The invention belongs to the technical field of robots, and particularly relates to a jumping robot. The jumping robot adopts a planetary gear train mechanism with two driven wheels, and the planetary gear train mechanism is provided with a driving wheel, a movable transmission gear and the two driven wheels. One driven wheel is used for controlling the take-off direction, the other driven wheel is used for controlling the jumping action, the transmission gear is meshed with the two driven wheels through clockwise rotation or anticlockwise rotation of the driving wheel, rotation of the two driven wheels is controlled, and therefore the underactuation function that one power input controls two outputs is achieved. The jumping direction of the jumping robot is adjustable, under-actuated design is adopted, and the jumping robot has the advantages of being compact in structure, light, good in flexibility, high in energy utilization rate and the like.

    本发明属于机器人技术领域,具体而言,涉及一种跳跃机器人。本发明跳跃机器人采用具有两个从动轮的行星轮系机构,行星轮系机构具有一个主动轮,一个可移动的传动齿轮,两个从动轮。一个从动轮用于控制起跳方向,另一个从动轮用于控制跳跃动作,而通过主动轮的顺时针转动或逆时针转动实现传动齿轮分别与两个从动轮啮合,分别控制其转动,从而实现了一个动力输入控制两个输出的欠驱动的功能。本发明的跳跃机器人起跳方向可调,采用欠驱动设计,具有结构紧凑、轻巧,灵活性好、能量利用率高等诸多优点。


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    Title :

    Jumping robot


    Additional title:

    一种跳跃机器人


    Contributors:
    ZHOU JINYIN (author) / ZHU BIN (author) / YANG RAN (author) / WANG ZHIANG (author) / YUAN HAO (author) / LIANG JIAWEI (author)

    Publication date :

    2022-04-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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