A rope-driven biomimetic frog robot

Abstract

This application discloses a rope-driven biomimetic frog robot, relating to the field of robotics. It can simulate the movement of a frog, such as its front legs lunging forward during a jump and its front legs retracting backward during a squatting motion, exhibiting better adaptability and flexibility, and stronger adaptability to complex terrain. The robot includes a frog body and connected to the frog body are front legs, hind legs, a power-saving mechanism, and a clutch mechanism. The power-saving mechanism is connected between the front and hind legs; it can be driven by a rope to achieve the contraction and power-saving of the front and hind legs during the power-saving state, and the lunging forward of the front legs and the pushing back of the hind legs during the jumping state. The clutch mechanism is connected to the power-saving mechanism; it can be driven by a rope to switch between the power-saving state and the jumping state of the front and hind legs. This application aims to improve the performance of the biomimetic frog robot.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a rope-driven biomimetic frog robot. Background Technology

[0002] With the continuous development of robotics technology, utilizing the jumping function of robots to enhance their terrain adaptability and autonomous movement capabilities in the face of harsh environments and complex terrains has become a rapidly developing robotics technology in recent years. Furthermore, studying the locomotion mechanisms and movement patterns of organisms and applying them to the field of biomimetic robots is beneficial for the design of biomimetic robots and a deeper understanding of biomechanical principles. Frogs possess excellent terrestrial jumping ability and agile underwater movement capabilities; therefore, research on biomimetic frog robots is also increasing.

[0003] Chinese patent "A Bionic Frog Machine" (Publication No.: CN114940223A) discloses a bionic frog machine, including a support frame, front legs, hind leg components, hind feet, a front leg steering component, a front leg cushioning joint component, an energy storage and release module, hind leg rods, a ranging component, and an image acquisition component. Because its front legs are controlled by only a single motor for steering, although it has a cushioning function, it cannot achieve forward lunge and backward retraction; that is, the front feet cannot simulate the movement state of a frog jumping, resulting in poor adaptability to complex terrain. Summary of the Invention

[0004] The embodiments of this application provide a rope-driven biomimetic frog robot that can simulate the movement of a frog when jumping, with its front legs lunging forward and its front legs retracting when squatting to build up strength. It can adjust the frog's take-off angle, has better adaptability and flexibility, and is more adaptable to complex terrain.

[0005] To achieve the above objectives, embodiments of this application provide a rope-driven biomimetic frog robot, including a frog body and frog front legs, frog hind legs, a power storage mechanism, and a clutch mechanism connected to the frog body; the power storage mechanism is connected between the frog front legs and frog hind legs; the power storage mechanism can realize the contraction and power storage of the frog front legs and frog hind legs in the power storage state and the forward lunge of the frog front legs and the backward push of the frog hind legs in the jumping state through rope drive; the clutch mechanism is connected to the power storage mechanism; the clutch mechanism can realize the switching between the frog front legs and frog hind legs in the power storage state and the jumping state through rope drive.

[0006] Further, the frog body includes a frog body and an outer shell fastened to the frog body; the power storage mechanism includes a power storage winch mechanism, a drive rope, a power storage reduction motor, a motor gear, a power storage rod, a power storage positioning rod, and an elastic power storage traction rope; the power storage winch mechanism is hinged to the frog body via a clutch rod, and the clutch rod can slide back and forth within the frog body; the power storage winch mechanism is provided with external teeth; the motor gear is mounted on the output shaft of the power storage reduction motor and meshes with the external teeth on the power storage winch mechanism; the drive rope... The front end is fixed to and wound around the power-accumulating winch mechanism, and the rear end is connected to the power-accumulating rod; the power-accumulating rod is located in the first or second slot of the frog body; the first slot is located behind the second slot; the power-accumulating positioning rod is fixed to the frog body; the elastic power-accumulating traction rope is connected between the clutch positioning rod and the power-accumulating rod; the upper part of the frog's front leg is connected to the frog body through an adaptive spring, the middle part is hinged to the frog body through the clutch positioning rod, and the lower part is connected to the power-accumulating rod through the front leg traction rope.

[0007] Furthermore, the clutch mechanism includes a clutch reduction motor, a clutch winch mechanism, and a clutch rope; the clutch reduction motor is fixedly connected to the lower surface of the frog body; the clutch winch mechanism is connected to the drive shaft of the clutch reduction motor; the lower end of the clutch rope is wound around and fixedly connected to the clutch winch mechanism, and the upper end is connected to the clutch rod.

[0008] Furthermore, the energy storage positioning rod is located behind the energy storage rod; the drive rope is also wound around the energy storage positioning rod, and the rear end of the drive rope, together with the energy storage rod and the energy storage positioning rod, forms a first movable pulley group; the clutch positioning rod is located in front of the clutch rod; the clutch reduction motor is located behind the clutch rod; the clutch rope is also wound around the clutch positioning rod, and the upper end of the clutch rope, together with the clutch rod and the clutch positioning rod, forms a second movable pulley group.

[0009] Furthermore, the rear end of the drive rope passes over the energy storage positioning rod from bottom to top and then passes over the energy storage rod from top to bottom, and is then fixed to the energy storage positioning rod; the upper end of the clutch rope passes over the clutch positioning rod from bottom to top and then passes over the clutch rod from top to bottom, and is then fixed to the clutch positioning rod.

[0010] Furthermore, the power-accumulating winch mechanism includes a cylinder and a rope winding structure connected to both ends of the cylinder; the rope winding structure includes an inner rope-blocking plate, an outer rope-blocking plate, and a drum disposed between the inner and outer rope-blocking plates; the drum is used to wind the drive rope; the external teeth are disposed on the inner rope-blocking plate; the power-accumulating reduction motor is a dual-output shaft motor; there are two motor gears; the two motor gears respectively mesh with the external teeth on the corresponding inner rope-blocking plates.

[0011] Furthermore, a power storage release limiting mechanism is provided between the power storage winch mechanism and the frog body; the power storage release stop can prevent the power storage winch mechanism from releasing the drive rope to a preset length and then continuing to release; a clutch reduction motor stop is provided on the lower surface of the frog body, and the clutch reduction motor stop can prevent the clutch reduction motor from rotating to a preset angle and then continuing to rotate.

[0012] Furthermore, the frog's hind leg includes a four-bar linkage and frog flippers; the four-bar linkage includes the frog's thigh, frog's lower leg, and a take-off adjustment rod; the frog's thigh includes two rods; the upper end of the frog's thigh is connected to a power storage rod, and the lower end is connected to the rear end of the frog's flippers through the frog's lower leg; the upper end of the take-off adjustment rod is connected to a power storage positioning rod, and the lower end is connected to the middle of the frog's flippers.

[0013] Furthermore, the frog body includes a fixing plate; the fixing plate is provided with a front foot through hole; the lower end of the frog's front leg extends out of the front foot through hole; and a front foot limiting baffle is provided on the frog's front leg.

[0014] Furthermore, it also includes an infrared remote controller, a counter, and a control unit; the control unit and the counter are both mounted on the frog body; the control unit is communicatively connected to the infrared remote controller, the counter, the power-accumulating reduction motor, and the clutch reduction motor; the control unit is configured to: determine whether the signal received from the infrared remote controller is a start signal; if so, control the power-accumulating reduction motor to start until the rotation time reaches a preset power-accumulating time and then stop; control the clutch reduction motor to start and rotate forward for a first preset time, and control the clutch reduction motor to rotate in reverse for a second preset time; the second preset time is equal to the first preset time; receive the detection value of the counter and determine whether a preset number of times has been reached; if so, stop; if not, continue to control the power-accumulating reduction motor and the clutch reduction motor to start and stop until the preset number of times has been reached.

[0015] This application has the following advantages over the prior art:

[0016] 1. The rope-driven bionic frog robot of this application simulates the contraction of the frog's front and hind legs during power storage and the forward lunge of the frog's front legs and the backward push of the frog's hind legs during jumping by a power storage mechanism set between the frog's front and hind legs. It can adjust the frog's take-off angle, has better adaptability and flexibility, and can achieve more natural movement in various complex terrains.

[0017] 2. In this embodiment, the rope-driven bionic frog robot uses a power-accumulating geared motor to drive a winch mechanism to retract and extend the drive rope connected to the power-accumulating rod, causing the power-accumulating rod to move back and forth to complete power accumulation. A clutch geared motor drives a clutch winch mechanism to retract and extend the clutch rope connected to the clutch rod, causing the clutch rod to move back and forth to complete the transition between the power-accumulating state and the jumping state. This novel rope-driven method is more efficient than traditional mechanical drive methods, reducing energy consumption and improving the robot's endurance and work efficiency.

[0018] 3. In the embodiment of this application, the energy storage mechanism of the rope-driven bionic frog robot forms a first movable pulley group through the energy storage positioning rod and the energy storage rod, which further increases the torque of the energy storage reduction motor and realizes the long-distance jump of the bionic frog; at the same time, the clutch mechanism forms a second pulley group through the clutch positioning rod and the clutch rod, which further increases the torque of the clutch reduction motor and realizes the accurate release of the bionic frog after storing elastic potential energy.

[0019] 4. The rope-driven bionic frog robot in this application simulates frog muscles by using an elastic traction rope and stores force in the parallelogram mechanism composed of the thigh and calf of the frog's hind legs to achieve long-distance jumping of the bionic frog.

[0020] 5. In the embodiments of this application, the rope-driven bionic frog robot controls the start and stop times of the power storage reduction motor and the clutch reduction motor through the control unit to achieve continuous jumping of the frog. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the external shape of the rope-driven biomimetic frog robot according to an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the structure of the rope-driven biomimetic frog robot according to an embodiment of this application, after removing the shell, at one angle.

[0024] Figure 3 This is a schematic diagram of the frog body at one angle in the rope-driven bionic frog robot of this application embodiment;

[0025] Figure 4 This is a schematic diagram of the energy storage winch mechanism in the rope-driven biomimetic frog robot according to an embodiment of this application;

[0026] Figure 5This is a schematic diagram of the energy storage winch mechanism meshing with the motor gear in the rope-driven biomimetic frog robot of this application embodiment;

[0027] Figure 6 This is a schematic diagram of the energy storage winch mechanism disengaging from the motor gear in the rope-driven biomimetic frog robot of this application embodiment;

[0028] Figure 7 This is a winding diagram of the first pulley assembly and the second pulley assembly in the rope-driven biomimetic frog robot of this application embodiment;

[0029] Figure 8 This is a schematic diagram of the rope-driven biomimetic frog robot from another angle after removing the shell, according to an embodiment of this application.

[0030] Figure 9 A schematic diagram showing the connection structure between the frog's front legs and its body;

[0031] Figure 10 This is a schematic diagram of the structure of the frog's front leg in the rope-driven biomimetic frog robot of this application embodiment;

[0032] Figure 11 This is a schematic diagram of the rope-driven biomimetic frog robot from another angle after removing the shell, according to an embodiment of this application.

[0033] Figure 12 This is a schematic diagram of the clutch winch mechanism in the rope-driven biomimetic frog robot according to an embodiment of this application;

[0034] Figure 13 This is a structural schematic diagram of the frog body from another angle in the rope-driven bionic frog robot of this application embodiment;

[0035] Figure 14 This is a diagram illustrating the jumping state of a rope-driven biomimetic frog robot according to an embodiment of this application.

[0036] Figure 15 This is a flowchart illustrating the power storage process control of the rope-driven biomimetic frog robot according to an embodiment of this application.

[0037] Figure 16 This is a flowchart illustrating the motor control process of a rope-driven biomimetic frog robot jumping, as described in an embodiment of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In the description of this application, it should be understood that the terms "center," "upper," and "lower" are used interchangeably.

[0040] The orientations or positional relationships indicated by terms such as "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of facilitating the description of this application and simplifying the description. They are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0041] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can refer to fixed connections, detachable connections, or integral connections; those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" can explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0043] Reference Figures 1 to 10 The rope-driven bionic frog robot of this application embodiment includes a frog body 1 and frog front legs 2, frog hind legs 3, power storage mechanism 4, clutch mechanism 5, infrared remote controller (not shown), counter (not shown) and control unit (not shown) connected to the frog body 1.

[0044] The frog's body 1 includes the frog's main body 11 and an outer shell 12 that is fastened to the frog's main body 11. (See reference...) Figure 2 and Figure 3 The frog body 11 includes a fixing plate 13. The upper surface of the fixing plate 13 is provided with two front leg fixing brackets 14, two winch mechanism fixing brackets 15 and two hind leg fixing brackets 16 that are symmetrically arranged. The front leg fixing brackets 14, the winch mechanism fixing brackets 15 and the hind leg fixing brackets 16 are all double bracket structures.

[0045] The front leg fixing bracket 14 is provided with a clutch positioning rod hole 141. A clutch positioning rod 6 is installed in the clutch positioning rod hole 141. The hoisting mechanism fixing bracket 15 is provided with a clutch rod hole 151, which is an elongated hole extending front and rear. A clutch rod 7 is installed in the clutch rod hole 151. The rear leg fixing bracket 16 is provided with a power storage positioning rod hole 161, a first slot 162 and a second slot 163, and the first slot 162 is located in front of the second slot 163.

[0046] Continue to refer to Figure 2 and Figure 5 The power storage mechanism 4 includes a power storage winch mechanism 41, a drive rope 42, a power storage reduction motor 43, a motor gear 45, a power storage rod 46, a power storage positioning rod 47, and an elastic power storage traction rope 48. The power storage winch mechanism 41 is hinged to the frog body 11 via a clutch rod 7, and the clutch rod 7 can slide back and forth within the frog body 11.

[0047] Reference Figure 4 The power-saving winch mechanism 41 includes a cylinder 411 and a rope winding structure connected to both ends of the cylinder 411. The rope winding structure includes an inner rope-blocking plate 412, an outer rope-blocking plate 413, and a drum 414 disposed between the inner rope-blocking plate 412 and the outer rope-blocking plate 413. The drum 414 is used to wind the drive rope 42. The inner rope-blocking plate 412 has external teeth. (Refer to...) Figure 5 and Figure 6 The accumulator reduction motor 43 is located behind the accumulator winch mechanism 41. The accumulator reduction motor 43 is a dual-output shaft motor with two motor gears 45. These two gears 45 are respectively mounted on the corresponding output shafts of the accumulator reduction motor 43 and mesh with the external teeth on the corresponding inner rope guide plate 412. Therefore, the rotation direction of the accumulator winch mechanism 41 is opposite to the rotation direction of the motor gears 45. The front end of the drive rope 42 is fixed inside the drum 411, then passes through the drive rope hole 415 and is wound onto the drum 414.

[0048] The accumulator positioning rod 47 is installed in the accumulator positioning rod hole 161. The accumulator rod 46 is installed in the first slot 162 or the second slot 163. The elastic accumulator traction rope 48 connects the clutch positioning rod and the accumulator rod 46. Specifically, for ease of installation, the elastic accumulator traction rope 48 is a rubber band. There are two elastic accumulator traction ropes 48. The rear end of the drive rope 42, together with the accumulator rod 46 and the accumulator positioning rod 47, forms the first movable pulley system. Specifically, refer to... Figure 7 There are two drive ropes 42. The rear end of the drive rope 42 passes over the storage positioning rod 47 from bottom to top, then passes over the storage rod 46 from top to bottom, and is then fixed to the storage positioning rod 47. Thus, the storage rod 46 is a movable pulley, which can increase the torque of the storage reduction motor 43, and the storage positioning rod 47 is a fixed pulley, which can change the direction of the force on the drive rope 42, causing the storage rod 46 to move towards the frog's hind legs.

[0049] It should be noted that using a movable pulley system allows the force applied to one pulley to be transferred to another, improving force transmission efficiency by reducing friction loss and enabling a large output even with a smaller force. Simultaneously, movable pulley transmission distributes the required force across multiple pulleys, thereby reducing the force borne by individual components and lowering labor intensity.

[0050] Reference Figure 3 and Figure 4 A power storage release limiting mechanism is also provided between the power storage winch mechanism 41 and the fixed plate 13. The power storage release limiting mechanism includes a winch limiting block 416 provided on the outer wall of the cylinder 411 and a power storage release block 17 provided on the fixed plate 13. Both the power storage release block 17 and the power storage release block 17 are provided with a hooking part, thereby preventing the power storage release limiting mechanism from releasing the drive rope 42 to a preset length and continuing to release.

[0051] Reference Figures 8 to 10 The frog's front legs 2 are crescent-shaped, and from top to bottom, they are provided with an adaptive spring hole 21, a front leg positioning hole 22, a power storage groove 23, and a front foot limiting block 24. The left and right side walls of the power storage groove 23 are provided with traction rope holes 23. A traction rope connecting shaft is installed between the two traction rope holes 23.

[0052] The upper part of the frog's front leg 2 is connected to the winch mechanism fixed bracket 15 via an adaptive spring 8. Specifically, the front end of the adaptive spring 8 is connected to the adaptive spring hole 21, and the rear end is connected to the adaptive spring connecting shaft 9, which is mounted on the winch mechanism fixed bracket 15.

[0053] The frog's front leg 2 has a front leg positioning hole 22 in the middle, which is fitted onto the clutch positioning rod 6, hinged to the front leg fixing bracket 14. A front leg traction rope 10 is provided between the traction rope connecting shaft and the power storage rod 46. To balance elasticity and strength, the front leg traction rope 10 is composed of a combination of elastic and non-elastic traction ropes. (Refer to...) Figure 3 The fixing plate 13 is provided with a front foot through hole 18, and the lower end of the frog's front leg extends downward through the front foot through hole 18. When the frog's front leg 2 retracts to its extreme position, the front foot limiting block 24 abuts against the rear side wall of the front foot through hole 18, thereby limiting the frog's front leg 2.

[0054] Reference Figures 11 to 13 The clutch mechanism 5 includes a clutch reduction motor 51, a clutch winch mechanism 52, and a clutch rope 53. The clutch reduction motor 51 is fixed to the lower surface of the fixed plate 13 and is located diagonally behind the front leg fixed bracket 14. The clutch winch mechanism 52 is connected to the drive shaft of the clutch reduction motor 51.

[0055] The clutch winch mechanism 52 has a clutch rope groove 521 in the middle, and a clutch rope hole 522 is provided at the bottom of the groove. (Refer to...) Figure 3The fixed plate 13 has a clutch rope passage hole 19. The lower end of the clutch rope 53 passes through the clutch rope hole 522 and is wound around the clutch rope groove 521. The upper end passes through the clutch rope passage hole 19 and forms a second movable pulley group with the clutch rod 7 and the clutch positioning rod 6. For details, refer to... Figure 7 There are two clutch ropes 53. The upper end of the clutch rope 53 passes over the clutch positioning rod 6 from bottom to top and then passes over the clutch rod 7 from top to bottom, and is then fixed to the clutch positioning rod 7. Thus, the clutch rod 7 is a movable pulley, which can increase the torque of the clutch reduction motor 51, and the clutch positioning rod 6 is a fixed pulley, which can change the direction of force on the clutch rope 53, so that the clutch rod 7 moves towards the frog's front leg 2 under the constraint of the clutch rod hole 151.

[0056] Reference Figure 3 The lower surface of the fixing plate 13 is also provided with a clutch reduction motor stop 110, which can prevent the clutch reduction motor 51 from rotating to a preset angle and continuing to rotate.

[0057] Reference Figure 2 The frog's hind leg 3 includes a four-bar linkage and frog flippers 33. Specifically, the four-bar linkage includes a frog thigh 31, a frog lower leg 34, and a take-off adjustment rod 32. The frog thigh 31 includes two rods. The upper end of the frog thigh 31 is connected to a power-accumulating rod 46, and the lower end is connected to the rear end of the frog flippers 33 via the take-off adjustment rod 32. The upper end of the frog lower leg 34 is connected to a power-accumulating positioning rod 47, and the lower end is connected to the middle of the frog flippers 33. Thus, when the power-accumulating rod 46 is in the second slot 163 at the rear, the frog's hind leg 3 is in a power-accumulating and retracted state; when the power-accumulating rod 46 is in the first slot 162 at the rear, the frog's hind leg 3 is in a push-off state. In addition, the jump height of the frog can be adjusted by changing the length of the take-off adjustment rod 32.

[0058] Therefore, the power storage mechanism 4 can realize the contraction and power storage of the frog's front legs 2 and hind legs 3 in the power storage state, and the forward lunge of the frog's front legs 2 and the backward push of the frog's hind legs 3 in the jumping state. The clutch mechanism 5 can realize the switching between the frog's front legs 2 and hind legs 3 in the power storage state and the jumping state.

[0059] The control unit uses a microcontroller, and the counter is also integrated into the microcontroller. The microcontroller is located on the frog body 11. The infrared remote controller is located externally on the frog robot of this application. The control unit is communicatively connected to the infrared remote controller, the counter, the accumulator reduction motor 43, and the clutch reduction motor 51.

[0060] The control unit is configured as follows:

[0061] Determine whether the received signal from the infrared remote control is a start signal;

[0062] If so, the energy storage reduction motor 43 will start and stop when the rotation time reaches the preset energy storage time;

[0063] The clutch reduction motor 51 is controlled to start and rotate forward for a first preset time;

[0064] The clutch reduction motor 51 is controlled to reverse for a second preset time; the second preset time is equal to the first preset time.

[0065] The counter receives the detection value and determines whether the preset number of times has been reached. If yes, it stops; if no, it continues to control the start and stop of the accumulator reduction motor and the clutch reduction motor until the preset number of times is reached.

[0066] Reference Figure 2 and Figure 7 The motion process of each mechanism in the rope-driven bionic frog robot during the power accumulation process in this application embodiment is as follows:

[0067] When the power-accumulating reduction motor 43 rotates clockwise, it drives the power-accumulating winch mechanism 41 to rotate counterclockwise. Constrained by the drive rope hole 415 on the power-accumulating winch mechanism 41, the drive rope 42 winds around the drum 414. Constrained by the power-accumulating release stop 17, the drive rope 42 shortens, forming a movable pulley system through the power-accumulating rod 46 and the power-accumulating positioning rod 47. The power-accumulating rod 46 acts as a movable pulley, increasing the torque of the power-accumulating reduction motor 43, while the power-accumulating positioning rod 47 acts as a fixed pulley, changing the direction of force on the drive rope 42. This causes the power-accumulating rod 46 to shift towards the frog's hind legs. At this time, the distance between the clutch positioning rod 6 and the power-accumulating rod 46 increases, and the elastic power-accumulating traction rope 48 begins to accumulate power, converting mechanical energy into elastic potential energy. The program is set to rotate the power-accumulating reduction motor 43 for 10 seconds, and the power-accumulating winch mechanism 41 rotates 300 degrees. After 10 seconds, the power-accumulating reduction motor 43 stops, the clutch reduction motor 51 starts, the clutch engages, and the bionic frog prepares to jump.

[0068] The movement process of the frog's forelegs during the power storage process in the rope-driven bionic frog robot of this application embodiment is as follows:

[0069] When the frog robot is charging up, the charging rod 46 moves backward, pulling the front leg traction rope 10. Under the constraint of the traction rope hole 23, the front leg traction rope 10 pulls the frog's front leg 2. The frog's front leg 2 rotates counterclockwise around the clutch positioning rod 47 and retracts backward, simultaneously stretching the adaptive spring 8. The retraction stops under the action of the front leg limit stop 24, maintaining the frog's overall squatting / standing position. When jumping, the above actions are reversed. Under the constraint of the adaptive spring 8, the frog's front leg 2 assumes a forward-leaning posture. The entire movement of the front leg completely simulates the frog's squatting / standing and jumping postures.

[0070] Reference Figure 2 , Figure 7 and Figure 14The motion process of the clutch mechanism in the rope-driven bionic frog robot of this application embodiment is as follows:

[0071] When the clutch reduction motor 51 rotates, it drives the clutch winch mechanism 52 to rotate in the same direction. At this time, the clutch rope 53 on the clutch winch mechanism 52 is wrapped around the clutch rope groove 521 of the clutch winch mechanism 52 under the constraint of the clutch rope through hole 19. Under the constraint of the clutch reduction motor stop block 110, the clutch rope 53 is shortened. It forms a movable pulley group through the clutch rod 7 and the clutch positioning rod 6. The clutch rod 7 is a movable pulley, which increases the torque of the clutch reduction motor 51. The clutch positioning rod 6 is a fixed pulley, which changes the direction of force on the clutch rope 53, so that the clutch rod 7 moves towards the frog's front leg 2 under the constraint of the clutch rod hole 151. At this time, under the action of the clutch rod 7, the gear of the power storage winch mechanism 41 will disengage from the gear of the power storage reduction motor 43. At the moment of disengagement, the power storage winch mechanism 41 loses its constraint, and the elastic power storage traction rope 48 converts the elastic potential energy into mechanical energy. The frog's hind leg 3, specifically the thigh 31, pushes backward under the force of the elastic, energy-storing traction rope 48. This, in turn, causes the frog's lower leg 32 to push backward via a four-bar linkage. The combined force of the thigh 31 and lower leg 32 creates a forward force between the frog's webbed feet 33 and the ground, propelling the frog forward in a jump. The clutch reduction motor 51 first rotates counter-clockwise for 2 seconds, then clockwise for 2 seconds to reset. During this process, the energy-storing winch mechanism 41, after losing its restraint, rotates clockwise and returns to its initial position under the action of the winch limit stop 416 and the energy-storing release stop 17, preparing for the next jump.

[0072] Reference Figure 15 The control process of the rope-driven bionic frog robot during the power accumulation process in this application embodiment is as follows:

[0073] After starting, the operator controls the frog robot via an infrared remote control, sending the jump command to the microcontroller. The microcontroller then checks whether the jump has started. If the check fails, it continues to scan the status of the infrared remote control command; if the check succeeds, the frog robot jumps, and the process ends after the jump is completed.

[0074] Reference Figure 16 The motor control process of the rope-driven bionic frog robot jumping in this embodiment of the application is as follows:

[0075] Energy storage begins, and the energy-saving reduction motor 43 rotates clockwise. If the set energy storage time (tentatively 10 seconds in this invention) is not reached, the energy-saving reduction motor 43 continues to rotate clockwise. When the set energy storage time (tentatively 10 seconds in this invention) is reached, the energy-saving reduction motor 43 stops, and the clutch reduction motor 51 rotates clockwise for 2 seconds, causing the frog robot to jump. Then, the clutch reduction motor 51 rotates counterclockwise for 2 seconds to reset, preparing for the next jump. If the number of jumps does not reach the set number of jumps, the above process is repeated; if the set number of jumps is reached, the jumping stops.

[0076] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A rope-driven biomimetic frog robot, characterized in that, The device includes a frog's body and connected to the frog's body are a frog's front legs, a frog's hind legs, a power-saving mechanism, and a clutch mechanism. The power-saving mechanism is connected between the frog's front and hind legs. The power-saving mechanism can be driven by a rope to achieve the contraction and power-saving of the frog's front and hind legs in the power-saving state, and the forward lunge of the frog's front legs and the backward push of the frog's hind legs in the jumping state. The clutch mechanism is connected to the power-saving mechanism. The clutch mechanism can be driven by a rope to achieve the switching between the power-saving state and the jumping state of the frog's front and hind legs. The frog body includes a frog body and an outer shell fastened to the frog body; The power storage mechanism includes a power storage winch mechanism, a drive rope, a power storage reduction motor, a motor gear, a power storage rod, a power storage positioning rod, and an elastic power storage traction rope. The power storage winch mechanism is hinged to the frog body via a clutch rod, which can slide back and forth within the frog body. The power storage winch mechanism has external teeth. The motor gear is mounted on the output shaft of the power storage reduction motor and meshes with the external teeth on the power storage winch mechanism. The front end of the drive rope is fixed to and wound around the power storage winch mechanism, and the rear end is connected to the power storage rod. The power storage rod is located in a first or second slot on the frog body. The first slot is located behind the second slot. The power storage positioning rod is fixed to the frog body. The elastic power storage traction rope connects the clutch positioning rod and the power storage rod. The upper part of the frog's front leg is connected to the frog body via an adaptive spring, the middle part is hinged to the frog body via a clutch positioning rod, and the lower part is connected to the power storage rod via a front leg traction rope.

2. The rope-driven bionic frog robot according to claim 1, characterized in that, The clutch mechanism includes a clutch reduction motor, a clutch winch mechanism, and a clutch rope; the clutch reduction motor is fixedly connected to the lower surface of the frog body; the clutch winch mechanism is connected to the drive shaft of the clutch reduction motor; the lower end of the clutch rope is wound around and fixedly connected to the clutch winch mechanism, and the upper end is connected to the clutch rod.

3. The rope-driven bionic frog robot according to claim 2, characterized in that, The power storage positioning rod is located behind the power storage rod; the drive rope is also wound around the power storage positioning rod, and the rear end of the drive rope, together with the power storage rod and the power storage positioning rod, forms a first movable pulley group; the clutch positioning rod is located in front of the clutch rod; the clutch reduction motor is located behind the clutch rod; the clutch rope is also wound around the clutch positioning rod, and the upper end of the clutch rope, together with the clutch rod and the clutch positioning rod, forms a second movable pulley group.

4. The rope-driven bionic frog robot according to claim 3, characterized in that, The rear end of the drive rope passes over the power storage positioning rod from bottom to top and then passes over the power storage rod from top to bottom, and is then fixed to the power storage positioning rod; the upper end of the clutch rope passes over the clutch positioning rod from bottom to top and then passes over the clutch rod from top to bottom, and is then fixed to the clutch positioning rod.

5. The rope-driven bionic frog robot according to claim 4, characterized in that, The power-storing winch mechanism includes a cylinder and a rope winding structure connected to both ends of the cylinder; the rope winding structure includes an inner rope-blocking plate, an outer rope-blocking plate, and a drum disposed between the inner and outer rope-blocking plates; the drum is used to wind the drive rope; the external gears are disposed on the inner rope-blocking plate; the power-storing reduction motor is a dual-output shaft motor; there are two motor gears; the two motor gears respectively mesh with the external gears on the corresponding inner rope-blocking plates.

6. The rope-driven bionic frog robot according to claim 5, characterized in that, The frog body includes a fixing plate; the fixing plate is provided with a front foot passage hole; the lower end of the frog's front leg extends out of the front foot passage hole; a front foot limiting baffle is provided on the frog's front leg.

7. The rope-driven bionic frog robot according to claim 6, characterized in that, A power storage release limiting mechanism is provided between the power storage winch mechanism and the frog body; the power storage release limiting mechanism includes a power storage release stop block set on the fixed plate; the power storage release stop block can prevent the power storage winch mechanism from releasing the drive rope to a preset length and then continuing to release; a clutch reduction motor stop block is provided on the lower surface of the frog body, the clutch reduction motor stop block can prevent the clutch reduction motor from rotating to a preset angle and then continuing to rotate.

8. The rope-driven bionic frog robot according to claim 7, characterized in that, The frog's hind leg includes a four-bar linkage and frog flippers; the four-bar linkage includes the frog's thigh, frog's lower leg, and a take-off adjustment rod; the frog's thigh includes two rods; the upper end of the frog's thigh is connected to a power storage rod, and the lower end is connected to the rear end of the frog's flippers through the frog's lower leg; the upper end of the take-off adjustment rod is connected to a power storage positioning rod, and the lower end is connected to the middle of the frog's flippers.

9. The rope-driven bionic frog robot according to claim 8, characterized in that, It also includes an infrared remote controller, a counter, and a control unit; the control unit and the counter are both mounted on the frog body; the control unit is communicatively connected to the infrared remote controller, the counter, the energy-saving reduction motor, and the clutch reduction motor; the control unit is configured to: Determine whether the received signal from the infrared remote control is a start signal; If so, the accumulator reduction motor will start and stop when the rotation time reaches the preset accumulator time; Control the clutch reduction motor to start and rotate forward for a first preset time; Control the clutch reduction motor to reverse for a second preset duration; The second preset duration is equal to the first preset duration; Receive the detection value of the counter and determine whether the preset number of times has been reached; If yes, then stop; if no, continue to control the start and stop of the accumulator reduction motor and the clutch reduction motor until the preset number of times is reached.

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