Electromagnetic drive bionic frog bouncing device

Abstract

The electromagnetic drive bionic frog bouncing device comprises a front leg mechanism and a rear leg mechanism which are connected to the front end and the rear end of a reference module respectively, and the front leg mechanism and the rear leg mechanism are symmetrically arranged on the left side and the right side of the reference module respectively; the rear leg mechanism comprises a rear thigh, a rear shank and a rear sole which are rotationally connected in sequence from top to bottom, and the upper end of the rear thigh is rotationally connected to the reference module; the rear leg connecting piece comprises an upper rear leg connecting piece and a lower rear leg connecting piece which is elastically connected with the upper rear leg connecting piece through a reset spring, a coil winding is wound outside the lower rear leg connecting piece, a permanent magnet is embedded in the upper rear leg connecting piece to form an electromagnetic crank pressing rod, the rear thigh serves as a rocker, the rear shank serves as a rack, and electromagnetic linear force is converted into jumping torque. Through the modular electromagnetic drive design, the energy transfer path is simplified, high-efficiency output and precise control are achieved, and the device has the advantages of being concentrated in thrust, capable of achieving quantitative regulation and control of motion parameters, flexible in steering and convenient and fast to assemble.

Description

Technical Field

[0001] This invention relates to an electromagnetically driven biomimetic frog jumping device, belonging to the fields of mechanical bionics, robot drive and intelligent control technology. Background Technology

[0002] Continuous jumping biomimetic robots are suitable for tasks such as field exploration, disaster relief, and planetary exploration, requiring extremely high levels of obstacle-crossing ability, bursts of speed, and continuous motion performance. Currently, there are two main approaches: 1. Spring-motor energy storage type: The motor compresses the spring to store energy and then releases it instantly. It has defects such as bulky mechanism, long compression time, long energy link and slow reset, making it difficult to achieve high-frequency continuous jumping.

[0003] 2. Direct-drive motor type: The linkage jumps directly by the servo motor. Although it has good controllability, it has low power density, insufficient explosive force, complex structure and heavy weight.

[0004] Furthermore, traditional solutions lack flexible steering and grabbing capabilities, limiting their mobility and mission scalability in complex terrain. Therefore, there is an urgent need for a multifunctional bionic jumping device that is high in energy density, fast in response, modular, capable of consecutive jumps, steering, and grabbing. Summary of the Invention

[0005] The purpose of this invention is to provide an electromagnetically driven biomimetic frog jumping device, which receives electrical energy from control signals and directly generates mechanical force to drive the overall movement through an electromagnetic drive mechanism, thereby achieving high-efficiency jumping energy output; and by integrating sensors and controllers, the output of the electromagnetic drive mechanism is adjusted in real time, thereby achieving precise control of jumping height, direction or frequency.

[0006] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution.

[0007] On one hand, the present invention provides an electromagnetically driven biomimetic frog jumping device, comprising: a reference module and a power output module; The power output module includes: a front leg mechanism and a rear leg mechanism connected to the front and rear ends of the reference module respectively, and the front leg mechanism and the rear leg mechanism are symmetrically arranged on the left and right sides of the reference module respectively. The rear leg mechanism includes: a rear thigh, a rear calf, and a rear foot that are rotatably connected from top to bottom, and the upper end of the rear thigh is rotatably connected to a reference module. The upper end of the rear thigh and the lower end of the rear calf are connected by a rear leg connector to form a triangular structure. The rear leg connector includes: an upper rear leg connector and a lower rear leg connector that are elastically connected to it via a return spring. The lower rear leg connector has an outer coil winding, and the upper rear leg connector has an embedded permanent magnet, forming an electromagnetic crank pressure rod. The rear thigh acts as a rocker arm, and the rear lower leg acts as a frame, converting electromagnetic linear force into jumping torque. The permanent magnet is preferably a high-performance permanent magnet.

[0008] Furthermore, the front leg mechanism includes: a front leg connector, a front thigh, a front calf, and a forefoot; One end of the foreleg and the foreleg are connected to the front end of the reference module in sequence, and the other end of the foreleg and the foreleg are connected to the upper end and the middle part of the foreleg connector, respectively. The lower end of the foreleg connector is connected to the forefoot.

[0009] Furthermore, the bottom of the forefoot is equipped with a silicone layer for landing cushioning, ensuring a smooth landing for the machine.

[0010] Furthermore, the heel is made of a pressure spring, which includes: a flat reference bottom surface that contacts the walking surface, a curved section with a predetermined curvature at its tail, and a flat connecting part at the other end for fixed connection with the heel connector, wherein the flat connecting part forms an angle of 20 to 40° with the reference bottom surface.

[0011] Furthermore, the left and right sides of the reference module are symmetrically connected to the steering drive module, which includes: rotor winding, arc magnet, worm, worm wheel, brush, steering wheel and rotor; The upper circumference of the rotor winding is symmetrically provided with arc-shaped magnets, and the bottom outer side of the magnets is connected to the brushes. The bottom end of the rotor winding is connected to the rotor, and the output end of the rotor is coaxially and fixedly connected to the worm. A turbine is engaged below the worm, and the worm wheel is connected to the steering wheel through a transmission mechanism. The overall steering is achieved by the difference in the rotational speed of the two steering wheels. The brushes provide working current to the rotor winding.

[0012] Furthermore, the steering wheel is at the same horizontal level as the lowest point of the front and rear leg mechanisms.

[0013] Furthermore, the reference module includes: an upper body and a lower body; The upper body connects to the battery box, steering switch, and jump switch. The battery box provides power to the steering drive module and power output module of the lower body. The steering switch and jump switch have built-in controllers, which are powered by a power module. The other end of the controller is connected to the brushes and is used to control the operation of the steering drive module and the direction of the current in the steering drive module. The other end of the jump switch's built-in controller is connected to the coil winding to control the operation of the power output module and the magnitude of the current in the power output module.

[0014] Furthermore, a robotic arm grasping module is provided at the front end of the reference module. The robotic arm grasping module includes a rotating base, a large arm, a small arm, a connecting rod, a gripper, a servo motor, and a visual recognition camera; A rotating base is located at the bottom of the robotic arm and connected to a reference module; servo motors are located on both sides of the rotating base; one end of the upper arm and the connecting rod are connected to the top of the rotating base, wherein the upper arm is located on the front side and the connecting rod is located on the rear side; one end of the forearm is connected to the other end of the upper arm and the connecting rod; another servo motor is located at the joint connecting the upper arm and the forearm; a gripper is located at the front end of the robotic arm, the gripper is connected to the other end of the forearm, and a visual recognition camera is installed on the upper end of the gripper; the servo motor is used to provide power to the robotic arm's gripping module.

[0015] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: This invention provides a biomimetic frog-jumping mechanism based on electromagnetic drive. It achieves jumping by converting the relative motion between an energized coil and a permanent magnet into torque output of the leg sliding joint. This mechanism effectively simplifies the energy transfer path, improves energy utilization efficiency, and employs a modular design to achieve precise motion control and rapid assembly. This invention has advantages such as rapid response, concentrated thrust, low operating noise, and quantifiable controllable motion parameters. The mechanism is compact, lightweight, and capable of continuous motion, making it applicable to agricultural and military fields such as surface reconnaissance and soil testing. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the base module and power module structure; Figure 3 This is a schematic diagram of the power output module (front and rear leg mechanisms); Figure 4 This is a schematic diagram of the jump drive module structure; Figure 5 This is a schematic diagram of the drive train structure of the steering drive module; Figure 6 This is a schematic diagram of the robotic arm's grasping module. The components include: battery box 1-1, steering switch 1-2, jump switch 1-3, front leg connector 2-1, front thigh 2-2, front lower leg 2-3, forefoot 2-4, rear leg connector 2-5, rear thigh 2-6, rear lower leg 2-7, rear foot 2-8, upper rear leg connector 3-1, lower rear leg connector 3-2, coil winding 3-3, permanent magnet 3-4, return spring 3-5, rotor winding 4-1, arc magnet 4-2, worm gear 4-3, turbine 4-4, brush 4-5, steering wheel 4-6, rotor 4-7, transmission parts 4-8, transmission gear 4-9, robotic arm module 5, rotating base 5-1, upper arm 5-2, lower arm 5-3, connecting rod 5-4, gripper 5-5, servo motor 5-6, visual recognition camera 5-7, upper body 6-1, and lower body 6-2. Detailed Implementation

[0017] It should be noted that: The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0018] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example

[0019] like Figures 1-6 As shown in one embodiment, this embodiment provides an electromagnetically driven biomimetic frog jumping device, including: a reference module and a power output module; The power output module includes: a front leg mechanism and a rear leg mechanism connected to the front and rear ends of the reference module respectively, and the front leg mechanism and the rear leg mechanism are symmetrically arranged on the left and right sides of the reference module respectively. The rear leg mechanism includes: a rear thigh 2-6, a rear calf 2-7 and a rear foot 2-8 rotatably connected from top to bottom, with the upper end of the rear thigh 2-6 rotatably connected to the reference module, and the upper end of the rear thigh 2-6 and the lower end of the rear calf 2-7 connected by the rear leg connector 2-5 to form a triangular structure; The rear leg connector 2-5 includes: an upper rear leg connector 3-1 and a lower rear leg connector 3-2 elastically connected to it via a return spring 3-5. The lower rear leg connector 3-2 has an outer coil winding 3-3, and the upper rear leg connector 3-1 has an embedded permanent magnet 3-4, forming an electromagnetic crank pressure rod. The rear thigh 2-6 acts as a rocker arm, and the rear lower leg 2-7 acts as a frame, converting electromagnetic linear force into jumping torque. The permanent magnet 3-4 is preferably a high-performance permanent magnet.

[0020] The foreleg mechanism includes: a foreleg connector 2-1, a foreleg thigh 2-2, a foreleg 2-3, and a forefoot 2-4; One end of the foreleg 2-3 and the foreleg 2-2 are connected to the front end of the reference module in sequence. The other ends of the foreleg 2-2 and the foreleg 2-3 are respectively connected to the upper end and the middle part of the foreleg connector 2-1. The lower end of the foreleg connector 2-1 is connected to the forefoot 2-4.

[0021] The bottom of the forefoot 2-4 is equipped with a silicone layer for landing cushioning, ensuring a smooth landing for the machine.

[0022] The heel 2-8 is made of a pressure spring, which includes: a flat reference bottom surface that contacts the walking surface, a curved section with a predetermined curvature at its tail, and a flat connecting part at the other end for fixed connection with the heel connector 2-5, wherein the flat connecting part forms a 30-degree angle with the reference bottom surface.

[0023] The reference module is symmetrically connected to the steering drive module on its left and right sides. The steering drive module includes: rotor winding 4-1, arc magnet 4-2, worm 4-3, worm wheel 4-4, brush 4-5, steering wheel 4-6 and rotor 4-7. The upper circumference of the rotor winding 4-1 is symmetrically provided with arc-shaped magnets 4-2, and the outer bottom of the magnets is connected to brushes 4-5. The bottom end of the rotor winding 4-1 is connected to the rotor 4-7, and the output end of the rotor 4-7 is coaxially and fixedly connected to the worm 4-3. A turbine 4-4 is engaged below the worm 4-3. The worm wheel 4-4 is connected to the steering wheel 4-6 through a transmission mechanism. The overall steering is achieved by the difference in speed between the two steering wheels 4-6. The brushes 4-5 provide working current to the rotor winding 4-1.

[0024] The transmission assembly includes a long transmission shaft and a short transmission shaft. The long shaft is disposed through the transmission component 4-8 and has a first shaft end and a second shaft end located at both ends. The short shaft is disposed in the inner region of the transmission component and has only a single shaft end. The long shaft is located above the short shaft. The turbine 4-4 is located on the outer shaft end of the long shaft. A transmission gear 4-9 is provided on each of the other two shaft ends. The transmission gear 4-9 on the inner shaft end of the short shaft meshes with the transmission gear 4-9 on the inner shaft end of the long shaft. The turbine 4-4 on the outer shaft end of the long shaft is coaxially disposed with the transmission gear 4-9 on the inner shaft end of the long shaft.

[0025] After being energized, the rotor winding 4-1 rotates under the action of the magnetic field, which in turn drives the rotor 4-7 to rotate synchronously. This rotational motion is decelerated and the torque is increased through the transmission mechanism composed of the worm 4-3 and the worm wheel 4-4. Finally, the power is transmitted to the steering wheel 4-6 through the transmission gear 4-9 to realize its steering function. The steering drive module uses the differential principle for steering. Specifically, the rotor winding 4-1 generates electromagnetic torque under the magnetic field of the arc magnet 4-2, which drives the rotor 4-7 and the worm 4-3 at its end to rotate. This, in turn, drives the turbine 4-4 meshing with the worm 4-3 and the transmission gear 4-9 connected to the turbine 4-4 through the transmission component 4-8 to rotate, thereby generating a speed difference between the left and right steering wheels 4-6.

[0026] The steering wheels 4-6 are at the same horizontal level as the lowest points of the front and rear leg mechanisms.

[0027] The reference module includes: an upper body 6-1 and a lower body 6-2; The upper body 6-1 is connected to the battery box 1-1, the steering switch 1-2 and the jump switch 1-3. The battery box 1-1 is equipped with a power module for supplying power to the steering drive module and the power output module connected to the lower body 6-2. The steering switch 1-2 and the jump switch 1-3 have built-in controllers, which are powered by a power module. The other end of the built-in controller in steering switch 1-2 is connected to brush 4-5, and is used to control the operation of the steering drive module and the direction of the current in the steering drive module. The other end of the built-in controller of the jump switch 1-3 is connected to the coil winding 3-3 to control the operation of the power output module and control the current of the power output module.

[0028] Furthermore, a robotic arm grasping module is provided at the front end of the reference module. The robotic arm grasping module includes a rotating base 5-1, a large arm 5-2, a small arm 5-3, a connecting rod 5-4, a gripper 5-5, a servo motor 5-6, and a visual recognition camera 5-7. A rotating base 5-1 is located at the bottom of the robotic arm and connected to a reference module. Servo motors 5-6 are located on both sides of the rotating base 5-1. One end of the upper arm 5-2 and the connecting rod 5-4 are connected to the top of the rotating base 5-1, with the upper arm 5-2 located at the front and the connecting rod 5-4 at the rear. One end of the forearm 5-3 is connected to the other end of the upper arm 5-2 and the connecting rod 5-4. Another servo motor 5-6 is located at the joint connecting the upper arm 5-2 and the forearm 5-3. A gripper 5-7 is located at the front end of the robotic arm, connected to the other end of the forearm 5-3. A visual recognition camera 5-7 is mounted on the upper end of the gripper 5-5. The servo motor 5-6 provides power to the robotic arm's gripping module.

[0029] Through the above embodiments, the bouncing device achieves the following functions: Jump function: Electrical connection is achieved between the jump switch 1-3 and the coil winding 3-3. The jump switch is preferably a double-contact switch, which can switch the circuit state according to the control signal to control the on / off state of the coil winding 3-3. The coil winding 3-3 is made of multi-turn high-strength enameled wire, and its circuit can withstand instantaneous large currents. When the main control unit sends a jump signal, the deflection switch closes, applying a high-voltage pulse excitation current to the coil winding 3-2, thereby instantaneously generating a strong pulse magnetic field around the coil winding 3-3. The polarity of the permanent magnet 3-4 repels the magnetic field generated by the coil winding 3-3. When the coil is energized, a strong magnetic field is generated... In a magnetic field, a huge electromagnetic repulsion force is generated between the permanent magnet 3-4 and the coil winding 3-3 in a very short time. This repulsion force acts on the lower leg connector 3-2 connected to the coil winding 3-3, pushing it to move downward at high speed in a straight line along the guide structure. The lower leg connector 3-2 further transmits the downward motion to the hind foot 2-8, applying a vertical downward force to it. Since the hind foot 2-8 is in contact with the ground and has a certain angle, according to the principles of mechanics, this downward force can be decomposed into a vertical component and a horizontal component, which in turn generates an upward thrust on the whole frog device, realizing the jumping action of the device.

[0030] After the jump output is completed, the main control unit cuts off the coil current, and the electromagnetic force disappears quickly. At this time, the return spring 3-5 plays a key role: it is pre-designed and installed in an appropriate position, and can provide a restoring force immediately after the electromagnetic force is removed, pulling the rear leg connector 2-5 and the connected parts back to the initial position, keeping the mechanism stable, and preparing for the next jump cycle.

[0031] Steering function: During the preparation phase before takeoff, the directional switch 1-2 is electrically connected to the brush 4-5. The brush 4-5 delivers an excitation current of a specific magnitude and direction to the rotor winding 4-1 located on the corresponding side. The winding is subjected to the Lorentz force in the strong static magnetic field generated by the arc magnet 4-2, thereby generating an electromagnetic torque. This torque drives the rotor 4-7 to rotate around its central axis, which in turn drives the worm 4-3 fixed at the end of the rotor shaft to rotate synchronously.

[0032] The worm 4-3 and the turbine 4-4 form a worm gear pair. Through its unique unidirectional transmission characteristics, the direction of motion is changed and the transmission ratio is amplified. The rotational motion of the worm 4-3 is converted into the circular motion of the turbine. The turbine 4-4 transmits the torque to the transmission gear 4-9 through the output shaft. The transmission gear 4-9 further transmits the power to the steering shaft of the steering wheel 4-6 through the gear transmission mechanism, which ultimately generates a speed difference between the left and right steering wheels 4-6 to rotate, thereby realizing the direction control and attitude adjustment of the machine before takeoff.

[0033] Scraping function: After the camera 5-7 identifies the target, the servo motors 5-6 of each joint of the robotic arm work together. The rotating base 5-1, as the first joint, uses the servo motor embedded in the base to achieve rotation in the horizontal plane, thereby driving the entire robotic arm toward the target. The upper arm 5-2, as the second joint, is driven by the servo motor to achieve pitch movement in the forward and backward directions, used to adjust the horizontal extension range of the robotic arm. The lower arm 5-3, as the third joint, is also driven by the servo motor and is responsible for lifting movement in the up and down directions, thereby achieving precise vertical positioning of the end effector gripper 5-5.

[0034] This invention provides a biomimetic frog-jumping mechanism based on electromagnetic drive. It achieves the jumping action by converting the relative motion between an energized coil and a permanent magnet into torque output of the leg's sliding joint. This mechanism effectively simplifies the energy transfer path, improves energy utilization efficiency, and employs a modular design for precise motion control and rapid assembly. This invention offers advantages such as rapid response, concentrated thrust, low operating noise, and quantifiable controllable motion parameters. The mechanism is compact, lightweight, and capable of continuous motion, making it applicable to agricultural and military fields such as surface reconnaissance and soil testing.

[0035] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An electromagnetically driven biomimetic frog-jumping device, characterized in that, include: Reference module and power output module; The power output module includes: a front leg mechanism and a rear leg mechanism connected to the front and rear ends of the reference module respectively, and the front leg mechanism and the rear leg mechanism are symmetrically arranged on the left and right sides of the reference module respectively. The rear leg mechanism includes: a rear thigh (2-6), a rear lower leg (2-7), and a rear foot (2-8) that are rotatably connected from top to bottom, and the upper end of the rear thigh (2-6) is rotatably connected to the reference module. The upper end of the rear thigh (2-6) and the lower end of the rear lower leg (2-7) are connected by a rear leg connector (2-5) to form a triangular structure. The rear leg connector (2-5) includes: an upper rear leg connector (3-1) and a lower rear leg connector (3-2) elastically connected to it via a return spring (3-5). The lower rear leg connector (3-2) has an outer coil winding (3-3), and the upper rear leg connector (3-1) has an embedded permanent magnet to form an electromagnetic crank lever. The rear thigh (2-6) acts as a rocker arm, and the rear lower leg (2-7) acts as a frame, converting electromagnetic linear force into jumping torque.

2. The electromagnetically driven bionic frog jumping device according to claim 1, characterized in that, The foreleg mechanism includes: a foreleg connector (2-1), a foreleg thigh (2-2), a foreleg calf (2-3), and a forefoot (2-4). One end of the foreleg (2-3) and the foreleg (2-2) are connected to the front end of the reference module in sequence. The other ends of the foreleg (2-2) and the foreleg (2-3) are respectively connected to the upper end and the middle part of the foreleg connector (2-1). The lower end of the foreleg connector (2-1) is connected to the forefoot (2-4).

3. The electromagnetically driven bionic frog jumping device according to claim 2, characterized in that, The bottom of the forefoot (2-4) is provided with a silicone layer.

4. The electromagnetically driven bionic frog jumping device according to claim 1, characterized in that, The heel (2-8) is made of a pressure spring, which includes: a flat reference bottom surface that contacts the walking surface, a curved section with a predetermined curvature at its tail, and a flat connecting part at the other end for fixed connection with the heel connector (2-5), wherein the flat connecting part and the reference bottom surface form an angle of 20-40°.

5. The electromagnetically driven bionic frog jumping device according to claim 1, characterized in that, The reference module is symmetrically connected to the steering drive module on the left and right sides. The steering drive module includes: rotor winding (4-1), arc magnet (4-2), worm (4-3), worm wheel (4-4), brush (4-5), steering wheel (4-6) and rotor (4-7). The upper circumference of the rotor winding (4-1) is symmetrically provided with arc-shaped magnets (4-2), and the outer bottom of the magnets is connected to brushes (4-5). The bottom end of the rotor winding (4-1) is connected to the rotor (4-7), and the output end of the rotor (4-7) is coaxially fixedly connected to the worm (4-3). A turbine (4-4) meshes below the worm (4-3), and the worm wheel (4-4) is connected to the steering wheel (4-6) through a transmission mechanism. The overall steering is achieved by the difference in the rotational speed of the two steering wheels (4-6). The brushes (4-5) provide working current to the rotor winding (4-1).

6. The electromagnetically driven bionic frog jumping device according to claim 4, characterized in that, The steering wheels (4-6) are at the same horizontal level as the lowest points of the front and rear leg mechanisms.

7. The electromagnetically driven bionic frog jumping device according to claim 4, characterized in that, The reference module includes: an upper body (6-1) and a lower body (6-2). The upper body (6-1) is connected to the battery box (1-1), the steering switch (1-2), and the jump switch (1-3). The battery box (1-1) provides power to the steering drive module and the power output module connected to the lower body (6-2). The steering switch (1-2) and the jump switch (1-3) have built-in controllers, which are powered by a power module. The other end of the built-in controller of the steering switch (1-2) is connected to the brush (4-5) to control the operation of the steering drive module and control the direction of the current in the steering drive module. The other end of the built-in controller of the jump switch (1-3) is connected to the coil winding (3-3) to control the operation of the power output module and control the current of the power output module.

8. The electromagnetically driven biomimetic frog jumping device according to claim 1, characterized in that, The front end of the reference module is equipped with a robotic arm grasping module. The robotic arm gripping module includes a rotating base (5-1), a large arm (5-2), a small arm (5-3), a connecting rod (5-4), a gripper (5-5), a servo motor (5-6), and a visual recognition camera (5-7). A rotating base (5-1) is located at the bottom of the robotic arm and connected to a reference module; servo motors (5-6) are located on both sides of the rotating base (5-1); one end of the upper arm (5-2) and the connecting rod (5-4) is connected to the top of the rotating base (5-1), wherein the upper arm (5-2) is located on the front side and the connecting rod (5-4) is located on the rear side; one end of the forearm (5-3) is connected to the other end of the upper arm (5-2) and the connecting rod (5-4); another servo motor (5-6) is located at the joint connecting the upper arm (5-2) and the forearm (5-3); a gripper (5-7) is located at the front end of the robotic arm, the gripper (5-7) is connected to the other end of the forearm (5-3), and a visual recognition camera (5-7) is installed on the upper end of the gripper (5-5).

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