Gear rack bionic frog
By using rack and rack mechanism and spring elastic energy storage in the bionic frog, combined with six-link mechanism and single-axis drive motor control, the existing bionic frog's lack of explosive power and large manpower consumption is solved, and the existing bionic frog's problems are realized in complex terrain The ability to jump and move efficiently.
Patent Information
- Application Number
- CN202421091305.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-20
- Publication Date
- 2024-12-17
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing bionic frogs lack explosive power when moving in complex terrain, and the traditional passive release catapult device cannot effectively save manpower, making it difficult to complete tasks efficiently in rugged terrain.
A gear rack and rack bionic frog was designed, using a dual output shaft motor and gear mechanism to store energy, and the elastic potential energy is released through the spring to drive the hind limb mechanism for jumping, and the six-link mechanism and a single-axis drive motor are used to control the active dehook of the eagle-mouth hook. , achieve more stable and efficient jumping actions.
It improves the explosive power and jump distance of the bionic frog, saves human resources, and realizes the ability to move efficiently in complex terrains.
Smart Images
Figure CN222179681U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of bionic robots, in particular to a gear rack bionic frog. Background Art
[0002] With the growing demand for robots and the maturity of technology, robots have been widely used in people's daily life and production, and their application scope is also expanding; facing increasingly harsh environments and higher work challenges, the tasks faced by robots have become more complex and severe; people have begun to use robots to replace manpower to complete some high-risk and difficult tasks, such as outer space scientific research exploration, field environment survey and rescue, and military reconnaissance. When working on the ground, robots driven by wheels or tracks are usually used; however, due to the limitations of terrain conditions, these robots cannot smoothly carry out inspections and surveys in rugged and bumpy terrain. Therefore, for tasks that need to work in complex terrain, bionic robots with strong explosive power and adaptability to complex terrain have become an effective choice to replace manpower.
[0003] Frogs are well-known for their unique ability to climb over complex terrains, so bionic frog robots are very popular in complex terrain work. They can move freely in rugged terrain and perform various tasks by imitating the structure and movement of frogs. The development of such robots is of great significance to improving work efficiency and reducing risks.
[0004] Most of the bionic frogs on the market achieve jumping movements through passive release of the ejection device. This design cannot effectively save manpower and lacks explosive power. Therefore, it is necessary to design a new type of bionic frog to solve the common problems of current bionic frogs. Summary of the invention
[0005] In order to solve the above problems, the utility model proposes a gear rack bionic frog.
[0006] The technical solution of the utility model is a gear rack bionic frog, comprising a forelimb mechanism, a hind limb mechanism and a driving motor on a trunk slot mounting plate, a head device and a tail device are arranged at both ends of the mounting plate, a driving shaft on the driving motor is provided with a gear, and axial holes are arranged on the slot plates on both sides of the trunk, and the axial holes match with the two ends of the driving shaft, an inner rack is arranged at the lower end of the head device and meshes with the gear, and a fixing groove is arranged at the upper end, a fixing rod is arranged between the upper ends of the hind limb devices, and the fixing rod and the fixing groove are connected by a ejection device.
[0007] Preferably, the tail device includes a single-axis drive motor and an eagle's beak hook, wherein the eagle's beak hook is arranged at one end of the drive shaft, and the eagle's beak hook is fixed to the fixing rod by hooking the fixing rod through the head.
[0008] Preferably, the hind limb mechanism is a six-link mechanism, and each rod and the rod and the trunk are connected by a movable hinge.
[0009] Preferably, the inner rack is in the shape of a rectangular bar, and the inner rack is in sliding fit with the mounting plate, and the gear only meshes and moves in the longitudinal direction.
[0010] Preferably, the ejection device is a tension spring, and both ends of the tension spring are connected to the fixing groove and the fixing rod through arc hooks.
[0011] Preferably, the driving motor is a dual-output shaft motor, and both ends of the output shaft are fixed by bearings and shaft holes.
[0012] The beneficial technical effects of the utility model are:
[0013] (1) The utility model can store energy in the tension spring through the dual output shaft motor and the gear mechanism, and then drive the hind limb mechanism through the elastic potential energy released instantly by the tension spring to increase the reaction force with the ground for jumping. Since the elastic potential energy of the tension spring can be released instantly and there is almost no resistance during the release, it can effectively improve the explosive power and perform long-distance jumping. At the same time, the hind limb mechanism adopts a six-bar mechanism, which can provide a more stable ejection state.
[0014] (2) The utility model can effectively save human resources by controlling the single-axis driving motor in the tail device to actively unhook the hawk's beak hook and complete the jumping action. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;
[0016] Figure 2 It is a left structural schematic diagram of the utility model;
[0017] Figure 3 It is a schematic diagram of the top view structure of the utility model;
[0018] Figure 4 yes Figure 3 AA section structural diagram;
[0019] In the figure, 11. trunk slot mounting plate, 12. fixing slot, 121. cross bar, 122. inner rack, 13. tension spring, 14. forelimb mechanism, 15. hind limb mechanism rod, 151. fixing rod, 152. movable hinge, 16. single-axis drive motor, 161. hawkbill hook, 17. dual output shaft motor, 171. gear, 172. bearing. DETAILED DESCRIPTION
[0020] As attached Figure 1-4As shown, a gear rack bionic frog includes a forelimb mechanism, a hind limb mechanism and a driving motor on a trunk slot mounting plate, a head device and a tail device are provided at both ends of the mounting plate, the head device is arranged in the trunk slot mounting plate so that it can only complete longitudinal displacement in the slot, a gear is provided on the driving shaft on the driving motor, and shaft holes are provided on the slot plates on both sides of the trunk, the shaft holes match with the driving shaft ends, an inner rack is provided at the lower end of the head device and meshes with the gear, a fixing slot is provided at the upper end, a cross bar is provided in the fixing slot to provide an auxiliary for connecting the ejection device, a fixing rod is provided between the upper ends of the hind limb devices, and the fixing rod and the fixing slot are connected through the ejection device.
[0021] The tail device in this example includes a single-axis drive motor and an eagle's beak hook, which is arranged at one end of the drive shaft. The eagle's beak hook is fixed to the fixed rod by hooking the head thereof. During the process of storing energy of the tension spring by the dual-output shaft motor and the gear mechanism, the eagle's beak hook keeps the hind limb mechanism in a taut state due to the hooking of the fixed rod. When the elastic potential energy of the tension spring reaches its limit, the eagle's beak hook is unhooked by controlling the single-axis drive motor, and the elastic potential energy can be released instantly, which can effectively improve the explosive power and perform long-distance jumping.
[0022] The hind limb mechanism in the example is a six-link mechanism, which has a more stable structure. Each rod and the rod and the trunk are connected by a movable hinge, and the rotation between the rods of the hind limb mechanism is smoother.
[0023] The inner rack in the example is a rectangular type, and there is a sliding fit between the inner rack and the mounting plate. The gear only engages and moves in the longitudinal direction. The length of the inner rack must exceed the maximum length of the ejection device to prevent the head device from falling off during the energy storage process.
[0024] The ejection device in the example is a tension spring, and both ends of the tension spring are connected to the fixed slot and the fixed rod through arc hooks. The ejection device can be provided with two or three tension springs to increase the elastic potential energy to release more energy, which can effectively increase the jumping distance.
[0025] The driving motor in the example is a dual-output shaft motor, which transmits power through two output shafts, thereby making the output power and efficiency of the machine higher, meeting the needs of the equipment, and being able to work stably. Both ends of the output shaft are fixed by bearings and shaft holes.
Claims
1. A gear rack bionic frog, characterized by: It includes a forelimb mechanism, a hind limb mechanism and a driving motor on a trunk slot mounting plate, a head device and a tail device are provided at both ends of the mounting plate, a gear is provided on the driving shaft of the driving motor, shaft holes are provided on the slot plates on both sides of the trunk, the shaft holes match with the driving shaft ends, an internal rack is provided at the lower end of the head device and meshes with the gear, a fixing groove is provided at the upper end, a fixing rod is provided between the upper ends of the hind limb devices, and the fixing rod and the fixing groove are connected by a ejection device.
2. The gear rack bionic frog according to claim 1, characterized in that: The tail device comprises a single-axis driving motor and an eagle's beak hook, wherein the eagle's beak hook is arranged at one end of the driving shaft, and the eagle's beak hook is fixed to the fixing rod by hooking the fixing rod through the head.
3. The gear rack bionic frog according to claim 1, characterized in that: The hind limb mechanism is a six-link mechanism, and each rod and the rod and the trunk are connected via a movable hinge.
4. The gear rack bionic frog according to claim 1, characterized in that: The inner rack is in a rectangular shape, and the inner rack is in sliding fit with the mounting plate, and the gear only meshes and moves in the longitudinal direction.
5. The gear rack bionic frog according to claim 1, characterized in that: The ejection device is a tension spring, and both ends of the tension spring are connected to the fixing groove and the fixing rod through arc hooks.
6. The gear rack bionic frog according to claim 1, characterized in that: The driving motor is a double-output shaft motor, and both ends of the output shaft are fixed through bearings and shaft holes.