A line-driven biomimetic frog hopping robot

Abstract

The application discloses a line-driven bionic frog bouncing robot, and relates to the technical field of robots, which comprises a main body structure, two groups of front leg supporting structures are symmetrically arranged on the front side of the main body structure, the front leg supporting structures are used for supporting the front side part of the main body structure, a rear leg elastic structure is arranged on the back side of the main body structure, and the rear leg elastic structure is used for supporting the back side part of the main body structure and driving the main body structure to jump forward; the rear leg elastic structure comprises a supporting hind limb, supports are symmetrically and fixedly arranged at the front end of the main body structure, a support shaft is rotatably arranged between the two supports, and sleeve shoulders are respectively arranged at the two ends of the support shaft; wherein the sleeve shoulders on the two sides are connected with the supporting hind limb through spring steel sheets; the driving mechanism is further arranged, and the driving mechanism is used for driving the supporting hind limb to move towards the main body structure to extrude the spring steel sheets to deform and generate elastic force; compared with other bouncing robots, the bouncing robot has no too many complex structures and is low in manufacturing cost.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a wire-driven biomimetic frog-jumping robot. Background Technology

[0002] Today, biomimetic robots are categorized into three types based on their working environment: land, underwater, and air. Combining the characteristics of both biological and robotic systems, biomimetic robots are gradually demonstrating their superiority in environments unsuitable for humans, such as space exploration and disaster relief. In some unstructured environments, the mobility of traditional wheeled and tracked robots is greatly limited. Robots require a larger range of motion and higher speeds. Biomimetic jumping robots, with their high flexibility, can move quickly across rugged terrain and leap over obstacles several times their own height. Their motion characteristics perfectly meet the requirements for a larger range of motion and higher speeds, enabling them to move and work in complex, unstructured environments.

[0003] With the development of robotics technology, various types of robots are being used in various industries. However, the design and manufacture of robots for complex and rugged terrain remains a persistent challenge. Existing jumping robots primarily achieve jumping motions through spring energy storage and release, chemical energy conversion, and elastic structures. These systems are complex, suffer from significant energy loss during release, and struggle to achieve long-distance jumps. Summary of the Invention

[0004] The purpose of this invention is to provide a wire-driven bionic frog-jumping robot, solving the following technical problems:

[0005] The challenge lies in designing and manufacturing robots for complex and rugged terrain. Existing jumping robots primarily achieve jumping through spring energy storage and release, chemical energy conversion, and elastic structures. These systems are complex, suffer significant energy loss during release, and struggle to achieve long-distance jumps.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A wire-driven biomimetic frog jumping robot includes a main structure. Two sets of front leg support structures are symmetrically arranged on the front side of the main structure. The front leg support structures are used to support the front part of the main structure. A rear leg jumping structure is arranged on the rear side. The rear leg elastic structure is used to support the rear part of the main structure and drive the main structure to jump forward.

[0008] The hind leg spring structure includes a hind limb support, a symmetrically fixed support at the front end of the main structure, a support shaft rotatably arranged between the two support shafts, and shoulder sleeves at both ends of the support shaft.

[0009] The shoulder straps on both sides are connected to the supporting rear limbs via spring steel plates;

[0010] It also includes a drive mechanism for pulling the supporting rear limb toward the main structure to compress the spring steel sheet to generate elastic force.

[0011] Preferably, the bottom of the supporting hind limb is a symmetrical positioning seat, and a through hole is opened between the two positioning seats. The driving mechanism includes a traction line passing through the two through holes. A cavity is opened in the main structure, and a tightening part for tightening the traction line is rotatably arranged in the cavity.

[0012] Preferably, the tightening part includes a fixed seat rotatably arranged in the cavity. A groove is opened radially on one side of the fixed seat, and arc-shaped grooves are opened on both sides of the groove. An embedding groove for embedding a working torsion spring is opened on the wall of the arc-shaped groove. One end of the working torsion spring extends to the outside through the through groove opened in the fixed seat, and the other end of the traction line is wrapped around the other end of the working torsion springs on both sides. The fixed seat is fixed to the motor output end arranged on the main structure.

[0013] Preferably, the cavity is also provided with a steering component, and the traction line passes through the through hole, then through the steering component and is wound around one end of the working torsion spring.

[0014] Preferably, the supporting hind limb has a beveled surface on one side.

[0015] Preferably, a first slot is provided on one side of the shoulder, and a second slot is provided on the supporting hind limb, with the two ends of the spring steel sheet being inserted into the first slot and the second slot for positioning, respectively.

[0016] Preferably, the front leg support structure includes a fixed frame fixedly arranged at the bottom of the main structure, the bottom end of the fixed frame being rotatably connected to a connecting rod, and the other end of the connecting rod being rotatably provided with a front claw.

[0017] Preferably, a first positioning hole is provided on the fixing frame, a second positioning hole is provided on the connecting rod, and a buffer torsion spring is fixedly arranged between the first positioning hole and the second positioning hole.

[0018] The beneficial effects of this invention are:

[0019] (1) The present invention uses a drive mechanism to pull the supporting rear limbs toward the main structure. During the movement, the supporting rear limbs compress the spring steel sheet and bend it to generate elastic force. When the supporting rear limbs come into contact with the ground, the drive mechanism releases the pulling force on the supporting rear limbs. During the elastic reset process, the spring steel sheet gives the main structure a driving force. The elastic force is released instantly, causing the main structure to jump forward. The present invention obtains a large amount of energy by bending the spring steel sheet through line drive and can release elastic potential energy instantly, so that the utilization rate of elastic potential energy is maximized. Secondly, compared with other jumping robots, it does not have too many complex structures and has low manufacturing cost.

[0020] (2) In this invention, when the biomimetic frog jumping robot lands after a jump, its front claws first contact the ground, and the connecting rod squeezes the buffer torsion spring to compress and absorb energy, thus playing a buffering role and achieving a smooth landing. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the structure of a wire-driven bionic frog-jumping robot according to the present invention. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the structure of a wire-driven bionic frog-jumping robot according to the present invention. Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the structure of a wire-driven bionic frog-jumping robot according to the present invention. Figure 3 ;

[0025] Figure 4 This is a cross-sectional structural diagram of a wire-driven biomimetic frog-jumping robot according to the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of the fixed base in a wire-driven bionic frog jumping robot of the present invention;

[0027] Figure 6 This is a schematic diagram of the working torsion spring in a wire-driven biomimetic frog jumping robot according to the present invention.

[0028] In the diagram: 1. Main structure; 2. Motor; 3. Spring steel sheet; 4. Support hind limb; 5. Traction line; 6. Fixing frame; 101. Support; 102. Support shaft; 103. Shoulder; 104. First slot; 105. Cavity; 106. Steering component; 201. Fixing seat; 202. Limiting seat; 203. Working torsion spring; 204. Through groove; 205. Groove; 206. Arc groove; 207. Embedded groove; 208. Reserved groove; 401. Second slot; 402. Positioning seat; 403. Through hole; 404. Beveled surface; 601. Front claw; 602. Buffer torsion spring; 603. Connecting rod; 604. Second positioning hole; 605. First positioning hole. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1

[0031] Please see Figures 1-2 As shown, the present invention is a wire-driven bionic frog jumping robot, including a main structure 1. Two sets of front leg support structures are symmetrically arranged on the front side of the main structure 1. The front leg support structures are used to support the front part of the main structure 1. A rear leg jumping structure is arranged on the rear side. The rear leg elastic structure is used to support the rear part of the main structure 1 and drive the main structure 1 to jump forward. In one embodiment of this invention, the bionic frog jumping robot is supported by two sets of front leg support structures and rear leg jumping structures. The two, together with the main structure 1, form a bionic robot structure that is frog-shaped. When it needs to jump, it can be driven by the rear leg jumping structure.

[0032] The hind leg jumping structure includes a supporting hind limb 4. The front end of the main structure 1 is symmetrically fixed with supports 101. Support shafts 102 are rotatably arranged between the two supports 101. Shoulders 103 are respectively fitted at both ends of the support shafts 102. The two shoulders 103 are connected to the supporting hind limb 4 through spring steel plates 3.

[0033] It also includes a drive mechanism, which is used to pull the supporting hind limb 4 toward the main structure 1 to compress the spring steel sheet 3 to deform and generate elastic force. It can be explained that when the biomimetic frog jumping robot jumps, the drive mechanism pulls the supporting hind limb 4 toward the main structure 1. During the movement, the supporting hind limb 4 compresses the spring steel sheet 3, causing it to bend and generate elastic force. When the supporting hind limb 4 contacts the ground, the drive mechanism releases the pulling force on the supporting hind limb 4. During the elastic recovery process, the spring steel sheet 3 provides a driving force to the main structure 1. The elastic force is released instantaneously, causing the main structure 1 to jump forward. In this embodiment, the spring steel sheet 3 is bent by a line drive to obtain a large amount of energy and can release elastic potential energy instantaneously, maximizing the utilization rate of elastic potential energy. Secondly, compared with other jumping robots, it does not have too many complex structures and has a low manufacturing cost.

[0034] Example 2

[0035] Based on Example 1, please refer to Figures 3-6 The bottom of the supporting hind limb 4 is symmetrically positioned with a positioning seat 402. A through hole 403 is opened between the two positioning seats 402. The driving mechanism includes a traction line 5 passing through the two through holes 403. A cavity 105 is opened in the main structure 1. A tightening part for tightening the traction line 5 is rotatably arranged in the cavity 105. It can be explained that when jumping, the traction line 5 is pulled by the tightening part, and the traction line 5 simultaneously pulls the supporting hind limb 4 to move towards the main structure 1.

[0036] As a further embodiment, the tightening part includes a fixed seat 201 rotatably arranged in the cavity 105. A groove 205 is radially opened on one side of the fixed seat 201, and arc-shaped grooves 206 are opened on both sides of the groove 205. An embedding groove 207 for embedding a working torsion spring 203 is opened on the groove wall of the arc-shaped groove 206. One end of the working torsion spring 203 extends to the outside through the through groove 204 opened in the fixed seat 201. The other end of the traction line 5 is wrapped around the other end of the working torsion springs 203 on both sides. The fixed seat 201 is fixed to the output end of the motor 2 arranged on the main structure 1. It can be explained that when the traction line 5 is tightened, the motor 2 is started first to drive the fixed seat 201 to rotate. During the rotation of the fixed seat 201, the traction line 5 is further wound around the working torsion spring 203. As the supporting rear limb 4 comes into contact with the ground, when the fixed seat 201 continues to rotate, the working torsion spring 203 deforms so that the wound traction line 5 slips off, thereby causing the spring steel sheet 3 to release elastic potential energy instantaneously.

[0037] Furthermore, a steering component 106 is also provided in the cavity 105. After the traction line 5 passes through the through hole 403, it passes through the steering component 106 and is wound around one end of the working torsion spring 203; specifically, this makes the tightening and releasing stability of the traction line 5 higher.

[0038] In addition, limiting seats 202 for positioning the working torsion spring 203 are provided on both sides of the groove 205. The two side support plates of the limiting seat 202 are embedded in the groove wall of the arc groove 206. A reserved groove 208 is opened on one side of the limiting seat 202 so that the working torsion spring 203 can deflect into the reserved groove 208 when it deforms. In this embodiment, the limiting seat 202 can limit the working torsion spring 203 and prevent it from detaching from the embedded groove 207 when it deforms.

[0039] Example 3

[0040] Based on embodiment 2, a chamfered surface 404 is provided on one side of the supporting hind limb 4; specifically, when the spring steel sheet 3 bends, it simultaneously drives the supporting hind limb 4 to deflect. When the chamfered surface 404 of the supporting hind limb 4 contacts the ground in parallel, the traction line 5 just slides down, causing the spring steel sheet 3 to release elastic potential energy instantly.

[0041] In this embodiment, a first slot 104 is provided on one side of the shoulder 103, and a second slot 401 is provided on the supporting rear limb 4. The two ends of the spring steel sheet 3 are respectively inserted into the first slot 104 and the second slot 401 for positioning. It can be noted that in this embodiment, the two ends of the spring steel sheet 3 are directly inserted into the first slot 104 and the second slot 401 without using bolts for fixing, which facilitates disassembly and assembly.

[0042] The front leg support structure includes a fixed frame 6 fixedly installed at the bottom of the main structure 1. The bottom end of the fixed frame 6 is rotatably connected to the connecting rod 603. The other end of the connecting rod 603 is rotatably equipped with a front claw 601. The fixed frame 6 has a first positioning hole 605, and the connecting rod 603 has a second positioning hole 604. A buffer torsion spring 602 is fixedly installed between the first positioning hole 605 and the second positioning hole 604. It can be explained that when the biomimetic frog jumping robot lands after a jump, its front claw 601 contacts the ground first. The connecting rod 603 compresses the buffer torsion spring 602 to absorb energy, thus buffering the landing and achieving a smooth landing.

[0043] The working principle of this invention is as follows: The starting motor 2 drives the fixed base 201 to rotate. During the rotation of the fixed base 201, the traction line 5 is further wound around the working torsion spring 203. The traction line 5 synchronously pulls the supporting rear limb 4 towards the main structure 1. During the movement, the supporting rear limb 4 compresses the spring steel sheet 3, bending it and generating elastic force. When the inclined surface 404 of the supporting rear limb 4 contacts the ground parallel to it, the traction line 5 just slides down. During the elastic recovery process, the spring steel sheet 3 gives the main structure 1 a driving force. The elastic force is released instantly, causing the main structure 1 to jump forward. When it lands after the jump, its front claw 601 contacts the ground first. The connecting rod 603 compresses the buffer torsion spring 602 to absorb energy, playing a buffering role and achieving a smooth landing.

[0044] In the description of this invention, it should be understood that the terms "upper," "lower," "left," and "right," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A wire-driven biomimetic frog-jumping robot, comprising a main structure (1), characterized in that, The main structure (1) has two sets of front leg support structures symmetrically arranged on the front side. The front leg support structures are used to support the front part of the main structure (1). The rear side is provided with a rear leg jumping structure. The rear leg elastic structure is used to support the rear part of the main structure (1) and drive the main structure (1) to jump forward. The hind leg jumping structure includes a hind limb support (4), a main structure (1) with symmetrical fixed supports (101) at the front end, a support shaft (102) rotatably arranged between the two supports (101), and shoulder sleeves (103) respectively fitted at both ends of the support shaft (102). The shoulder straps (103) on both sides are connected to the supporting hind limbs (4) via spring steel plates (3); It also includes a drive mechanism for pulling the supporting rear limb (4) toward the main structure (1) to compress the spring steel sheet (3) to deform and generate elastic force; The bottom of the supporting hind limb (4) is symmetrically positioned (402), and a through hole (403) is opened between the two side positioning seats (402). The driving mechanism includes a traction line (5) passing through the two side through holes (403). A cavity (105) is opened in the main structure (1), and a tightening part for tightening the traction line (5) is rotatably arranged in the cavity (105). The tightening part includes a fixed seat (201) rotatably arranged in the cavity (105). A groove (205) is opened radially on one side of the fixed seat (201). Arc-shaped grooves (206) are opened on both sides of the groove (205). An embedding groove (207) for embedding a working torsion spring (203) is opened on the groove wall of the arc-shaped groove (206). One end of the working torsion spring (203) extends to the outside through the through groove (204) opened in the fixed seat (201). The other end of the traction line (5) is wrapped around the other end of the working torsion springs (203) on both sides. The fixed seat (201) is fixed to the output end of the motor (2) arranged on the main structure (1).

2. The wire-driven bionic frog-jumping robot according to claim 1, characterized in that, The cavity (105) is also provided with a steering component (106). The traction line (5) passes through the through hole (403), then through the steering component (106) and is wound around one end of the working torsion spring (203).

3. The wire-driven bionic frog-jumping robot according to claim 1, characterized in that, The supporting hind limb (4) has a beveled surface (404) on one side.

4. The wire-driven bionic frog-jumping robot according to claim 1, characterized in that, The first slot (104) is opened on one side of the shoulder (103), and the second slot (401) is opened on the supporting hind limb (4). The two ends of the spring steel plate (3) are respectively inserted into the first slot (104) and the second slot (401) for positioning.

5. A wire-driven bionic frog-jumping robot according to claim 1, characterized in that, The front leg support structure includes a fixed frame (6) fixedly arranged at the bottom of the main structure (1). The bottom end of the fixed frame (6) is rotatably connected to the connecting rod (603), and the other end of the connecting rod (603) is rotatably arranged with a front claw (601).

6. A wire-driven bionic frog-jumping robot according to claim 5, characterized in that, The fixing frame (6) has a first positioning hole (605) and the connecting rod (603) has a second positioning hole (604). A buffer torsion spring (602) is fixedly arranged between the first positioning hole (605) and the second positioning hole (604).

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