An energy storage type frog-like jumping robot

Abstract

The invention aims to provide an energy-storage type leapfrog-simulation robot. The energy-storage type leapfrog-simulation robot comprises fore limbs, a body and hind limbs, wherein a servo motor drives a rotating crank to rotate, the rotating crank pulls hind legs to swing forwards through an inhaul cable so that energy storage can be performed, when the rotating crank rotates by 180 degrees, the force, acting on the crank through the inhaul cable, of hind limb energy storage springs is in the opposite direction, a one-way bearing is separated from a shaft, the acting force disappears, the hind legs are not constrained, the whole robot is pushed to complete the jumping task through the acting force of the springs, the hind leg springs return to the original length after jumping, the motor continues to dive the crank to rotate, and the hind legs are pulled to complete the leg retracting action after jumping; when the robot falls to the ground, the contact angle between each fore limb and the ground is adjusted by a steering engine, and ground impact is relieved through C-shaped flexible foot soles. Driving mechanisms and executing mechanisms of the fore limbs and the hind limbs are reasonably arranged, the utilization rate of driving elements of the robot is increased, the bionic degree of the robot is improved, the jumping capacity of the robot is enhanced, and the flexible effect and the buffering effect of the mechanical structure of the robot are improved.

Description

technical field [0001] The invention relates to a robot, specifically a jumping robot. Background technique [0002] The current field of robot research has moved from fixed-point operations in structured environments to autonomous operations in non-structural environments such as aerospace, ocean development, underwater underground pipelines, and medical rescue. Robots of the future will work for humans in unpredictable and complex environments. People require robots not only to adapt to the original structured and known environment, but also to adapt to the unstructured and unknown environment in the future development, which requires the robot to have strong autonomous movement ability, survivability and high movement flexibility. [0003] Mobility performance is the key capability of robots in many applications in the future. In order to complete tasks, robots are often required to penetrate into restricted areas where personnel cannot enter for reconnaissance, detecti...

AI Technical Summary

Problems solved by technology

The legs of the robot imitate the hind legs of the frog very well, and its feet are also equipped with elastic elements, but after it takes off, it only uses the foot elastic elements and the spring of the hip joint to cushion, the cushioning effect is not very good, and the hip joint The spring needs to be stretched for a long distance before it can be released, which affects the take-off efficiency

[0010] The patent application No. 201310553698.5 proposes a five-joint imitation frog jumping robot, which uses a servo motor to drive the rear legs with springs to jump. Due to the high power density and fast speed of the spring, the slow speed and low power density of the servo motor, the two Coupling cannot give full play to their respective advantages; the soles of the hind legs adopt the form of stretching and pushing rods, which is different from the rotation of the soles of biological movements, and the degree of bionics is not high

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