Bionic frog jumping robot

Abstract

The utility model discloses a bionic frog jumping robot which comprises a body part, front limb parts, rear limb parts, rear leg force storage guide parts and racks, the body part simulates the body of a frog, the front limb parts simulate the front legs and the front palms of the frog, the rear leg parts simulate the rear legs and the rear palms of the frog, and the body part comprises a shell and a driving mechanism arranged in the shell. The driving mechanism comprises a steering engine and a battery used for supplying power to the steering engine, the steering engine drives the body part to move relative to the posterior limb parts through the driving rack, so that the rear leg force storage guide parts store elastic potential energy, and the rear leg force storage guide parts achieve jumping of the robot by releasing the elastic potential energy and guide jumping of the posterior limb parts. The robot can jump forwards continuously and land stably, and the robot is simple and compact in structure, flexible and efficient in transmission and power storage, small in number of parts, convenient to disassemble and assemble and high in bouncing capacity.

Description

Technical Field

[0001] The utility model belongs to the technical field of bionic robots, in particular to a bionic frog jumping robot. Background Art

[0002] With the development of current robot technology, robots can complete many tasks that humans cannot complete, such as: anti-terrorism and explosion prevention, space exploration, disaster relief, precision operation or bearing high-load workload, etc. Bionic robots are transformed from biological organisms by learning their biological characteristics: flexibility, biological movement characteristics, environmental adaptability and other excellent characteristics, so as to transform the original mechanized equipment to have the most reasonable and advantageous structural characteristics. For example, existing researchers have developed a robot cat by analyzing the structure of the cat's half body during the wall climbing process. Its jumping action does not pursue the overall height reached during the movement, but crosses obstacles through the coordinated action of the limbs like a cat. For the bionic frog robot, due to the unique bone structure of the frog and its excellent leg strength, the bionic frog robot has excellent obstacle crossing ability and good maneuverability, so it has attracted the attention of more scientific researchers. Most of the frog-like robots on the market currently achieve jumping through gear sets, but they have a large number of mechanical parts and a complex structure, which increases their own weight, causing the center of gravity to be unstable in the air after jumping, which can easily lead to rollover. The bionic frog robot in the prior art still has the problems of insufficient jumping ability, high failure rate and inflexible transmission. Utility Model Content

[0003] In view of the above problems existing in the prior art, the purpose of the utility model is to provide a bionic frog jumping robot that can jump forward continuously and land smoothly. The robot has a simple and compact structure, flexible and efficient transmission and power storage, a small number of parts, is easy to disassemble and assemble, and has a strong jumping ability.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0005] A bionic frog jumping robot comprises a body, a forelimb, a hind limb, a hind leg force storage guide and a rack. The body imitates the body of a frog, the forelimb imitates the front legs and front paw of a frog, and the hind leg imitates the hind legs and hind paw of a frog. The body comprises a shell and a driving mechanism arranged in the shell. The driving mechanism comprises a steering gear and a battery for supplying power to the steering gear. The steering gear drives the body to move relative to the hind limb by driving the rack, so that the hind leg force storage guide accumulates elastic potential energy. The hind leg force storage guide realizes the jumping of the robot by releasing the elastic potential energy and guides the jumping of the hind limb.

[0006] As a further improvement of the above technical solution:

[0007] A body is arranged inside the shell, the forelimb part includes two forelimbs, one end of the forelimbs is hinged on the body and the other end is supported on the ground, the hind limb part includes two hind limbs, one end of the hind limbs is hinged on the body and the other end is supported on the ground, and at least one rotating pair is arranged on the forelimbs and the hind limbs, so that the forelimbs and the hind limbs form a multi-section structure that can be bent and stretched.

[0008] The driving mechanism also includes a steering gear and an incomplete gear. The steering gear transmits drive to the incomplete gear through the steering gear. One end of the rack is connected to the incomplete gear and the other end is fixedly connected to the hind limb. As the incomplete gear rotates periodically, the rack alternately engages with the incomplete gear and disengages from the incomplete gear.

[0009] The hind leg force storage guide part includes a force storage spring, a guide rod and a fastening ring. One end of the guide rod is connected to the hind limb part, and the other end passes through the body and is fixedly connected to the fastening ring of the body to prevent the guide rod from detaching from the body. The force storage spring is located between the body and the hind limb part and is sleeved outside the guide rod.

[0010] The hind leg force storage guide part also includes an adjustable sleeve, which is sleeved on the outside of the guide rod. One end of the adjustable sleeve is connected to the body and the other end is connected to the force storage spring. The other end of the force storage spring is connected to the hind limb part, and the length of the adjustable sleeve is adjustable.

[0011] The driving mechanism also includes a front transmission shaft, a rear transmission shaft and a double gear shaft. The front transmission shaft and the rear transmission shaft are arranged in parallel and spaced apart and are each rotatably mounted on the machine body. The incomplete gear is mounted on the front transmission shaft, and the double gear shaft is mounted on the rear transmission shaft. The double gear shaft is provided with two gears with different outer diameters, one of which is meshed with the incomplete gear and the other is meshed with the steering gear.

[0012] Each forelimb comprises a shock-absorbing spring and an upper arm rod, a forearm rod and a forefoot which are hinged in sequence. The end of the upper arm rod away from the forearm rod is hinged to the machine body through a hinge. The two ends of the shock-absorbing spring are respectively connected to the middle part of the forearm rod and the middle part of the upper arm rod, and the forefoot is supported on the ground.

[0013] Each of the hind limbs includes a connecting rod, a thigh rod, a calf rod and a hind palm which are hinged in sequence. The end of the connecting rod away from the thigh rod is hinged on the body, and the hind palm is supported on the ground. The thigh rod, calf rod and hind palm are connected to form a U shape, and the U-shaped opening faces the forelimb.

[0014] The two hind paws of the two hind limbs are integrally connected or fixedly connected.

[0015] The hind leg force storage guide parts are provided with two, and the two hind leg force storage guide parts are respectively connected to the two hind limbs.

[0016] The beneficial effects of the utility model are:

[0017] 1. This scheme adopts a three-stage transmission. First, the servo drives the two-stage gear to transmit power to the incomplete gear, and then the incomplete gear is engaged with the rack to convert the rotational motion of the servo into the linear motion of the rack. The rack compresses the storage spring through the reaction of the body. When the incomplete gear rotates to the empty tooth position, the compressed storage spring is quickly released, and the hind legs are quickly straightened to achieve the forward jumping action. The robot has a simple and compact structure, flexible and efficient transmission and storage, a small number of parts, is easy to disassemble and assemble, and has a strong jumping ability.

[0018] 2. The upper end of the upper arm of the front leg is hinged to the body, so that the angle between the front leg and the body can be adaptively adjusted, which is convenient for finding the best jumping posture of the bionic frog jumping robot. A shock-absorbing spring is connected between the upper arm and the forearm to achieve a smooth landing, which is effectively applicable to a variety of complex terrains.

[0019] 3. The body can be moved forward and backward through the guiding action of the guide rod and the rack. The two fastening rings installed at the front section of the guide rod rigidly collide with the front end surface of the body at the end of release, providing a reaction force for the robot's jumping. The adjustable sleeve can change the length of the adjustable sleeve without changing the leg size structure of the bionic frog jumping machine, thereby achieving adjustable jumping force. The structure is reasonable and the power storage spring is easy to adjust.

[0020] 4. The robot can jump forward continuously by periodically engaging and disengaging the incomplete gear with the rack. The contraction and extension of the forelimbs and hindlimbs are flexible and rapid. The two hind paws are connected in one piece to ensure that the two hind paws move in unison and land more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0022] Figure 2 This is a schematic diagram of the structure of the utility model after removing the outer shell.

[0023] Figure 3 This is a schematic diagram of the structure of the robot of the utility model in an initial state.

[0024] Figure 4 It is a schematic diagram of the structure of the utility model when the force storage spring is in a compressed state.

[0025] Figure 5 It is a structural schematic diagram of the transmission component of the utility model.

[0026] Figure 6 It is a schematic diagram of the structure of the hind limb of the utility model.

[0027] Figure numerals: 1 housing, 2 rack, 4 battery, 5 hinge, 6 upper arm rod, 7 shock-absorbing spring, 8 forearm rod, 9 forefoot, 10 fastening ring, 11 front transmission shaft, 12 rear transmission shaft, 13 body, 14 double gear shaft, 15 adjustable sleeve, 16 connecting rod, 17 thigh rod, 18 calf rod, 19 storage spring, 20 guide rod, 21 rear foot, 22 incomplete gear, 23 servo, 24 servo gear, 25 deep groove ball bearing, 26 steering wheel. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0029] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0030] A bionic frog jumping robot, such as Figures 1 to 6 As shown, the robot comprises a body, a forelimb, a hindlimb, a hind leg force storage guide, and a rack 2. The body imitates the body of a frog, the forelimb imitates the front legs and front paws of a frog, and the hind leg imitates the hind legs and hind paws of a frog. The body comprises a shell 1 and a driving mechanism disposed in the shell 1, wherein the driving mechanism drives the rack 2 to store potential energy for the hind leg force storage guide, and the hind leg force storage guide realizes the jumping of the robot by releasing the potential energy and guides the jumping of the hind limb.

[0031] A body 13 is disposed in the housing 1 , and the body 13 is used for installing and connecting other components in the housing 1 . The body 13 can partially extend out of the housing 1 as required, and its specific shape and structure can be flexibly set.

[0032] The forelimb part includes a forelimb installed on both sides of the lower front part of the shell 1, and each forelimb includes a shock-absorbing spring 7 and an upper arm rod 6, a forearm rod 8 and a forefoot 9 which are hinged in sequence. The end of the upper arm rod 6 away from the forearm rod 8 is hinged to the body 13 through a hinge 5, and the two ends of the shock-absorbing spring 7 are respectively connected to the middle part of the forearm rod 8 and the middle part of the upper arm rod 6. The setting of the shock-absorbing spring 7 enables the robot to land smoothly without tipping over. The hinge 5 can be a rivet, a bolt, etc. Preferably, the two ends of the forearm rod 8 are respectively connected to the upper arm rod 6 and the forefoot 9 by rivets, so as to be hinged at the forelimb joint to form a revolute pair. The forefoot 9 is supported on the ground.

[0033] The hind limb part includes a hind limb installed on both sides of the lower rear part of the shell 1, and each hind limb includes a connecting rod 16, a thigh rod 17, a calf rod 18 and a rear palm 21 which are hinged in sequence. The end of the connecting rod 16 away from the thigh rod 17 is hinged on the body 13, and the rear palm 21 is supported on the ground. The thigh rod 17, the calf rod 18 and the rear palm 21 are connected to form a U shape, and the U-shaped opening faces the forelimb. Similarly, the hinge of the hind limb forms a joint, and the joint part is connected by rivets to form a revolute pair. Preferably, the two rear palms 21 of the two hind limbs are connected as one body, and specifically, the two rear palms 21 are fixedly connected by a connecting piece to form an integrated structure.

[0034] Preferably, the thigh rod 17 and the shank rod 18 are arranged in a double rod form, that is, each hind limb includes two thigh rods 17 and two shank rods 18, and the two thigh rods 17 are arranged in parallel and spaced apart, and the two shank rods 18 are arranged in parallel and spaced apart.

[0035] The hind leg force storage guide part is used to accumulate elastic potential energy, provide energy for the subsequent jump of the robot, and guide the extension of the hind limbs during the jump. The hind leg force storage guide part achieves the accumulation of elastic potential energy by compressing the spring. There are two hind leg force storage guide parts, each of which is connected to one of the hind limbs. The hind leg force storage guide part includes an adjustable sleeve 15, a force storage spring 19, a guide rod 3 and a fastening ring 10. For the hind leg force storage guide part connected to one of the hind limbs, one end of the guide rod 3 is connected to the rear palm 21, and the other end passes through the two thigh rods 17 of the hind limb in sequence and is fixedly connected to the fastening ring 10 behind the body 13, that is, the fastening ring 10 and the guide rod 3 are fixedly connected. A through hole is provided on the body 13 for the guide rod 3 to pass through, and the outer diameter of the fastening ring 10 is larger than the aperture of the through hole on the body 13 to prevent the guide rod 3 from detaching from the body 13. The guide rod 3 between the rear palm 21 and the body 13 is connected with a force storage spring 19 and an adjustable sleeve 15. One end of the adjustable sleeve 15 contacts or is connected to the body 13, and the other end contacts or is connected to one end of the force storage spring 19. The other end of the force storage spring 19 contacts or is connected to the root of the rear palm 21. The length of the adjustable sleeve 15 is adjustable. The length of the adjustable sleeve 15 can be determined and changed according to specific needs when assembling the robot to adjust the preload force of the force storage spring 19 so that the initial state of the force storage spring 19 is in a natural state or a compressed state. Obviously, the force storage spring 19 and the guide rod 3 both pass through the middle of the two thigh rods 17. Preferably, the guide rod 3 is not perpendicular to the ground, but is tilted toward the forelimb.

[0036] The driving mechanism is installed on the body 13 , and includes a battery 4 , a steering gear 23 , a steering gear gear 24 , a front transmission shaft 11 , a rear transmission shaft 12 , a double gear shaft 14 , and an incomplete gear 22 .

[0037] The battery 4 is a lithium battery 4. The steering gear 23 is connected to and transmits drive to the steering gear 24. Specifically, the steering gear 23 is connected to the steering gear 24 through a steering wheel 26. The front transmission shaft 11 and the rear transmission shaft 12 are arranged in parallel and spaced apart on the body 13. Both ends of the front transmission shaft 11 are rotatably mounted on the body 13 through a deep groove ball bearing 25, and nuts or fasteners are fixedly connected to the parts of the two ends of the front transmission shaft 11 extending out of the body 13 to prevent the front transmission shaft 11 from being separated from the body 13. Similarly, both ends of the rear transmission shaft 12 are also rotatably mounted on the body 13 through a deep groove ball bearing 25, and nuts or fasteners are also fixedly connected to the parts of the two ends of the rear transmission shaft 12 extending out of the body 13. The double gear shaft 14 is a hollow shaft structure as a whole, wherein the outer wall of the middle part of the double gear shaft 14 is smooth, and each of the two ends is a gear structure, that is, gear teeth are provided at both ends of the double gear shaft 14, and the gear structures at both ends of the double gear shaft 14 are respectively a large gear and a small gear, the outer diameter of the large gear is larger than the outer diameter of the small gear, and the number of teeth of the large gear is greater than the number of teeth of the small gear. The double gear shaft 14 is sleeved on the rear transmission shaft 12.

[0038] The incomplete gear 22 is fixedly mounted on the front transmission shaft 11. One end of the incomplete gear 22 along its axial direction is a complete gear, and the other end is an incomplete gear. In other words, the incomplete gear 22 is divided into two sections along its axial direction, one section is arranged with a full circle of gear teeth along its circumference, and is set as a complete gear tooth section; the other section is arranged with only part of the gear teeth along its circumference, and is set as an incomplete gear tooth section.

[0039] The large gear of the dual-gear shaft 14 meshes with the steering gear 24 , the small gear of the dual-gear shaft 14 meshes with the complete gear teeth of the incomplete gear 22 , and the incomplete gear teeth of the incomplete gear 22 meshes with the rack 2 .

[0040] One end of the rack 2 is fixedly connected to the connecting piece connecting the two rear soles 21 together by bolts, and the other end passes through the body 13 and meshes with the incomplete gear 22. Specifically, a groove and two symmetrical through holes are provided in the middle of the body 13, and two guide rods 3 pass through the two through holes respectively. The rack 2 is pressed against the bottom of the groove and meshes with the incomplete gear 22. Specifically, the bottom surface of the rack 2 (the bottom surface and the side of the rack 2 provided with gear teeth are arranged opposite to each other) is opposite to the bottom surface of the groove in the middle of the body 13. The body 13 can be moved forward and backward through the guiding action of the guide rod 3 and the rack 2.

[0041] Based on the above structure, the working principle and process of the utility model are as follows:

[0042] In the initial state, the force storage spring 19 is in a relaxed state, at which time the force storage spring 19 is not compressed or partially compressed, and the front end surface of the body 13 contacts the fastening rings 10 on the two guide rods 3. The hind limbs are in a relatively extended state.

[0043] Then, the steering engine 23 is started, so that the steering engine gear 24 rotates, driving the double gear shaft 14 to rotate, and the double gear shaft 14 then drives the incomplete gear 22 to rotate, and the incomplete gear 22 drives the rack 2 to move relative to the body 13, so that the body 13 and the trunk part as a whole move toward the direction close to the rear palm 21, and the storage spring 19 is compressed and stored. During the process, the hind limb part and the forelimb part both move and contract adaptively, that is, the connecting rod 16, the thigh rod 17, and the shank rod 18 rotate relatively, similar to the bending preparation of the hind limbs of a frog before jumping, and the rear palm 21 keeps in contact with the ground and does not move on the ground. The upper arm rod 6, the forearm rod 8 and the fore palm 9 of the forelimb part rotate relatively to adapt to the movement of the trunk part.

[0044] The gear teeth of the incomplete gear 22 are meshed with the rack 2. When the incomplete gear 22 rotates to the empty tooth part, the incomplete gear 22 is disengaged from the rack 2, and the compressed force storage spring 19 is quickly released. Under the elastic force of the force storage spring 19, the machine body 13 and the trunk part as a whole move rapidly upward along the two guide rods 3. Since the two guide rods 3 are provided with a fastening ring 10, the front end of the machine body 13 rigidly collides with the fastening ring 10 on the guide rod 3, so that the force of the force storage spring 19 is reacted to the hind palm 21 through the guide rod 3. The hind palm 21 applies force to the ground at the same time, so that the entire trunk part drives the hind limb part (connecting rod 16, thigh rod 17, calf rod 18 and hind palm 21) to jump forward, and the connecting rod 16, thigh rod 17, and calf rod 18 gradually stretch to approach a straight line, propping up the bionic frog jumping robot to achieve a jumping action.

[0045] Since the steering gear 23 is always powered by the lithium battery 4, the steering gear 24 rotates continuously, and then the double gear shaft 14 and the incomplete gear 22 rotate continuously, and the robot returns to the initial state after the force storage spring 19 stretches and pops out. When the incomplete gear 22 rotates to the point where the gear teeth on the incomplete gear tooth part mesh with the rack 2, the force storage spring 19 is compressed again, and the above jumping action is repeated to achieve continuous forward jumping. After the power is cut off, the robot stops jumping.

[0046] Finally, it is necessary to explain here that the above embodiments are only used to further illustrate the technical solution of the utility model in detail and cannot be understood as limiting the protection scope of the utility model. Some non-essential improvements and adjustments made by technicians in this field based on the above content of the utility model belong to the protection scope of the utility model.

Claims

1. A bionic frog jumping robot, characterized in that: The robot comprises a body, a forelimb, a hindlimb, a hind leg force storage guide, and a rack (2). The body imitates the body of a frog, the forelimb imitates the front legs and front paw of a frog, and the hind leg imitates the hind legs and hind paw of a frog. The body comprises an outer shell (1) and a driving mechanism arranged in the outer shell (1). The driving mechanism comprises a steering gear (23) and a battery (4) for supplying power to the steering gear (23). The steering gear (23) drives the body to move relative to the hind limb by driving the rack (2), so that the hind leg force storage guide accumulates elastic potential energy. The hind leg force storage guide realizes the jumping of the robot by releasing the elastic potential energy and guides the jumping of the hind limb.

2. The robot according to claim 1, characterized in that: A body (13) is arranged inside the outer shell (1), the forelimb part includes two forelimbs, one end of the forelimb is hinged on the body (13) and the other end is supported on the ground, the hindlimb part includes two hind limbs, one end of the hind limb is hinged on the body (13) and the other end is supported on the ground, and at least one revolute pair is arranged on each of the forelimbs and the hind limbs, so that the forelimbs and the hind limbs form a multi-section structure that can be bent and stretched.

3. The robot according to claim 2, characterized in that: The driving mechanism also includes a steering gear (24) and an incomplete gear (22); the steering gear (23) transmits drive to the incomplete gear (22) via the steering gear (24); one end of the rack (2) is connected to the incomplete gear (22) and the other end is fixedly connected to the hind limb; as the incomplete gear (22) rotates periodically, the rack (2) alternately meshes with the incomplete gear (22) and disengages from the meshing with the incomplete gear (22).

4. The robot according to claim 3, characterized in that: The hind leg force storage guide part comprises a force storage spring (19), a guide rod (3) and a fastening ring (10); one end of the guide rod (3) is connected to the hind limb part, and the other end passes through the machine body (13) and is fixedly connected to the fastening ring (10) of the machine body (13) to prevent the guide rod (3) from being separated from the machine body (13); the force storage spring (19) is located between the machine body (13) and the hind limb part and is sleeved outside the guide rod (3).

5. The robot according to claim 4, characterized in that: The hind leg force storage guide part also includes an adjustable sleeve (15), which is sleeved outside the guide rod (3), one end of the adjustable sleeve (15) is connected to the body (13), and the other end is connected to the force storage spring (19), and the other end of the force storage spring (19) is connected to the hind limb part, and the length of the adjustable sleeve (15) is adjustable.

6. The robot according to claim 3, characterized in that: The driving mechanism further comprises a front transmission shaft (11), a rear transmission shaft (12) and a double gear shaft (14); the front transmission shaft (11) and the rear transmission shaft (12) are arranged in parallel and spaced apart and are rotatably mounted on the machine body (13); the incomplete gear (22) is mounted on the front transmission shaft (11); the double gear shaft (14) is mounted on the rear transmission shaft (12); two gears with different outer diameters are arranged on the double gear shaft (14), one of which is meshed with the incomplete gear (22) and the other is meshed with the steering gear (24).

7. The robot according to any one of claims 1 to 6, characterized in that: Each forelimb comprises a shock absorbing spring (7) and an upper arm rod (6), a forearm rod (8) and a forefoot (9) which are hinged in sequence. The end of the upper arm rod (6) away from the forearm rod (8) is hinged to the machine body (13) through a hinge (5). The two ends of the shock absorbing spring (7) are respectively connected to the middle part of the forearm rod (8) and the middle part of the upper arm rod (6). The forefoot (9) is supported on the ground.

8. The robot according to any one of claims 1 to 6, characterized in that: Each of the hind limbs comprises a connecting rod (16), a thigh rod (17), a shank rod (18) and a hind palm (21) which are hinged in sequence, one end of the connecting rod (16) away from the thigh rod (17) is hinged on the machine body (13), the hind palm (21) is supported on the ground, the thigh rod (17), the shank rod (18) and the hind palm (21) are connected to form a U shape, and the U-shaped opening faces the forelimb.

9. The robot according to claim 8, characterized in that: The two hind paws (21) of the two hind limbs are integrally connected or fixedly connected.

10. The robot according to claim 8, characterized in that: The hind leg force storage guide parts are provided with two, and the two hind leg force storage guide parts are respectively connected to the two hind limbs.

Images