A jumping robot with controllable energy storage and take-off angle

Abstract

The invention discloses a jumping robot with controllable energy storage size and take-off angle, which comprises a frame, a controllable winding / releasing unit, a jumping leg unit, and an attitude-adjusting leg unit. Wherein the controllable winding / releasing unit can use the rotation of the main drive in two directions for winding and releasing the pulley pair of the pulley respectively. The jumping leg unit is located at the rear of the rack, including two branches with the same structure, each branch is composed of a connecting plate, a support rod, a foot rod, a calf rod, a thigh rod and an energy storage spring, wherein the support rod is connected with the foot rod, the calf rod The two ends of the energy storage spring are respectively connected with the support rod and the calf rod, which can be stretched by a pull wire to realize energy storage. The attitude-adjusting leg unit is installed at the front end of the frame, and the forelimb rod can swing relative to the frame under the drive of the steering gear, thereby changing the take-off angle. The energy storage size and the take-off angle of the invention can be adjusted, the jumping force has bionic characteristics, the structure is compact, the control is simple, and the weight is light.

Description

technical field [0001] The invention relates to a jumping robot, in particular to a light and small bionic jumping robot with controllable energy storage size and take-off angle. Background technique [0002] Jumping robots can be divided into non-bionic jumping robots and bionic jumping robots. Non-bionic jumping robots mainly realize jumping motion by using mechanical elastic energy, chemical release energy and field force; bionic jumping robots simulate vertebrates (such as kangaroos, night monkeys and frogs, etc.) and invertebrates (such as locusts, cicadas, fleas, and beetles, etc.) to achieve the purpose of jumping. With the deepening of research, highly bionic will be the future development trend of jumping robots. [0003] Carnegie Mellon University RAIBERT and others have developed single-legged, bipedal and quadrupedal jumping robots on the basis of the spring inverted pendulum model, and thus opened the prelude to the research of jumping robots. The planar bow-s...

AI Technical Summary

Problems solved by technology

[0004] Existing jumping robots have little research on jumping controllability, including the adjustment of jumping speed, jumping angle and jumping direction, which greatly limits the flexibility of the jumping robot's movement and the diversity of the activity space, seriously hindering its practical application

At present, there is no bionic jumping robot that can realize the autonomous adjustment of take-off speed and take-off angle at the same time.

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