The invention relates to the field of robots, in particular to a continuous bouncing type stretch-draw integral structure and a robot. An energy storage release device is arranged in a stretch-draw structure frame, one end of the stretch-draw structure frame is connected with an upper cover plate, and the other end of the stretch-draw structure frame is connected with a lower cover plate; when an obstacle needs to be crossed through bouncing, the energy storage releasing device pulls the lower cover plate to enable the upper cover plate to be subjected to corresponding counter pulling force, so that the upper cover plate gets close to the lower cover plate, and the distance between the upper cover plate and the lower cover plate is shortened; when the upper cover plate is close to the lower cover plate, the tensioning structure frame expands outwards, and then the tensioning structure frame accumulates elastic potential energy; when enough elastic potential energy exists, the energy storage releasing device suddenly releases contraction of the lower cover plate so as to release the stored elastic potential energy, the elastic potential energy is released through the energy storage releasing device to achieve jumping of the whole tensioning structure, and continuous jumping advancing and smooth crossing of large-scale obstacles are achieved.
本发明涉及机器人领域,具体涉及一种连续弹跳式张拉整体结构及机器人,在张拉结构框架内设置蓄能释放装置,张拉结构框架的一端与上盖板连接,另一端与下盖板连接;当需要通过弹跳越过障碍物时,蓄能释放装置通过拉动下盖板,使上盖板受到相应的反拉力,进而使上盖板靠近下盖板,收缩上盖板与下盖板的距离;当上盖板靠近下盖板时,张拉结构框架会向外扩张,进而使张拉结构框架积蓄弹性势能;当具有足够弹性势能时,蓄能释放装置突然放开对下盖板的收缩,以释放积蓄的弹性势能,通过蓄能释放装置释放弹性势能实现张拉整体结构的跳跃,以实现连续进行跳跃行进,顺利越过大尺度的障碍物。
Continuous bouncing type tensegrity structure and robot
一种连续弹跳式张拉整体结构及机器人
2022-06-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |