Five-joint frog-like jumping robot

Abstract

The invention provides a five-joint robot imitating a frog to jump. The five-joint robot is composed of a trunk mechanism, a fore limb mechanism and a hind limb mechanism. The trunk mechanism comprises two driving motors, a left body side plate, a right body side body, a reinforcing supporting shaft, a body hind limb hanging spring shaft, a motor protective plate, two body fixing plates and two synchronous belt transmission mechanisms. The fore limb mechanism comprises a fore limb thigh mechanism, a fore limb crus mechanism and a sole mechanism. The fore limb thigh mechanism comprises a left fore limb thigh, a right fore limb thigh, a shoulder joint shaft and a fore limb thigh fixing plate. The fore limb crus mechanism comprises a left fore limb crus, a right fore limb crus, a spring installation plate, a reset spring, a crus driving rope, an elbow joint shaft, a crus reinforcing supporting shaft and a fore limb crus fixing plate. The sole mechanism comprises a sole, a sole reset spring and a sole rotation shaft. The hind limb mechanism comprises a hind limb thigh mechanism, a hind limb crus mechanism and a sole mechanism. The bionic degree of the robot is improved, the jumping capacity of the robot is enhanced, and the flexibility, take-off and buffering effects of the mechanical mechanisms of the robot are improved.

Description

technical field [0001] The invention relates to a jumping robot, in particular to a five-joint frog-like jumping robot. Background technique [0002] With the continuous development of robot technology, in the face of harsh environments and complex terrain, the bouncing function of sports robots to enhance its ability to adapt to terrain and autonomous movement is a robot technology that has developed rapidly in recent years. Compared with wheeled or tracked robots, jumping robots have outstanding obstacle-surmounting capabilities, and their explosive and sudden movements are very beneficial for robots to avoid danger. More importantly, the jumping movement mode has the characteristics of low energy consumption. In addition, the study of jumping robots is helpful for the in-depth study and understanding of the mechanism of biological running and jumping, and has good enlightening significance for improving the current slow movement methods such as walking or crawling. [0...

AI Technical Summary

Problems solved by technology

The legs of the robot imitate the hind legs of the frog very well, and the elastic elements are also installed on the feet, but after taking off, only the elastic elements of the feet and the spring of the hip joint are used for cushioning, and 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

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