A biomimetic frog bouncing device

Abstract

The application discloses a kind of bionic frog bounce device, comprising: body module, drive module, bounce module, body module includes: bionic trunk main body and slide rail, main body is connected to slide rail, drive module is arranged on slide rail, main body is used to fixedly install drive module and bounce module, and bounce module is symmetrically installed to the left and right sides of main body;Drive module includes: power source and transmission module, and power source is used to provide power for transmission module;Transmission module includes: fixed point magnet and movable magnet, fixed point magnet is connected at one end of slide rail, movable magnet is slidably connected at the other end of slide rail, and sliding gap is reserved between fixed point magnet and movable magnet, and bounce module for driving body module to jump is connected to movable magnet two sides by support.This application converts the rotation pair of rear leg driving moving pair by fixed point magnet to generate corner and moment of force, so that the mechanism of bionic frog bounce is generated, the motion transmission process is simplified, the energy utilization efficiency is improved, the motion stroke is convenient for calculation, and control is convenient.

Description

Technical Field

[0001] This invention discloses a biomimetic frog jumping device, which relates to the field of mechanical biomimetic. Background Technology

[0002] Currently, research on continuous jumping bionic robots is limited and in its early stages. As the applications of robots expand, there is a growing demand for robots with obstacle-crossing capabilities, enabling them to operate in complex environments, including field exploration, disaster relief, and planetary exploration. Robots employing a jumping motion mode possess strong obstacle-crossing abilities and excellent terrain adaptability, meeting these requirements. The main research method is based on the locomotion mechanisms of animals such as frogs, kangaroos, locusts, and water striders, using these mechanisms to design mechanisms that enable continuous jumping.

[0003] In bionic mechanical engineering, a jumping mechanism is often needed to achieve jumping. Generally, a spring is used to achieve jumping by compression and then sudden release. However, this requires a motor to drive the compression of the spring. The compression process consumes more energy than this device. At the same time, the compression process of the spring also takes time, meaning that it cannot be triggered immediately and cannot be triggered continuously to achieve continuous jumping. Summary of the Invention

[0004] To address the shortcomings of the aforementioned background technology, this invention provides a biomimetic frog jumping device that has a simple structure, good stability, can be triggered immediately, saves energy and time, and can perform continuous jumping.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a biomimetic frog jumping device, comprising: a body module, a drive module, and a jumping module. The body module comprises: a main body and a slide rail. The slide rail is connected to the main body, and the drive module is disposed on the slide rail. The main body is a biomimetic torso body, used to fix and install the drive module and the jumping module. The jumping module is symmetrically installed on the left and right sides of the main body.

[0006] The drive module includes a power source and a transmission module. The power source provides power to the transmission module. The transmission module includes a fixed magnet and a movable magnet. The fixed magnet is connected to one end of the slide rail, and the movable magnet is slidably connected to the other end of the slide rail. A sliding gap is reserved between the fixed magnet and the movable magnet. The movable magnet is connected to a bouncing module for driving the body module to jump via brackets on both sides.

[0007] Furthermore, the bionic torso is designed to be tilted at 25-40°.

[0008] Furthermore, the bouncing module includes: a first rear leg link, an off-axis link, a rear leg driving thigh, a rear leg driving foot, a connecting rod, a fulcrum large wheel, and a fulcrum small wheel;

[0009] One side of the off-axis link is coaxially nested with one end of the first rear leg link, and then forms a rotating pair with the fulcrum wheel; the other end of the first rear leg link is sleeved with a connecting rod, and the connecting rod is connected to the rear end of the main body;

[0010] The other side of the off-axis link is coaxially connected to the rear leg drive thigh to form a revolute joint, which is then coaxially engaged with the fulcrum wheel to form a revolute joint; the lower end of the rear leg drive thigh is nested and connected to the rear leg drive foot, and the upper end of the rear leg drive thigh is provided with a sliding groove to slide and connect with both sides of the bracket to form a sliding joint;

[0011] During operation, the bottoms of the large and small fulcrum wheels are tangent to the ground, serving together as fulcrums to support the main body, and also acting as fulcrums to assist the rear legs in rotating the feet to quickly lift the main body.

[0012] Furthermore, the front side of the main body is connected to the forelimb, which has a bent design. The lower end of the forelimb is rotatably connected to the fulcrum wheel. When working, the bottom of the fulcrum wheel of the forelimb is tangent to the fulcrum wheel of the bouncing module and is on the ground, which serves as a fulcrum to support the main body.

[0013] Furthermore, the power source includes: a battery power supply, an integrated circuit board, and a boost module. The battery power supply is located in the battery slot on the main body, and the integrated circuit board and boost module are respectively connected to the main body. The battery power supply provides electrical energy, which is boosted by the integrated circuit board and the boost module to energize the fixed magnet. The fixed magnet is an electromagnet. When the fixed magnet becomes magnetic due to the voltage input, it can actively attract the movable magnet below (depending on the selection, the movable magnet can be either a permanent magnet or an electromagnet), thereby achieving relative movement and proximity. However, due to the limitation of the limiting ring and the slide rail, the movable magnet below achieves a linear movement distance, and the support on the movable magnet achieves the same movement.

[0014] By adjusting the voltage to obtain different electromagnetic attraction forces, it can be converted into the force of the hind leg driving the upper part of the thigh. Then, by measuring the distance between the hind leg driving the thigh and the center of the fulcrum wheel, the torque of the foot can be calculated, thereby approximating the reaction force of the device on the ground and obtaining the initial acceleration, which is convenient for subsequent calculations.

[0015] Furthermore, a limiting ring is provided between the fixed magnet and the movable magnet to limit the movement distance of the movable magnet.

[0016] Furthermore, the bottom of the slide rail is semi-circular, and a semi-circular sleeve is provided at the top of one end of the slide rail. The fixed magnet and the movable magnet are cylindrical. The fixed magnet is set inside the semi-circular sleeve, and the movable magnet is sleeved inside the bracket. The two sides of the bracket are symmetrically connected to the bouncing module.

[0017] Furthermore, the bracket includes: an arc-shaped shell, a baffle, a transition piece, and a cylindrical piece. The arc-shaped shell is fitted onto the outside of the movable magnet. The baffle is connected to the arc-shaped shell and to the upper end face of the movable magnet. One end of the transition piece is connected to each side of the arc-shaped shell. The transition piece has an L-shaped design. The other end of the transition piece is connected to the cylindrical piece, which is slidably connected in a groove.

[0018] This invention uses a cylindrical support to form a sliding groove with the hind leg driving thigh. Due to the reciprocating linear motion of the movable magnet, the hind leg driving thigh is driven to reciprocate around the center of the fulcrum wheel. The rotation of the hind leg driving thigh drives the reciprocating rotation of the hind leg driving foot, thereby continuously applying force to the ground. Under pressure, the ground continuously provides a reaction force to the entire mechanism, thus realizing the jumping of the biomimetic frog.

[0019] Beneficial effects: This invention uses a fixed-point magnet moving pair to drive a rear leg rotating pair to generate rotation angle and torque, enabling a biomimetic frog to jump. This simplifies the motion transmission process, improves energy utilization efficiency, facilitates the calculation of motion distance, and makes control convenient. The small size, lightweight design, and continuous motion of this invention make it suitable for surface reconnaissance, soil testing, and applications in agriculture, military, and other fields. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the battery compartment assembly structure of the present invention;

[0022] Figure 3 Schematic diagram of the main structure of the present invention;

[0023] Figure 4 Schematic diagram of the assembly structure of the transmission module of the present invention;

[0024] Figure 5 A schematic diagram of the bouncing module of the present invention from a certain perspective;

[0025] Figure 6 Another viewpoint structural diagram of the bouncing module of the present invention;

[0026] Figure 7 A schematic diagram of the support structure of this invention. Detailed Implementation

[0027] The implementation of the technical solution will be further described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0028] like Figure 1As shown, a biomimetic frog jumping device includes: a drive module, a jumping module 3, and a body module 5;

[0029] The drive module includes a power source and a transmission module 2, wherein the power source provides power to the transmission module 2; the power source includes a battery power supply, an integrated circuit board 1-1, and a boost module.

[0030] The body module includes: a main body 5-1, a slide rail 5-2, and a battery compartment 5-3. The main body 5-1 and the slide rail 5-2, and the battery compartment 5-3 are respectively fixed together by bolts.

[0031] The main body 5-1 is connected to the slide rail 5-2, and the slide rail 5-2 is provided with a drive module. The main body 5-1 is a bionic torso body, which is used to fix the drive module and the bouncing module 3. The bouncing module 3 is symmetrically installed on the left and right sides of the main body 5-1. The bionic torso body is designed to be tilted at 30°.

[0032] The battery power supply is located in the battery slot 5-3 on the main body 5-1, and the integrated circuit board 1-1 and the boost module are respectively connected to the main body 5-1;

[0033] Power is supplied by a battery, and the voltage is boosted by the integrated circuit board 1-1 and the boost module, so that the magnet 2-1 at the given point is energized.

[0034] The transmission module 2 includes a fixed magnet 2-1 and a movable magnet 2-11. The fixed magnet 2-1 is connected to one end of the slide rail 5-2, and the movable magnet 2-11 is slidably connected to the other end of the slide rail 5-2. A sliding gap is reserved between the fixed magnet 2-1 and the movable magnet 2-11. The movable magnet 2-1 is connected to the two sides of the bouncing module 3 for driving the body module 1 to jump through the bracket 2-2.

[0035] The bouncing module 3 includes: a first rear leg link 3-1, an off-axis link 3-2, a rear leg driving thigh 3-3, a rear leg driving foot 3-4, a connecting rod 3-5, a fulcrum large wheel 3-6, and a fulcrum small wheel 3-7.

[0036] One side of the off-axis link 3-2 has shaft I coaxially nested with one end of the first rear leg link 3-1, which then forms a rotating pair with the fulcrum wheel 3-7. A nut is used to fix and restrict the axial displacement of the fulcrum wheel 3-7 and shaft I. The other end of the first rear leg link 3-1 is sleeved with the connecting rod 3-5, which is connected to the rear end of the main body 5-1.

[0037] The shaft II on the other side of the off-axis link 3-2 is coaxially connected to the rear leg drive thigh 3-3 to form a revolute joint, and then coaxially cooperates with the fulcrum wheel 3-6 to form a revolute joint. A nut is used to fix and limit the axial displacement of the fulcrum wheel 3-6 and the rear leg drive thigh 3-3. The lower end of the rear leg drive thigh 3-3 has a groove for nesting connection to the rear leg drive foot 3-4, and the upper end of the rear leg drive thigh 3-3 is provided with a sliding groove, which is slidably connected to both sides of the bracket 2-2 to form a sliding joint.

[0038] During operation, the bottoms of the large fulcrum wheel 3-6 and the small fulcrum wheel 3-7 are tangent to the ground.

[0039] The front side of the main body 5-1 is connected to the forelimb 4. The forelimb 4 has a bent design. The lower end of the forelimb 4 is provided with a groove to rotate and connect to the pivot wheel 3-7, forming a rotating pair. The forelimb 4 is fixed to the front ends of both sides of the main body 5-1 by nuts and bolts.

[0040] When in operation, the bottom of the pivot wheel 3-7 of the forelimb 4 is tangent to the ground with the bottom of the pivot wheel 3-7 of the jumping module.

[0041] The slide rail 5-2 is coaxially designed with the fixed magnet 2-1 and the movable magnet 2-11, and the fixed magnet 2-1 and the movable magnet 2-11 enter the track to form a sliding pair. The movable magnet 2-11 is controlled by the limiting ring 2-3 to control its own travel distance, thereby realizing the energization of the fixed magnet and the status of the movable magnet.

[0042] The bottom of the slide rail 5-2 is semi-circular, and a semi-circular sleeve is provided at the top of one end of the slide rail 5-2. The fixed magnet 2-1 and the movable magnet 2-11 are cylindrical. The fixed magnet 2-1 is set inside the semi-circular sleeve, and the movable magnet 2-11 is sleeved inside the bracket 2-2. The two sides of the bracket 2-2 are symmetrically connected to the bouncing module 3.

[0043] The bracket 2-2 includes: an arc-shaped shell 2-21, a baffle 2-22, a transition piece 2-23, and a cylindrical piece 2-24. The arc-shaped shell 2-21 is sleeved on the outside of the movable magnet 2-11. The movable magnet 2-11 is partially encased by the bracket 2-2 to form a whole, and together with the slide rail 5-2, they form two moving pairs.

[0044] The baffle 2-22 is connected to the arc-shaped shell 2-21 and is connected to the upper end face of the movable magnet 2-11. The two sides of the arc-shaped shell 2-21 are respectively connected to one end of the transition piece 2-23. The transition piece 2-23 is L-shaped. The other end of the transition piece 2-23 is connected to the cylindrical piece 2-24. The cylindrical piece 2-24 is slidably connected in the groove.

[0045] In this embodiment: the fixed magnet is an electromagnet, the movable magnet is a permanent magnet, and the limiting ring is set to a lower setting; continuous jumping is achieved by utilizing the magnetic force of the electromagnet and the gravity generated by the tilt of the body after power failure. The integrated circuit board continuously supplies intermittent electrical signals to the upper electromagnet. After power is applied, the upper electromagnet magnetically attracts the lower permanent magnet, thus achieving jumping. After power failure, the distance is controlled by the limiting ring, and the downward acceleration generated by the tilt of the body causes the permanent magnet to return to its position. This drives the support to move synchronously. The cylindrical part of the support and the sliding groove of the hind leg drive thigh form a sliding groove fit. Due to the reciprocating linear motion of the movable magnet, the hind leg drive thigh is driven to reciprocate around the center of the fulcrum wheel. The rotation of the hind leg drive thigh drives the reciprocating rotation of the hind leg drive foot, thus continuously applying force to the ground. The ground continuously provides a reaction force to the entire mechanism under pressure, thereby realizing the jumping of the biomimetic frog. Example

[0046] In addition to the above technical solutions, the difference lies in the following: the fixed magnet uses an electromagnet, and the movable magnet uses an electromagnet; in this embodiment, after the electromagnet is energized, the upper electromagnet is controlled by a square wave electrical signal to move the movable magnet. The integrated circuit board continuously provides a polarity to the lower electromagnet, while the upper end continuously receives a square wave signal. After being energized, the polarities of the two ends are opposite, generating magnetic force that causes the lower electromagnet to slide. After the upper end converts its magnetism, it repels the lower end, pushing the lower electromagnet back to its position, driving the bracket to move synchronously. The cylindrical part of the bracket and the sliding groove of the rear leg drive thigh form a sliding groove fit. Due to the reciprocating linear motion of the movable magnet, the rear leg drive thigh is driven to reciprocate around the center of the fulcrum wheel. The rotation of the rear leg drive thigh drives the reciprocating rotation of the rear leg drive foot, thereby continuously applying force to the ground. Under pressure, the ground continuously provides a reaction force to the entire mechanism, thereby realizing the jumping of the biomimetic frog.

[0047] This invention provides a mechanism for a biomimetic frog to jump by converting a fixed-point magnet moving pair into a rear leg driving rotating pair to generate rotation angle and torque. This simplifies the motion transmission process, improves energy utilization efficiency, facilitates the calculation of motion distance, and makes control convenient. The invention's small size, lightweight design, and continuous motion characteristics make it suitable for surface reconnaissance, soil testing, and applications in agriculture, military, and other fields.

[0048] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A biomimetic frog-jumping device, characterized in that, include: The system comprises a drive module, a bouncing module (3), and a body module (5). The body module includes a main body (5-1) and a slide rail (5-2). The slide rail (5-2) is connected to the main body (5-1), and the drive module is mounted on the slide rail (5-2). The main body (5-1) is a bionic torso body used to fix the drive module and the bouncing module (3). The bouncing module (3) is symmetrically mounted on the left and right sides of the main body (5-1). The drive module includes a power source and a transmission module (2). The power source is used to provide power to the transmission module (2). The transmission module (2) includes a fixed magnet (2-1) and a movable magnet (2-11). The fixed magnet (2-1) is connected to one end of the slide rail (5-2). The movable magnet (2-11) is slidably connected to the other end of the slide rail (5-2). A sliding gap is reserved between the fixed magnet (2-1) and the movable magnet (2-11). The movable magnet (2-11) is connected to a bouncing module (3) for driving the body module (5) to jump through a bracket (2-2) on both sides. The bouncing module (3) includes: a first rear leg link (3-1), an off-axis link (3-2), a rear leg driving thigh (3-3), a rear leg driving foot (3-4), a connecting rod (3-5), a fulcrum large wheel (3-6), and a fulcrum small wheel (3-7). One side of the off-axis link (3-2) is coaxially nested with one end of the first rear leg link (3-1), and then forms a rotating pair with the fulcrum wheel (3-7); the other end of the first rear leg link (3-1) is sleeved with the connecting rod (3-5), and the connecting rod (3-5) is connected to the rear end of the main body (5-1); The other side of the off-axis link (3-2) is coaxially connected to the rear leg drive thigh (3-3) to form a revolute joint, and then coaxially cooperates with the fulcrum wheel (3-6) to form a revolute joint; the lower end of the rear leg drive thigh (3-3) is nested and connected to the rear leg drive foot (3-4), and the upper end of the rear leg drive thigh (3-3) is provided with a sliding groove, which is slidably connected to both sides of the bracket (2-2) to form a sliding joint; During operation, the bottoms of the large fulcrum wheel (3-6) and the small fulcrum wheel (3-7) are tangent to the ground; The front side of the main body (5-1) is connected to the forelimb (4), which has a bent design. The lower end of the forelimb (4) is rotatably connected to the fulcrum wheel (3-7). When working, the fulcrum wheel (3-7) of the forelimb (4) is tangent to the bottom of the fulcrum wheel (3-7) of the bouncing module on the ground.

2. The biomimetic frog jumping device according to claim 1, characterized in that, The power source includes: a battery power supply, an integrated circuit board (1-1), and a boost module. The battery power supply is located in the battery slot (5-3) on the main body (5-1), and the integrated circuit board (1-1) and the boost module are respectively connected to the main body (5-1); Power is supplied by a battery, and the voltage is boosted by the integrated circuit board (1-1) and the boost module, so that the point magnet (2-1) is energized.

3. The biomimetic frog jumping device according to claim 1, characterized in that, A limiting ring (2-3) is provided between the fixed magnet (2-1) and the movable magnet (2-11) to limit the movement distance of the movable magnet (2-11).

4. The biomimetic frog jumping device according to claim 1, characterized in that, The bottom of the slide rail (5-2) is semi-circular, and a semi-circular sleeve is provided at the top of one end of the slide rail (5-2). The fixed magnet (2-1) and the movable magnet (2-11) are cylindrical. The fixed magnet (2-1) is set inside the semi-circular sleeve, and the movable magnet (2-11) is sleeved inside the bracket (2-2). The two sides of the bracket (2-2) are symmetrically connected to the bouncing module (3).

5. The biomimetic frog jumping device according to claim 1, characterized in that, The bracket (2-2) includes: an arc-shaped shell (2-21), a baffle (2-22), a transition piece (2-23), and a cylindrical piece (2-24). The arc-shaped shell (2-21) is sleeved on the outside of the movable magnet (2-11). The baffle (2-22) is connected to the arc-shaped shell (2-21) and is connected to the upper end face of the movable magnet (2-11). The two sides of the arc-shaped shell (2-21) are respectively connected to one end of the transition piece (2-23). ​​The transition piece (2-23) is L-shaped. The other end of the transition piece (2-23) is connected to the cylindrical piece (2-24). The cylindrical piece (2-24) is slidably connected in the groove.

6. The biomimetic frog jumping device according to claim 1, characterized in that, The bionic torso is designed to be tilted at a 25-40° angle.

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