Rolling-feet type intermittent hopping robot capable of adjusting posture in the air and recycling landing energy

Abstract

The invention discloses a rolling-feet type intermittent hopping robot capable of adjusting posture in the air and recycling landing energy. The robot adopts a gear five-rod mechanism with adjustable rod-lengths as a hopping mechanism, a split nut device and a trapezoidal screw are adopted to storing energy, actuators and cams which are matched with ratchet wheels and pawls serve as an energy releasing mechanism, and supporting rods and flexile hopping-assisting feet are used for increasing the height of hopping and landing buffering. The split nut device is disengaged from or engaged with the trapezoidal screw automatically according to spring force; and when the robot hops in the sky, under the effects of the split nut, push rods and push-rod baffles, the robot can adjust posture to enhance landing stability and conduct energy recycling and secondary utilization. Front legs have a supporting effect in a rolling mode. When turnover happens in the landing process of the robot, a reset mechanism is used for achieving passive resetting and active resetting of the robot. The robot adopts a 240-degree arc-leg rolling mode on the flat ground, and when encountering a barrier, the robot can steer to bypass the barrier.

Description

technical field [0001] The invention relates to the field of robots, in particular to a foot-rolling intermittent bouncing robot capable of attitude adjustment in the air and energy recovery on the ground. Background technique [0002] In nature, many small insects or animals can move in harsh environments and complex terrains by jumping, and sometimes they can even cross obstacles dozens of times larger than themselves. Their unique movement ability has attracted a lot of attention. Attention of world scientists and engineers. At the same time, with the continuous development of robot technology and people's daily needs, bionic robots have become a research hotspot, and legged jumping robots are an important branch of bionic robots. [0003] Ground mobile robots can be divided into three types: wheeled robots, walking robots and jumping robots. Wheeled robots can move efficiently on flat surfaces, but their limitations on rough terrain are obvious given the same size. In...

AI Technical Summary

Problems solved by technology

[0004] Patent 200910023297.2 discloses a gear bionic five-bar jumping mechanism with adjustable energy storage. The jumping mechanism can adjust its posture to perform functions such as jump preparation, energy storage and energy release, but the mechanism cannot adjust the posture of the body during the air stage. The landing stability is not high, the take-off height is relatively low, and the landing cushion performance is poor

In the patent 200910218805.2, a two-degree-of-freedom bionic bouncing robot is disclosed. During the energy storage process, the robot uses a screw nut mechanism with a larger transmission ratio, and uses a smaller power screw drive motor to complete the stretching of the spring. In order to achieve energy storage, the nut stops at different positions on the lead screw when the energy storage process is completed to adjust the different preparation postures of the leg device before take-off, so as to realize the adjustment of the take-off angle of the bouncing robot, but the robot does not fall after landing. has a reset function, and it only has a single jump function

In order to improve the application field of the bouncing robot, when the bouncing robot encounters a huge obstacle that cannot be crossed by jumping, it must be able to turn to avoid the obstacle, but it is difficult for the existing bouncing robot to achieve this

Images