Bionic jumping robot

Abstract

The utility model discloses a bionic jumping robot which comprises a base, a supporting front leg is arranged on the front portion of the base, a foldable movable rear leg is arranged on the rear portion of the base, an energy storage mechanism is arranged on the movable rear leg, and a driving mechanism acting on the energy storage mechanism is arranged on the base. The driving mechanism has a first state acting on the movable rear leg to promote the energy storage mechanism to store energy and the movable rear leg to deform, and a second state separating from the movable rear leg to promote the energy storage mechanism to release energy and the movable rear leg to generate take-off action due to rapid recovery to the original shape. The jumping robot has the advantages of being excellent in jumping ability, strong in explosiveness and long in jumping distance, capable of easily crossing obstacles and good in environmental adaptability.

Description

Technical Field

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

[0002] Bionic robots refer to robots that imitate living organisms and perform work with biological characteristics. With the continuous development of intelligent technology, bionic robots are gradually being used in various industries. For example, bionic robots are used to conduct activities such as terrain exploration, battlefield reconnaissance, dangerous situation surveys, and archaeological research.

[0003] Existing bionic robots have defects such as weak obstacle-crossing ability and poor maneuverability. For example, bionic robots that imitate quadrupeds move slowly and are difficult to control when moving on complex terrain; robots that imitate snakes move slowly and have weak obstacle-crossing ability, and can only be used on smooth roads; robots that imitate flying animals consume a lot of energy and have weak carrying capacity.

[0004] To remedy the above defects, this application designs a frog-like jumping robot based on the frog's physiological structure and movement mechanism. Utility Model Content

[0005] The purpose of the utility model is to provide a bionic jumping robot. The utility model has excellent jumping ability, the jumping has the characteristics of strong explosiveness and long distance, can easily cross obstacles, and has good environmental adaptability.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a bionic jumping robot comprises a base, the front part of the base is provided with supporting front legs, the rear part of the base is provided with foldable movable hind legs, the movable hind legs are provided with an energy storage mechanism, the base is provided with a driving mechanism acting on the energy storage mechanism, the driving mechanism has a first state in which the driving mechanism acts on the movable hind legs to cause the energy storage mechanism to store energy and the movable hind legs to deform, and a second state in which the driving mechanism is separated from the movable hind legs to cause the energy storage mechanism to release energy and the movable hind legs to quickly return to their original state and produce a jumping action.

[0007] By employing this technical solution, the robot mimics the morphology and jumping mechanism of a frog. The supporting front legs support the frog's body and adjust its launch angle. The driving mechanism folds and compresses the active hind legs, prompting the energy storage mechanism to store energy. When the driving mechanism disengages the active hind legs, the energy storage mechanism releases energy, prompting the legs to quickly recover, thus enabling the frog to achieve an instantaneous jump at a specific angle. This bionic frog-like jumping robot boasts exceptional jumping ability, with powerful, explosive leaps over great distances, allowing it to easily surmount obstacles. It exhibits excellent environmental adaptability, a simple and reliable structure, and low energy consumption.

[0008] The utility model is further configured as follows: the movable hind leg includes a sleeve, a hind leg upper limb, a hind leg connecting rod, a hind leg lower limb and a foot sole plate, the base is provided with a guide rod in the horizontal direction, the sleeve is hollow and has an open end, the side of the sleeve is provided with a first guide hole for allowing the guide rod to pass through, and the guide rod is sleeved with a slider at a position corresponding to the inner part of the sleeve, and the side of the sleeve is provided with a second guide hole for allowing the slider part to extend out of the sleeve, and the first guide hole and the second guide hole both extend along the length direction of the sleeve itself. One end of the hind leg upper limb is connected to the slider through a hinge part 1, the other end of the hind leg upper limb is connected to one end of the hind leg lower limb through a hinge part 2, and the other end of the hind leg lower limb is connected to the upper part of the foot sole plate through a hinge part 3, one end of the hind leg connecting rod is connected to the middle of the hind leg lower limb through a hinge part 4, and the other end of the hind leg connecting rod is connected to the bottom end of the sleeve through a hinge part 5; the upper end of the sleeve is provided with a follower for cooperating with the driving mechanism.

[0009] By adopting the above technical solution, the movable hind legs have a simple and reliable structure, high strength and good movement stability.

[0010] The present invention is further configured such that the energy storage mechanism includes a compression elastic member, one end of the compression elastic member abuts against the inner end of the sleeve, and the other end of the compression elastic member abuts against the slider.

[0011] By adopting the above technical solution, the compression and release of the compressible elastic member are driven by the driving mechanism. When the compressible elastic member is compressed, the movable hind leg serves as the main force-generating component. The compressible elastic member is similar to the structure of a bow and arrow. When the compressible elastic member is released, the entire movable hind leg pushes off the ground to prepare for jumping, and the movable hind leg quickly returns to its original state, generating a large impact force, so that the frog can achieve the effect of instantaneous jumping at a certain angle.

[0012] The present invention is further configured such that the energy storage mechanism further includes a tensile elastic member, and two ends of the tensile elastic member are respectively connected to the second hinge member and the follower.

[0013] By adopting the above technical solution, when the driving mechanism causes the compressive elastic part to compress, the tensile elastic part stretches and stores energy as the active hind leg bends. When the energy is released instantly, the tensile elastic part recovers, adding a reaction force to the active hind leg, thereby increasing the explosive power of the frog's jump.

[0014] The utility model is further configured such that the energy storage mechanism also includes an elastic sheet, and a socket is respectively provided on the base at positions corresponding to the front and rear sides of the slider, the two ends of the elastic sheet are respectively inserted into the corresponding sockets, and the middle part of the elastic sheet is against the upper end of the slider.

[0015] By adopting the above technical solution, when the driving mechanism causes the compression elastic member to compress, the carbon sheet is acted upon by a force and bends upward. When the driving mechanism is released, the carbon sheet is restored and a force acts downward, causing the hind legs to push off the ground, thereby realizing the bionic frog's jump and further increasing the frog's explosive power of jumping.

[0016] The present invention is further configured such that the hinge member 1, the hinge member 2, the hinge member 3, the hinge member 4, the hinge member 5 and the follower are all connected by bolts.

[0017] By adopting the above technical solution, the connection structure is simple, and the parts are easily available in the market, which is also conducive to subsequent maintenance.

[0018] The utility model is further configured such that the driving mechanism includes a driving motor mounted on a base and a cam linked to a motor shaft of the driving motor, the cam cooperates with a follower, and when the raised portion of the cam shifts the follower, the sleeve is prompted to slide relative to the slider, and the energy storage mechanism stores energy.

[0019] By adopting the above technical solution, the simple and effective structural design of the drive mechanism not only reduces manufacturing and maintenance costs, but also ensures the reliability of the mechanism. At the same time, it ensures the consistency of the movable hind leg movement, meeting the design requirements.

[0020] The present invention is further configured such that a non-slip pad is provided at the bottom of the footboard.

[0021] By adopting the above technical solution, the frog can be prevented from slipping during the deformation process.

[0022] The present invention is further configured such that a connecting seat is provided at the bottom of the base, the supporting front legs are connected to the connecting seat via locking bolts, and an adjustment hole for the locking bolt to pass through is provided laterally on the connecting seat.

[0023] By adopting the above technical solution, the angle of the supporting front legs can be adjusted. When the angle of the supporting front legs is adjusted, the locking bolts are tightened to fix the supporting front legs, thereby realizing the adjustment of the frog launch angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 This is a schematic structural diagram of the movable hind legs of the utility model;

[0026] Figure 3 This is a schematic structural diagram of the supporting front legs of the present invention.

[0027] In the figure: 1. base; 2. supporting front leg; 3. movable hind leg; 4. energy storage mechanism; 5. driving mechanism; 6. sleeve; 7. hind leg upper limb; 8. hind leg connecting rod; 9. hind leg lower limb; 10. sole plate; 11. guide rod; 12. first guide hole; 13. slider; 14. second guide hole; 15. hinge part 1; 16. hinge part 2; 17. hinge part 3; 18. hinge part 4; 19. hinge part 5; 20. follower; 21. compression elastic part; 22. tension elastic part; 23. elastic sheet; 24. jack; 25. driving motor; 26. cam; 27. anti-slip pad; 28. connecting seat; 29. ​​locking bolt; 30. adjustment hole. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] Example: As shown in the attached Figures 1 to 3 The bionic jumping robot shown includes a base 1, with supporting front legs 2 disposed at the front of the base 1 and foldable movable hind legs 3 disposed at the rear of the base 1. The movable hind legs 3 are provided with an energy storage mechanism 4. A driving mechanism 5 is provided on the base 1, acting on the energy storage mechanism 4. The driving mechanism 5 has a first state in which it acts on the movable hind legs 3, causing the energy storage mechanism 4 to store energy and deform, and a second state in which it releases energy when it is disengaged from the movable hind legs 3, causing the energy storage mechanism 4 to release energy and the movable hind legs 3 to quickly return to their original shape, resulting in a jump. In this embodiment, two supporting front legs 2 and two movable hind legs 3 are provided. To mimic the morphology and jumping mechanism of a frog, the supporting front legs 2 support the frog's body and adjust its launch angle. The driving mechanism 5 acts on the movable hind legs 3 to fold and compress, causing the energy storage mechanism 4 to store energy. When the driving mechanism 5 is disengaged from the movable hind legs 3, the energy storage mechanism 4 releases energy, causing the movable hind legs 3 to quickly return to their original shape, thereby enabling the frog to achieve an instantaneous jump at a specific angle. This bionic frog jumping robot has excellent jumping ability, with strong explosiveness and long distance jumping characteristics. It can easily cross obstacles and has good environmental adaptability. It also has a simple and reliable structure and low energy consumption.

[0030] As attached Figure 1 and attached Figure 2As shown, the movable hind leg 3 includes a sleeve 6, a hind leg upper limb 7, a hind leg connecting rod 8, a hind leg lower limb 9 and a foot sole 10. The hind leg lower limb 9 can be designed as a crutch shape. A guide rod 11 is provided on the base 1 in the horizontal direction. The sleeve 6 is a hollow structure with one end open. The side of the sleeve 6 is provided with a first guide hole 12 for the guide rod 11 to pass through. The guide rod 11 is provided with a slider 13 at a position corresponding to the inside of the sleeve 6. The side of the sleeve 6 is provided with a second guide hole 14 for the slider 13 to partially extend to the outside of the sleeve 6. The first guide hole 12 and The second guide holes 14 extend along the length of the sleeve 6. One end of the upper limb 7 is connected to the slider 13 via hinge 15. The other end of the upper limb 7 is connected to one end of the lower limb 9 via hinge 2 16. The other end of the lower limb 9 is connected to the upper portion of the foot plate 10 via hinge 3 17. One end of the hind leg connecting rod 8 is connected to the middle portion of the lower limb 9 via hinge 4 18. The other end of the hind leg connecting rod 8 is connected to the bottom end of the sleeve 6 via hinge 5 19. A follower 20 is provided at the upper end of the sleeve 6 for cooperating with the drive mechanism 5. This movable hind leg 3 has a simple and reliable structure, high strength, and excellent movement stability.

[0031] As attached Figure 1 and attached Figure 2 As shown, the energy storage mechanism 4 includes a compression elastic member 21, which can be a compression spring. One end of the compression elastic member 21 abuts against the inner end of the sleeve 6, and the other end of the compression elastic member 21 abuts against the slider 13. The compression and release of the compression elastic member 21 are driven by the driving mechanism 5. When the compression elastic member 21 is compressed, the active hind leg 3 acts as the main force generating component, and the compression elastic member 21 is similar to the structure of a bow and arrow. When the compression elastic member 21 is released, the entire active hind leg 3 pushes off the ground in preparation for jumping, and the active hind leg 3 quickly returns to its original state, generating a strong impact force, causing the frog to achieve the effect of instantaneous jumping at a certain angle.

[0032] As attached Figure 1 and attached Figure 2 As shown, the energy storage mechanism 4 also includes a tensile elastic member 22, the ends of which are respectively connected to the second hinge 16 and the follower 20. The tensile elastic member 22 can be a rubber band or a tension spring. In this embodiment, a rubber band structure is used, with the ends of the rubber band respectively hanging on the second hinge 16 and the follower 20. When the second hinge 16 and the follower 20 are bolts, the rubber band connection structure is more stable under the action of the thread. When the driving mechanism 5 causes the compression elastic member 21 to compress, the tensile elastic member 22 stretches and stores energy as the active hind leg 3 bends. When the energy is released instantly, the tensile elastic member 22 returns to its original position, adding a reaction force to the active hind leg 3 and increasing the explosive power of the frog's jump.

[0033] As attached Figure 1 and attached Figure 2 As shown, the energy storage mechanism 4 also includes an elastic sheet 23, which can be a carbon sheet. The carbon sheet adopts a corresponding hardness in combination with the torque of the drive motor 25. The base 1 is provided with a socket 24 at the front and rear sides corresponding to the slider 13. The two ends of the elastic sheet 23 are respectively inserted into the corresponding sockets 24, and the two can be interference fit. The middle part of the elastic sheet 23 is against the upper end of the slider 13. When the drive mechanism 5 causes the compression elastic member 21 to compress, the carbon sheet is subjected to the force and bends upward. When the drive mechanism 5 is released, the carbon sheet is restored and a force is applied downward, causing the hind legs to push off the ground, thereby achieving the bionic frog's jump and further increasing the frog's explosive power.

[0034] The hinge 15, hinge 2, hinge 3, hinge 4, hinge 5, hinge 19 and follower 20 are all connected by bolts. The connection structure is simple, and the parts are easily available in the market, which is also conducive to subsequent maintenance.

[0035] As attached Figure 1 As shown, the drive mechanism 5 includes a drive motor 25 mounted on the base 1 and a cam 26 mounted on the motor shaft of the drive motor 25. The cam 26 cooperates with the follower 20. When the raised portion of the cam 26 shifts the follower 20, the sleeve 6 slides relative to the slider 13, causing the energy storage mechanism 4 to store energy. The drive motor 25 can be a DC motor, particularly a worm gear reduction motor. The simple yet effective structural design of the drive mechanism 5 not only reduces manufacturing and maintenance costs but also ensures the reliability of the mechanism. It also ensures the consistency of the movement of the movable hind leg 3, meeting design requirements.

[0036] More specifically, a circuit board and battery can be mounted on base 1. The battery is connected to the circuit board via wires. The circuit board is electrically connected to a single-chip microcomputer (MCU) and components such as transistors. The drive motor 25, acting as a load, is connected to the collector of the transistor, while the base is controlled by the MCU. When the MCU outputs a high level, the transistor conducts, energizing the drive motor 25 and enabling full speed operation. When the MCU outputs a low level, the transistor is turned off, eliminating voltage across the drive motor 25 and causing it to stop rotating. Simply outputting a square wave with an adjustable duty cycle, or PWM signal, from the MCU can control the voltage across the drive motor 25, thereby controlling its rotational speed. Furthermore, the drive motor 25 can be rotated remotely via a remote control.

[0037] As attached Figure 1 As shown, a non-slip pad 27 is provided at the bottom of the sole 10 to prevent the frog from slipping during the deformation process.

[0038] As attached Figure 3As shown, the base 1 is provided with a connecting seat 28 at the bottom, and the supporting front leg 2 is connected to the connecting seat 28 via a locking bolt 29. An adjustment hole 30 is provided laterally on the connecting seat 28 for the locking bolt 29 to pass through. The angle of the supporting front leg 2 is adjustable. When the angle of the supporting front leg 2 is adjusted, the locking bolt 29 is tightened to fix the supporting front leg 2, thereby adjusting the frog launch angle.

[0039] Simply put, the bionic jumping robot's jumping principle is as follows: (The bionic frog's jump is initiated by wireless remote control) First, the motor 25 starts rotating, which in turn drives the cam 26, causing the active hind leg 3 to bend. During this process, the rubber band stretches to store energy, the compression spring compresses, and the carbon plate is subjected to force, causing it to bend. When the cam 26 reaches a certain range, it is instantly released. At this point, the rubber band, compression spring, and carbon plate return to their original positions, and the bionic frog's active hind leg 3 pushes off the ground, ultimately achieving a forward jump.

Claims

1. A bionic jumping robot, characterized by: The invention comprises a base (1), wherein the front part of the base (1) is provided with a supporting front leg (2), the rear part of the base (1) is provided with a foldable movable rear leg (3), the movable rear leg (3) is provided with an energy storage mechanism (4), and the base (1) is provided with a driving mechanism (5) acting on the energy storage mechanism (4), wherein the driving mechanism (5) has a first state in which the driving mechanism (5) acts on the movable rear leg (3) to cause the energy storage mechanism (4) to store energy and the movable rear leg (3) to deform, and a second state in which the driving mechanism (5) is separated from the movable rear leg (3) to cause the energy storage mechanism (4) to release energy and the movable rear leg (3) to quickly recover to its original state and generate a take-off action.

2. The bionic jumping robot according to claim 1, characterized in that: The movable hind leg (3) comprises a sleeve (6), an upper limb of the hind leg (7), a hind leg connecting rod (8), a lower limb of the hind leg (9) and a sole plate (10). A guide rod (11) is provided on the base (1) in a horizontal direction. The sleeve (6) is a hollow structure with one end open. A first guide hole (12) for the guide rod (11) to pass through is provided on the side of the sleeve (6). A slider (13) is provided on the guide rod (11) corresponding to the position inside the sleeve (6). A second guide hole (14) for the slider (13) to partially extend to the outside of the sleeve (6) is provided on the side of the sleeve (6). The first guide hole (12) and the second guide hole (14) They all extend along the length direction of the sleeve (6). One end of the upper limb of the hind leg (7) is connected to the slider (13) through the first hinge (15), the other end of the upper limb of the hind leg (7) is connected to one end of the lower limb of the hind leg (9) through the second hinge (16), the other end of the lower limb of the hind leg (9) is connected to the upper part of the sole (10) through the third hinge (17), one end of the hind leg connecting rod (8) is connected to the middle part of the lower limb of the hind leg (9) through the fourth hinge (18), and the other end of the hind leg connecting rod (8) is connected to the bottom end of the sleeve (6) through the fifth hinge (19); the upper end of the sleeve (6) is provided with a follower (20) for cooperating with the driving mechanism (5).

3. The bionic jumping robot according to claim 2, characterized in that: The energy storage mechanism (4) comprises a compression elastic member (21), one end of the compression elastic member (21) abuts against the inner end of the sleeve (6), and the other end of the compression elastic member (21) abuts against the slider (13).

4. The bionic jumping robot according to claim 3, characterized in that: The energy storage mechanism (4) further includes a tensile elastic member (22), and two ends of the tensile elastic member (22) are respectively connected to the second hinge member (16) and the follower member (20).

5. The bionic jumping robot according to claim 4, characterized in that: The energy storage mechanism (4) further comprises an elastic sheet (23), and a socket (24) is respectively provided on the base (1) at positions corresponding to the front and rear sides of the slider (13), and both ends of the elastic sheet (23) are respectively inserted into the corresponding sockets (24), and the middle portion of the elastic sheet (23) abuts against the upper end of the slider (13).

6. The bionic jumping robot according to claim 2, characterized in that: The hinge part 1 (15), hinge part 2 (16), hinge part 3 (17), hinge part 4 (18), hinge part 5 (19) and follower (20) are all bolts.

7. The bionic jumping robot according to claim 2, characterized in that: The driving mechanism (5) comprises a driving motor (25) mounted on a base (1) and a cam (26) mounted on a motor shaft of the driving motor (25) in a linkage manner. The cam (26) cooperates with a follower (20). When the raised portion of the cam (26) shifts the follower (20), the sleeve (6) is urged to slide relative to the slider (13), and the energy storage mechanism (4) is caused to store energy.

8. The bionic jumping robot according to claim 2, characterized in that: An anti-slip pad (27) is provided at the bottom of the foot plate (10).

9. The bionic jumping robot according to claim 1, characterized in that: A connecting seat (28) is provided at the bottom of the base (1), the supporting front leg (2) is connected to the connecting seat (28) via a locking bolt (29), and an adjustment hole (30) for the locking bolt (29) to pass through is provided on the connecting seat (28) in the transverse direction.

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