CN115367014B - Spherical robot with controllable jump track - Google Patents

Abstract

The invention provides a spherical robot with controllable jumping trajectory, which includes a spherical shell, a fixed bracket, a jumping mechanism and a trigger mechanism; the fixed bracket has a body part and a raised part, and two symmetrical The connecting shaft; the jumping mechanism includes a movable slider, a torsion spring body and the sole of the foot; the movable slider is slidably arranged on one side of the body; the main body of the torsion spring body is sleeved on the connection shaft and forms a rotational fit, and the torsion spring body The first end is connected with the movable slider, and the sole of the foot is arranged on the second end of the torsion spring body; the trigger mechanism includes a movable limiter, and the sole of the foot has a holding part that cooperates with the movable limiter; the movable limiter It can abut against the holding part to compress the torsion spring body when the movable slider slides towards the sole; when the movable limiter releases the holding part, the first end and the second end of the torsion spring body open oppositely, Turning and/or jumping actions are performed by controlling the compression of the torsion spring bodies in the two groups of jumping mechanisms. The invention has the advantages of compact structure and small volume.

Description

A spherical robot with controllable jump trajectory

technical field

The invention belongs to the technical field of jumping robots, and in particular relates to a spherical robot with controllable jumping tracks.

Background technique

Jumping is one of the most efficient locomotion modes for robots. Compared with crawling, jumping can cross obstacles or pits larger than its own size; compared with flying, jumping does not require continuous energy output and can save more energy. Therefore, jumping robots are widely used in complex terrain, and have broad applications in fields such as space exploration, battlefield reconnaissance, and life rescue.

In the prior art, the Jollbot made by Armour et al. is a typical representative of a jumping robot. Its main skeleton structure is a spherical structure with a diameter of 300mm formed by semicircular stirrups. The stirrups provide jumping energy as a spring and As an external rolling surface, the jumping height can reach 220mm; the direction of the jumping robot is achieved by adjusting the internal center of gravity of the robot to change the angle between the internal axis and the ground. The steerable jumping robot made by Ma et al. obtains jumping energy by imitating the jumping mechanism of springtail midges and gall midge larvae. By imitating the outline of a tumbler, the robot can automatically return to an upright state. With the help of the differential speed of the two wheels Rotate to change the orientation of the robot, thereby changing the jumping direction of the robot; the robot has a height of 23.2cm and an axial diameter of 14.5cm.

Based on the above-mentioned jumping robot in the prior art consisting of two independent mechanisms of steering and jumping, the above-mentioned jumping robot has the problems of large size and complicated structure.

Contents of the invention

The object of the present invention is to provide a spherical robot with controllable jump trajectory, which has the advantages of compact structure and small volume.

In order to achieve the above object, the present invention provides a ball robot with controllable jump trajectory, which includes:

A spherical shell for maintaining a standing posture, with a fixed bracket inside the spherical shell;

Two sets of jumping mechanisms are used to complete the jumping action, and the two sets of jumping mechanisms are relatively arranged on the left and right sides of the fixed bracket to form a biped structure;

A trigger mechanism for triggering two sets of jumping mechanisms to generate jumping actions;

Wherein, the fixing bracket has a body part, the middle part of the body part protrudes forward to form a raised part, and two symmetrical connecting shafts are arranged on the left and right sides of the raised part;

Wherein, the jumping mechanism includes a movable slider, a torsion spring body and a sole; the movable slider is slidably arranged on one side of the main body; the main body of the torsion spring body is sleeved on the connecting shaft and forms a rotational fit; One end is connected with the movable slider, the sole of the foot is arranged on the second end of the torsion spring body, and the movable slider and the sole of the foot are set up and down oppositely;

Wherein, the trigger mechanism includes a movable limiter, and the sole of the foot has a retaining part that cooperates with the movable limiter; the movable limiter can abut against the retainer to compress when the movable slider slides toward the sole of the foot. torsion spring body;

When the movable limiter releases the holding part, the first end and the second end of the torsion spring body are oppositely opened, and the turning and/or jumping action is performed by controlling the compression of the torsion spring body in the two groups of jumping mechanisms.

In the above technical solution of the present invention, the spherical shell is outside, and the spherical shell can be self-adjusted to a standing posture by utilizing the shape of the spherical shell and the position of the center of gravity.

According to another specific embodiment of the present invention, when the movable limiter is in the position of releasing the holding part, the steering adjustment is performed by controlling the compression of the torsion spring body in the single jumping mechanism; In the state of limiting the position of the holding part, jumping is performed by controlling the compression amount of the torsion spring body in the two jumping mechanisms to be the same, and the jumping direction is adjusted by controlling the compression amount of the torsion spring body in the two jumping mechanisms to be different.

According to another specific embodiment of the present invention, the movable limiter is swingably arranged on the body part, the movable limiter has a hook matched with the holding part, and the swing of the movable limiter makes The holding part is supported at the hook to limit the sole of the foot.

Further, the holding part is rod-shaped.

According to another specific embodiment of the present invention, the trigger mechanism further includes a first motor and a first transmission assembly, and the first motor drives the movable limiter to reciprocate through the first transmission assembly.

Further, the first transmission assembly includes a gear assembly, a sprocket assembly and a synchronous wheel assembly.

According to another specific embodiment of the present invention, the sole of the foot also has a bottom plate in contact with the ground, and the bottom plate is rotatably connected to the sole of the foot to generate adaptive rotation during the compression process of the torsion spring body.

According to another specific embodiment of the present invention, the body part is in the shape of a bridge, the body part has a horizontal plate and two vertical plates located on the left and right sides of the horizontal plate, and the movable slider is slidably arranged on the vertical plate; the two vertical plates An avoidance groove is formed below the horizontal plate, and the trigger mechanism is arranged in the avoidance groove.

According to another specific embodiment of the present invention, the jumping mechanism further includes a second motor and a second transmission assembly, and the second motor drives the movable slider to go up and down through the second transmission assembly.

Further, the second transmission assembly includes a screw assembly, a synchronous belt assembly, a linear push rod assembly and a rack and pinion assembly.

The present invention has the following beneficial effects:

The present invention presents a spherical shape as a whole, has a small volume, and can be applied to jumping actions under a small volume (miniature), and has the advantages of compact structure and light weight; at the same time, the orientation, jumping angle and Jumping direction to achieve jumping actions with different trajectories.

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a schematic diagram of an exploded structure of a spherical robot embodiment 1 of the present invention;

Fig. 2 is a partial structural diagram of embodiment 1 of the spherical robot of the present invention;

Fig. 3 is the internal view of spherical robot embodiment 1 of the present invention;

Fig. 4 is a schematic diagram of the take-off state of Embodiment 1 of the spherical robot of the present invention.

Detailed ways

In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, therefore, the protection scope of the present invention is not limited to the specific details disclosed below. EXAMPLE LIMITATIONS.

Example 1

As shown in Figures 1-3, the spherical robot with controllable jump trajectory of Embodiment 1 includes a spherical shell 10, a fixed bracket 20, two groups of jumping mechanisms 30 for completing the jumping action, and two groups of jumping mechanisms 30 for triggering jumping. Action trigger mechanism 40 . The fixed bracket 20 is arranged in the spherical housing 10 to provide an installation reference. Two groups of jumping mechanisms 30 are relatively arranged on the left and right sides of the fixed bracket 20 to form a bipedal structure. Jumping of the robot as a whole.

Wherein, the spherical shell 10 preferably has two hemispheres 11 that cooperate, and the two hemispheres 11 are oppositely assembled to form a connection; in this embodiment, the shape of the spherical shell 10 and the overall center of gravity position of the robot can be used to self-adjust to a standing posture. That is to say, it can automatically adjust to the initial standing posture after the jump is completed.

The fixed bracket 20 has a body portion 21 and a raised portion 22, the body portion 21 is bridge-shaped, the body portion 21 has a horizontal plate 211 and two vertical plates 212 located on the left and right sides of the horizontal plate 211, between the two vertical plates 212 An avoidance groove 213 is formed under the horizontal plate 211; the raised portion 22 protrudes forward and is formed, wherein the raised portion 22 and the horizontal plate 211 are preferably integrally formed;

In the following, one group of jumping mechanisms 30 will be introduced: the jumping mechanism 30 includes a movable slider 31, a torsion spring body 32 and a sole 33;

The movable slider 31 is slidably arranged on the left side of the body part 21 and can slide up and down along the vertical plate 212; specifically, the vertical plate 212 is provided with a second motor 34 and a screw rod for driving the movable slider 31 to slide. As for the assembly 35, in other embodiments, for example, a synchronous belt assembly, a linear push rod assembly or a rack and pinion assembly can also be used to drive the movable slider 31 to slide up and down.

Two symmetrical connecting shafts 23 are arranged on the left and right sides of the protruding part 22, and the main body 321 of the torsion spring body 32 is sleeved on the connecting shaft 23 and forms a rotational fit; the first end 322 of the torsion spring body 32 and the movable slider 31, the sole 33 is arranged on the second end 323 of the torsion spring body 32, and the movable slider 31 and the sole 33 are arranged up and down oppositely.

Further, a slit 12 is provided at the bottom of the spherical shell 10, and the sole 33 protrudes from the slit 12 and abuts against the ground. In order to realize that the sole 33 keeps good contact with the ground all the time during the compression process of the torsion spring body 32, the sole 33 has a base plate 36 that is in contact with the ground, and the base plate 36 is rotatably connected to the sole 33 so that during the compression process of the torsion spring body 32 Generate adaptive rotation, as shown in Figure 4.

The trigger mechanism 40 is arranged in the avoidance groove 213, which includes a movable limiter 41, and the sole 33 has a retaining portion 37 that cooperates with the movable limiter 41; the movable limiter 41 can abut against the retainer 37 , to compress the torsion spring body 32 when the movable slider 31 slides toward the sole 33 , as shown in FIG. 3 .

Further, the trigger mechanism 40 also includes a first motor 42 and a gear transmission assembly 43, the first motor 42 drives the movable limiter 41 to reciprocate through the gear transmission assembly; in other embodiments, for example, a sprocket assembly can also be used and the synchronous wheel assembly to drive the reciprocating swing of the movable limiter 41 . Wherein, both the first motor 42 and the second motor 34 are micro motors.

When the movable limiter 41 releases the holding part 37, the first end 322 and the second end 323 of the torsion spring body 32 are oppositely opened, and the compression of the torsion spring body 32 in the two groups of jumping mechanisms 30 is controlled to perform steering and / or jump action.

Specifically, the movable limiter 41 has a hook 44 adapted to the holding portion 37, and the swing of the movable limiter 41 makes the holding portion 37 supported on the hook 44 to limit the sole 33; preferably Yes, the holding part 37 is in the shape of a rod matching the hook 44 .

Preferably, the holding parts 37 of the soles 33 of the two groups of jumping mechanisms 30 are oppositely arranged and can simultaneously form a limited fit with the hook 44 , and then realize the release of the two groups of jumping mechanisms 30 through a single trigger mechanism 40 .

Wherein, when the torsion spring body 32 is not compressed, the first end 322 and the second end 323 of the torsion spring body 32 have a nearly fixed angle, when the movable slider 31 is at the uppermost position, in contrast, The second end 323 of the torsion spring body 32 is gathered close to the hook 44, as shown in Figure 1; at this time, the swinging movable limiter 41 makes the hook 44 hook up with the holding part 37 of the sole 33 to hold Part 37 forms a position-limiting support, thereby realizing continuous multiple automatic resets, and finally realizing continuous jumping.

In this embodiment, different functions are realized by separately controlling the compression of the torsion spring body 32 in the two groups of jumping mechanisms 30, as follows:

When the movable limiter 41 is in the state of releasing the holding part 37, the steering adjustment is performed by controlling the compression amount of the torsion spring body 32 in the single jumping mechanism 30; wherein, the trigger mechanism 40 does not participate in the steering adjustment process, specifically That is to say, the hook 44 in the movable limiter 41 releases the limit to the holding part 37, so that when the movable slider 31 compresses the torsion spring body 32, it can directly realize the swing of the sole 33 of one side, thereby realizing the steering. adjust.

When the movable limiter 41 is in the position state of the limit holding part 37, the compression amount of the torsion spring body 32 in the two groups of jumping mechanisms 30 is controlled to be the same to jump, and according to the size of the compression amount of the torsion spring body 32, the Adjustment of the jumping height; at this time, it is necessary to cooperate with the trigger mechanism 40 to release the holding part 37 to form a jumping action.

When the movable limiter 41 is in the state of restricting the holding part 37, the jumping direction is adjusted by controlling the compression of the torsion spring body 32 in the two groups of jumping mechanisms 30; at this time, it is also necessary to cooperate with the trigger mechanism 40 Release the holding part 37 to form a jumping action; because the compression amount of the torsion spring body 32 in the two groups of jumping mechanisms 30 is different, the corresponding force of the jumping action produced by the sole 33 is also different, so as to realize the adjustment of the jumping direction .

This embodiment presents a spherical shape as a whole and has a small volume, which is suitable for jumping under miniature conditions.

Although the present invention is disclosed above with preferred embodiments, it is not intended to limit the scope of the present invention. Any person skilled in the art may make some improvements without departing from the scope of the present invention, that is, all equivalent improvements made according to the present invention shall be covered by the scope of the present invention.

Claims (10)

1. A controllable spherical robot of a jump track, comprising: A spherical shell for maintaining a standing posture, and a fixed bracket is arranged inside the spherical shell; Two sets of jumping mechanisms for completing the jumping action, the two sets of jumping mechanisms are relatively arranged on the left and right sides of the fixed bracket to form a biped structure; A trigger mechanism for triggering two groups of jumping mechanisms to generate a jumping action; Wherein, the fixed bracket has a body part, the middle part of the body part protrudes forward to form a raised part, and two symmetrical connecting shafts are arranged on the left and right sides of the raised part; Wherein, the jumping mechanism includes a movable slider, a torsion spring body and a sole; the movable slider is slidably arranged on one side of the body part; the main body of the torsion spring body is sleeved on the connecting shaft And form a rotation fit, the first end of the torsion spring body is connected with the movable slider, the sole of the foot is arranged on the second end of the torsion spring body, and the movable slider is connected with the foot The bottom is set relative to the top and bottom; Wherein, the trigger mechanism includes a movable limiter, and the sole of the foot has a retaining part that cooperates with the movable limiter; the movable limiter can abut against the retainer, so that The movable slider compresses the torsion spring body when sliding toward the sole of the foot; When the movable limiter releases the retaining part, the first end of the torsion spring body opens opposite to the second end, and by controlling the movement of the torsion spring bodies in the two groups of jumping mechanisms, Compress for turning and/or jumping maneuvers. 2. The controllable spherical robot of jump trajectory as claimed in claim 1, wherein: When the movable limiter is in the state of releasing the holding part, the steering is adjusted by controlling the compression of the torsion spring body in the single jumping mechanism; When the movable limiter is in the state of restricting the position of the holding part, by controlling the compression amount of the torsion spring bodies in the two groups of the jumping mechanisms to be the same to jump, by controlling the two groups of the jumping mechanisms The compression amount of the torsion spring body is different to adjust the jumping direction. 3. The spherical robot with controllable jump trajectory as claimed in claim 1, wherein: said movable limiter is swingably arranged on said body part, said movable limiter has a With the matching hook, the swing of the movable limiter makes the holding part supported on the hook to limit the sole of the foot. 4. The spherical robot with controllable jump trajectory according to claim 3, wherein: the holding part is rod-shaped. 5. The spherical robot with controllable jump trajectory as claimed in claim 3, wherein: the trigger mechanism further comprises a first motor and a first transmission assembly, and the first motor drives the controllable robot through the first transmission assembly. The moving limiter performs reciprocating swing. 6. The spherical robot with controllable jump trajectory as claimed in claim 5, wherein: said first transmission assembly comprises a gear assembly, a sprocket assembly and a synchronous wheel assembly. 7. The ball-shaped robot with controllable jump trajectory as claimed in claim 1, wherein: the sole of the foot also has a base plate in contact with the ground, and the base plate is rotatably connected on the sole of the foot so that the torsion spring body Adaptive rotation occurs during the compression process. 8. The spherical robot with controllable jump trajectory as claimed in claim 1, wherein: the body part is bridge-shaped, and the body part has a horizontal plate and two vertical plates positioned on the left and right sides of the horizontal plate, so The movable slider is slidably arranged on the vertical plate; a space-avoiding groove is formed below the horizontal plate between the two vertical plates, and the trigger mechanism is arranged in the space-avoiding groove. 9. The spherical robot with controllable jumping trajectory as claimed in claim 1, wherein: the jumping mechanism further comprises a second motor and a second transmission assembly, and the second motor drives the movable robot through the second transmission assembly. Move the slider to lift. 10. The spherical robot with controllable jump trajectory according to claim 9, wherein: the second transmission assembly comprises a screw assembly, a synchronous belt assembly, a linear push rod assembly and a rack and pinion assembly.

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