
一种多运动模式可调轨迹的仿生弹跳机器人,包括弹跳机构和离合器机构,弹跳机构由仿跳虫弹跳机构和仿瘿蚊幼虫弹跳机构集合而成,整体呈类似六杆机构,仿跳虫弹跳机构包括四个上下对称布置的扭簧机构,仿瘿蚊幼虫弹跳机构包括位于扭簧机构中间的四个弧形弹性元件;离合器机构主要由弹跳舵机、主动轮、从动轮和绕线轮组成;还包括外壳机构,由顶盖、碳纤维杆以及半球形底座构成,机器人的整体重心位于外壳机构形心的下方。本发明能够根据不同的环境障碍物的尺寸调整合适的运动轨迹,具有能适应多种环境的多运动模式,具有强大负载能力,具有持续运动的能力,适于搭载一些如摄像机、传感器等设备在非结构化环境中进行侦察营救等活动。
Multi-motion-mode track-adjustable bionic bouncing robot
一种多运动模式可调轨迹的仿生弹跳机器人
2020-10-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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