The invention discloses a jumping robot with controllable energy storage capacity and jumping angle. The jumping robot comprises a rack, a controllable winding/unwinding unit, a jumping leg unit and aposture adjusting leg unit. The controllable winding/unwinding unit can enable the main driver to rotate in the two directions to be used for winding and unwinding the stay wire through the stay wirewheel. The jumping leg unit is positioned at the rear part of the rack and comprises two branches of the same structure, each branch is composed of a connecting plate, a supporting rod, a foot rod, ashank rod, a thigh rod and an energy storage spring, the supporting rod, the foot rod, the shank rod and the thigh rod jointly form a planar four-rod mechanism, the two ends of the energy storage spring are connected with the supporting rod and the shank rod respectively, and the energy storage spring can be stretched through the stray wire to achieve energy storage. The posture adjusting leg unit is installed at the front end of the rack and can achieve swinging of the front limb rod relative to the rack under driving of the steering engine, and therefore the jumping angle is changed. The energy storage capacity and the jumping angle can be adjusted, the bounce force has the bionic characteristic, the structure is compact, control is easy, and the mass is light.

    本发明公开一种储能大小和起跳角度可控的跳跃机器人,包括机架、可控收卷/松放单元、跳跃腿单元、调姿腿单元。其中可控收卷/松放单元可将主驱动器沿两个方向的转动分别用于拉线轮对拉线的收卷和松放。跳跃腿单元位于机架后部,包括两个结构相同的分支,每个分支由连接板、支撑杆、脚杆、小腿杆、大腿杆和储能弹簧组成,其中支撑杆与脚杆、小腿杆、大腿杆共同构成平面四杆机构,储能弹簧两端分别与支撑杆和小腿杆相连,可通过拉线将其拉伸,实现能量的存储。调姿腿单元安装于机架前端,在舵机的驱动下可实现前肢杆相对于机架的摆动,从而改变起跳角度。本发明储能大小和起跳角度可调节,弹跳力具有仿生特性,结构紧凑,控制简单,质量轻便。


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    Title :

    Jumping robot with controllable energy storage capacity and jumping angle


    Additional title:

    一种储能大小和起跳角度可控的跳跃机器人


    Contributors:
    WANG WEI (author) / ZHAO FEI (author) / ZHANG JINGTAO (author)

    Publication date :

    2020-08-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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