A miniature frog-like jumping robot

Abstract

The present invention provides a miniature frog-like jumping robot, which relates to the technical field of bionic robots. The miniature frog-like jumping robot comprises a frame, a second incomplete gear, a sixth gear, a second output shaft, two first bobbins, and a hind leg mechanism. The sixth gear and the first bobbins are both mounted on the second output shaft, and the second incomplete gear meshes with the sixth gear. The hind leg mechanism comprises a first spring, a foot, and a first hind leg frame. The first hind leg frame has a diamond-shaped structure, with an upward vertex of the first hind leg frame hinged to the frame. The two ends of the first spring are respectively connected between two vertices of the first hind leg frame in the front-to-back direction. Threads from the two first bobbins are respectively connected to the downward vertices of the two first hind leg frames. The foot is connected below the first hind leg frame, and the first bobbins are used to pull the first hind leg frame. The present invention accumulates elastic potential energy by the first spring, thereby increasing the jumping distance of the miniature frog-like jumping robot.

Description

Technical Field

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

[0002] Bionic robots not only possess the structure of living organisms but also exhibit rational, flexible, and efficient behavior. The compact movement of the miniature frog-like jumping robot can adapt to various terrains, traversing ditches and obstacles, demonstrating excellent mobility. Furthermore, due to its compact size, it has the potential to replace humans in certain environments for tasks such as reconnaissance, detection, rescue, and counter-terrorism. Existing miniature frog-like jumping robots operate by directly driving their hind legs, resulting in relatively short ranges. Summary of the Invention

[0003] The problem to be solved by the present invention is how to increase the jumping distance of a miniature frog-like jumping robot.

[0004] To this end, the present invention provides a miniature frog-like jumping robot, comprising a frame, a main energy storage assembly mounted on the frame, and two hind leg mechanisms. The main energy storage assembly comprises a second incomplete gear, a sixth gear, a second output shaft, and two first bobbins. The second output shaft is rotatably connected to the frame. The sixth gear and the two first bobbins are fixedly mounted on the second output shaft. The second incomplete gear meshes with the sixth gear. The two hind leg mechanisms are respectively connected to the left and right sides of the frame. The hind leg mechanisms comprise a first spring, a foot, and a first hind leg frame. The first hind leg frame has a diamond structure, and the four sides of the diamond structure are hinged in sequence. The upward vertex of the first hind leg frame is hinged to the frame. The upward vertex of the first hind leg frame is located in front of the downward vertex of the first hind leg frame in the front-to-back direction. The two ends of the first spring are respectively connected to the two vertices of the first hind leg frame along the front-to-back direction. The foot is connected below the first hind leg frame. The wires extended from the two first bobbins are respectively connected to the downward vertices of the first hind leg frames of the two hind leg mechanisms. The two first bobbins are used to pull the corresponding first hind leg frames to deform.

[0005] Optionally, the micro-sized frog-like jumping robot also includes an auxiliary energy storage component, which includes two second bobbins, a first incomplete gear, a fifth gear, and a first output shaft. The first output shaft is rotatably connected to the frame body, and the fifth gear and the two second bobbins are fixedly sleeved on the first output shaft. The two second bobbins are respectively located at both ends of the first output shaft, and the fifth gear is engaged with the first incomplete gear; a spring sleeve rod is provided at the rear vertex of the first hind leg frame, and the spring sleeve rod extends in the left and right directions. The wires extended from the two second bobbins respectively pass around the spring sleeve rods of the two first hind leg frames and are connected to the rear end of the first spring.

[0006] Optionally, the micro frog jumping robot also includes a first motor, a second input shaft, a third gear, a fourth gear and a third input shaft. The second input shaft and the third input shaft are respectively rotatably connected to the frame, the first motor is drivingly connected to the second input shaft, the first incomplete gear and the third gear are both fixedly mounted on the second input shaft, the third gear and the fourth gear are meshed, the fourth gear and the second incomplete gear are both fixedly mounted on the third input shaft, and the third gear and the first incomplete gear are respectively provided with one-way bearings with different rotation directions.

[0007] Optionally, the micro frog jumping robot further includes a first input shaft, a first gear and a second gear, the first motor is drivingly connected to the first input shaft, the first gear is sleeved on the first input shaft, the first gear is meshed with the second gear, and the second gear is sleeved on the second input shaft.

[0008] Optionally, the frame includes a third outer plate, two of the third outer plates are respectively located on the left and right sides of the frame, and are sleeved on both ends of the second output shaft, and the upward vertex of the first rear leg frame is hinged to the third outer plate.

[0009] Optionally, the micro frog jumping robot also includes a first pin, a second pin and a third pin, a cross slot is provided on the third outer plate, the cross slot includes four slots in the upper, lower, front and back directions, the first hind leg frame includes a first front upper hind leg plate, a first rear upper hind leg plate, a first front lower hind leg plate and a first rear lower hind leg plate, a first connecting hole and a second connecting hole are provided at one end of the first front upper hind leg plate connected to the first rear upper hind leg plate, a third connecting hole and a fourth connecting hole are provided at one end of the first rear upper hind leg plate connected to the first front upper hind leg plate, the first pin is passed through the first connecting hole, the third connecting hole and the upper slot, the second pin is passed through the second connecting hole and the rear slot, and the third pin is passed through the fourth connecting hole and the front slot.

[0010] Optionally, the hind leg mechanism also includes a second hind leg frame and a second spring, the second hind leg frame having the same structure as the first hind leg frame, the two upward sides of the second hind leg frame being hinged to the two downward sides of the first hind leg frame, the two ends of the second spring being respectively connected to the two vertices of the second hind leg frame along the front-back direction, the first wire drum including two extended wires, the two wires extended from the first wire drum being respectively connected to the corresponding downward vertex of the first hind leg frame and the downward vertex of the second hind leg frame in the hind leg mechanism, and the sole of the foot is connected to the bottom of the second hind leg frame.

[0011] Optionally, the sole of the foot is hinged to the lower vertex of the first hind leg frame.

[0012] Optionally, the micro frog-like jumping robot also includes a second outer plate, front legs and a connecting rope, the two second outer plates are respectively connected to the left and right sides of the frame, the second outer plate is provided with a downwardly extending connecting plate, the connecting plate is located in front of the hind leg mechanism, the lower end of the connecting plate is rotatably connected to the middle part of the front leg, the rear end of the front leg is provided with a blocking structure, the blocking structure is used to abut against the connecting plate, and the two ends of the connecting rope are respectively connected to the rear end of the front leg and the part of the first hind leg frame facing the rear.

[0013] Optionally, the micro frog-like jumping robot further includes a steering wheel and a steering motor, wherein the steering wheel is connected to the front of the frame, the axial direction of the steering wheel extends in the front-back direction, the steering motor is drive-connected to the steering wheel, and the steering wheel is used to roll along the working plane.

[0014] Compared with the prior art, the beneficial effects of the miniature frog-like jumping robot of the present invention are:

[0015] The present invention sets a frame as the main body of the micro-frog jumping robot. The front of the frame is the forward direction of the bionic frog robot, that is, the positive direction of the X-axis. The frame is provided with a second incomplete gear and a sixth gear that mesh with each other. The sixth gear is sleeved on the second output shaft. The second output shaft is rotatably connected to the frame. The second output shaft is also provided with two first bobbins. The rotation of the second incomplete gear can drive the sixth gear, the second output shaft, and the first bobbin to rotate accordingly. The two first bobbins are respectively located on the left and right sides of the frame, that is, corresponding to the two hind leg mechanisms set on both sides of the Y-axis direction. The hind leg mechanisms are located on the X-axis. In the plane where the Z-axis is located, the two rear leg mechanisms include two first rear leg frames connected to the left and right sides of the frame respectively, the first rear leg frame is a diamond structure, the diamond structure includes four sides and four vertices, the four sides are hinged in sequence, the upward vertex of the first rear leg frame is hinged to the side of the frame, a first spring is provided between the two vertices of the first rear leg frame facing the positive and negative directions of the X-axis, the line of the first bobbin is connected to the downward vertex of the first rear leg frame, a sole is provided under the first rear leg frame, and the sole is supported on the working surface, that is, the plane where the X-axis and Y-axis are located, and when the second incomplete gear drives the first bobbin to rotate, the line of the first bobbin is wound around the first bobbin On the upper part, the line of the first bobbin is tightened, pulling the lower vertex of the first rear leg frame to move toward the upper vertex, the first rear leg frame is shortened in the Z-axis direction, and elongated in the X-axis direction, driving the first spring to lengthen. Since the second incomplete gear is an incomplete gear, its circumferential part has no teeth, and the toothless part cannot engage with the sixth gear. When the second incomplete gear and the sixth gear rotate to the point where they cannot engage, the first bobbin loses driving force, and the line of the first bobbin can no longer pull the first rear leg frame. The first spring returns to its original length, and the size of the first rear leg frame in the Z-axis direction is elongated. The two first bobbins correspond to the two left and right sides of the frame respectively. The first springs on the two first hind leg frames accumulate elastic potential energy and then release it, driving the two first hind leg frames to extend in the Z-axis direction, and applying force to the working surface through the soles of the feet to drive the bionic frog robot to jump. Since the upward vertex of the first hind leg frame is located in front of the downward vertex in the X-axis direction, that is, in the positive direction of the X-axis, the first hind leg frame is tilted forward as a whole, causing the micro-frog-like jumping robot to jump forward. In this process, the elastic potential energy accumulated by the first spring can increase the jumping distance of the micro-frog-like jumping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is one of the structural schematic diagrams of the miniature frog-like jumping robot according to an embodiment of the present invention;

[0017] Figure 2 This is a second structural diagram of the miniature frog-like jumping robot according to an embodiment of the present invention;

[0018] Figure 3This is a third structural diagram of the miniature frog-like jumping robot according to an embodiment of the present invention;

[0019] Figure 4 This is a fourth structural diagram of the miniature frog-like jumping robot according to an embodiment of the present invention;

[0020] Figure 5 This is a schematic structural diagram of the front legs according to an embodiment of the present invention;

[0021] Figure 6 This is a schematic structural diagram of the second incomplete gear according to an embodiment of the present invention.

[0022] Description of reference numerals:

[0023] 1-Frog head; 12-First incomplete gear; 13-Second incomplete gear; 14-Fourth gear; 15-Sixth gear; 18-Second spool; 19-Fifth gear; 20-Third gear; 21-Second gear; 22-First motor; 23-First spool; 24-Second output shaft; 25-Third input shaft; 26-Second input shaft; 27-First output shaft; 28-First gear; 29-First input shaft; 3-Steering wheel; 31-Second outer plate; 32-Third Outer plate; 321-cross slot; 322-first pin; 323-second pin; 324-third pin; 4-front leg; 41-blocking structure; 61-first rear leg frame; 611-rope hole; 612-wire hole; 613-first front upper rear leg plate; 614-first rear upper rear leg plate; 615-first front lower rear leg plate; 616-first rear lower rear leg plate; 62-second rear leg frame; 63-spring sleeve rod; 65-rope hole; 71-first spring; 72-second spring; 8-sole. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] It should be noted that in the description of the present invention, the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it cannot be understood as limiting the scope of protection of the present invention.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0027] Furthermore, although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described herein may be combined in ways not described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other embodiments.

[0028] To solve the above problems, Figures 1 to 4 and Figure 6 As shown, the present invention provides a miniature frog-like jumping robot, comprising a frame and a main energy storage assembly and two hind leg mechanisms mounted on the frame, wherein the main energy storage assembly comprises a second incomplete gear 13, a sixth gear 15, a second output shaft 24 and two first bobbins 23, the second output shaft 24 is rotatably connected to the frame, the sixth gear 15 and the two first bobbins 23 are fixedly sleeved on the second output shaft 24, the second incomplete gear 13 is meshed with the sixth gear 15, the two hind leg mechanisms are respectively connected to the left and right sides of the frame, the hind leg mechanism comprises a first spring 71, a sole 8 and a first hind leg frame 61, the The first rear leg frame 61 has a diamond-shaped structure, and the four sides of the diamond-shaped structure are hinged in sequence. The upward vertex of the first rear leg frame 61 is hinged to the frame body, and the upward vertex of the first rear leg frame 61 is located in front of the downward vertex of the first rear leg frame 61 in the front-to-back direction. The two ends of the first spring 71 are respectively connected to the two vertices of the first rear leg frame 61 along the front-to-back direction, and the sole 8 is connected to the bottom of the first rear leg frame 61; the lines extended from the two first wire drums 23 are respectively connected to the downward vertices of the first rear leg frames 61 of the two rear leg mechanisms, and the two first wire drums 23 are used to pull the corresponding first rear leg frames 61 to deform.

[0029] In this embodiment, a frame is set as the main body of the micro-frog jumping robot, the front of the frame is the forward direction of the bionic frog robot, that is, the positive direction of the X-axis, and a second incomplete gear 13 and a sixth gear 15 that are meshed with each other are provided on the frame. The sixth gear 15 is sleeved on the second output shaft 24, and the second output shaft 24 is rotatably connected to the frame. Two first bobbins 23 are also provided on the second output shaft 24. The rotation of the second incomplete gear 13 can drive the sixth gear 15, the second output shaft 24, and the first bobbin 23 to rotate accordingly. The two first bobbins 23 are respectively located on the left and right sides of the frame, that is, corresponding to the two hind leg mechanisms provided on both sides of the Y-axis direction. The hind leg mechanisms Located in the plane where the X-axis and Z-axis are located, the two rear leg mechanisms include two first rear leg frames 61 connected to the left and right sides of the frame respectively. The first rear leg frame 61 is a diamond structure. The diamond structure includes four sides and four vertices. The four sides are hinged in sequence. The upward vertex of the first rear leg frame 61 is hinged to the side of the frame. A first spring 71 is provided between the two vertices of the first rear leg frame 61 facing the positive and negative directions of the X-axis. The line of the first bobbin 23 is connected to the downward vertex of the first rear leg frame 61. A sole 8 is provided under the first rear leg frame 61. The sole 8 is supported on the working surface, that is, on the plane where the X-axis and Y-axis are located. When the second incomplete gear 13 drives the first bobbin 23 to rotate, the line of the first bobbin 23 is wound around the first bobbin 23. On a spool 23, the line of the first spool 23 is tightened, pulling the lower vertex of the first rear leg frame 61 to move toward the upper vertex, the first rear leg frame 61 is shortened in the Z-axis direction, and elongated in the X-axis direction, driving the first spring 71 to lengthen. Since the second incomplete gear 13 is an incomplete gear, its circumferential part has no teeth, and the toothless part cannot engage with the sixth gear 15. When the second incomplete gear 13 and the sixth gear 15 rotate to the point where they cannot engage, the first spool 23 loses driving force, and the line of the first spool 23 can no longer pull the first rear leg frame 61. The first spring 71 returns to its original length, and the size of the first rear leg frame 61 in the Z-axis direction is elongated. The two first spools 23 correspond to The two first hind leg frames 61 on the left and right sides of the frame and the two first bobbins 23 work simultaneously, and the first springs 71 on the two first hind leg frames 61 accumulate elastic potential energy and then release it, driving the two first hind leg frames 61 to extend in the Z-axis direction, and the force exerted on the working surface by the soles 8 drives the bionic frog robot to jump. Since the upward vertex of the first hind leg frame 61 is located in front of the downward vertex in the X-axis direction, that is, in the positive direction of the X-axis, the first hind leg frame 61 is tilted forward as a whole, so that the micro-frog jumping robot jumps forward. In this process, the elastic potential energy accumulated by the first springs 71 can increase the jumping distance of the micro-frog jumping robot.

[0030] Specifically, a frog head 1 is provided in front of the frame, and the second incomplete gear 13 rotates continuously, so that the first spring 71 continuously switches between accumulating energy and releasing energy, so that the micro-frog jumping robot can jump continuously. The four sides of the first hind leg frame 61 are the first front upper hind leg plate 613, the first rear upper hind leg plate 614, the first front lower hind leg plate 615 and the first rear lower hind leg plate 616. Each hind leg plate can be hinged by a pin, and a retaining spring is also provided on the pin to prevent the pin from moving axially. A wire hole 612 is provided on the downward end of the first front lower hind leg plate 615 or the first rear lower hind leg plate 616, and the wire of the first spool 23 is connected to the wire hole 612; the wire diameter of the first spring 71 is set to 0.7 mm, the outer diameter is set to 6 mm, and the length is set to 65 mm. The elastic coefficient of the first spring 71 is 130 kN / m, and the jumping distance of the micro-frog jumping robot is 2.6 m at a mechanical efficiency of 70%.

[0031] Alternatively, as Figures 1 to 3 As shown, the miniature frog-like jumping robot also includes an auxiliary energy storage component, which includes two second bobbins 18, a first incomplete gear 12, a fifth gear 19, and a first output shaft 27. The first output shaft 27 is rotatably connected to the frame body, and the fifth gear 19 and the two second bobbins 18 are fixedly sleeved on the first output shaft 27. The two second bobbins 18 are respectively located at both ends of the first output shaft 27, and the fifth gear 19 is engaged with the first incomplete gear 12; a spring sleeve rod 63 is provided at the rear vertex of the first hind leg frame 61, and the spring sleeve rod 63 extends in the left and right directions. The wires extended from the two second bobbins 18 respectively pass around the spring sleeve rods 63 of the two first hind leg frames 61 and are connected to the rear end of the first spring 71.

[0032] In this embodiment, a first incomplete gear 12 is provided on the frame, the first incomplete gear 12 is meshed with the fifth gear 19, the fifth gear 19 is sleeved on the first output shaft 27, the first output shaft 27 is rotatably connected to the frame, and two second bobbins 18 are further provided on the first output shaft 27. The two second bobbins 18 are located at both ends of the first output shaft 27 along the Y-axis direction, corresponding to the two first rear leg frames 61 respectively. The rotation of the first incomplete gear 12 can drive the fifth gear 19, the first output shaft 27 and the second bobbin 18 to rotate in turn. A spring sleeve rod is connected to the vertex of the first rear leg frame 61 facing the negative direction of the X-axis. 63, the spring sleeve rod 63 extends along the Y-axis direction, the wire on the second bobbin 18 passes around the spring sleeve rod 63 and is connected to the end of the first spring 71 facing the negative direction of the X-axis, and the first spring 71 is indirectly connected to the rear end of the first hind leg frame 61 through the wire of the second bobbin 18 and the spring sleeve rod 63. When the first incomplete gear 12 rotates, it drives the second bobbin 18 to rotate, the wire on the second bobbin 18 is tightened, and the first spring 71 is pulled to extend, increasing the elastic potential energy accumulated in the first spring 71. When used in conjunction with the first bobbin 23 and the second incomplete spring, the jumping distance of the miniature frog-like jumping robot is further increased.

[0033] Specifically, there can be two first springs 71 on any first rear leg frame 61, and the two first springs 71 are respectively connected to the two sides of the first rear leg frame 61 along the Y-axis direction. The corresponding second bobbins 18 are also two. The wires of the two second bobbins 18 respectively pass around the spring sleeve rod 63 and pass through the two ends of the first rear leg frame 61 in the Y-axis direction, and are connected to the two first springs 71 to increase the continued elastic potential energy of the first rear leg frame 61. A spring sleeve can be set on the spring sleeve rod 63, and the wire of the second bobbin 18 passes around the spring sleeve, so that the wire of the second bobbin 18 can be wrapped around the spring sleeve rod 63 to pull the first spring 71.

[0034] Alternatively, as Figures 1 to 3 As shown, the miniature frog-like jumping robot also includes a first motor 22, a second input shaft 26, a third gear 20, a fourth gear 14 and a third input shaft 25. The second input shaft 26 and the third input shaft 25 are respectively rotatably connected to the frame, the first motor 22 is drivingly connected to the second input shaft 26, the first incomplete gear 12 and the third gear 20 are both fixedly sleeved on the second input shaft 26, the third gear 20 is meshed with the fourth gear 14, the fourth gear 14 and the second incomplete gear 13 are both fixedly sleeved on the third input shaft 25, and the third gear 20 and the first incomplete gear 12 are respectively provided with one-way bearings with different rotation directions.

[0035] In this embodiment, by setting the first motor 22 as the power source, the first motor 22 is driven and connected to the second input shaft 26, the first incomplete gear 12 and the third gear 20 are both sleeved on the second input shaft 26, and the third gear 14 is also meshed with the third gear 20, the fourth gear 14 and the second incomplete gear 13 are both sleeved on the third input shaft 25, and the third input shaft 25 and the second input shaft 26 are both rotatably connected to the frame. When the first motor 22 drives the second input shaft 26 in one direction, such as reverse rotation, the third gear 20 reverses, the fourth gear 14 rotates forward, and the third input shaft 25 rotates forward, driving the second incomplete gear 13 to rotate forward, and driving the first bobbin 23 to work. During this process, the first incomplete gear 12 does not rotate due to the action of the one-way bearing; when the first motor 22 When the second input shaft 26 is driven in another direction, for example, forward rotation, the first incomplete gear 12 rotates forward to drive the second bobbin 18 to work. During this process, the third gear 20 does not rotate due to the action of the one-way bearing. When working, the first motor 22 first drives the second input shaft 26 to rotate forward, so that the second bobbin 18 pulls the first spring 71 to store energy. Then, the second input shaft 26 is driven reversely, so that the first bobbin 23 drives the first spring 71 to store energy. Then, the second input shaft 26 is continuously rotated forward and reversed to release the elastic potential energy of the first spring 71, and the micro frog-like jumping robot jumps forward. In this way, only one motor is used to drive the first bobbin 23 and the second bobbin 18 separately, saving installation space, reducing the size of the micro frog-like jumping robot, and adapting to a small working space.

[0036] Alternatively, as Figures 1 to 3 As shown, the miniature frog-like jumping robot also includes a first input shaft 29, a first gear 28 and a second gear 21. The first motor 22 is driven and connected to the first input shaft 29. The first gear 28 is sleeved on the first input shaft 29. The first gear 28 is engaged with the second gear 21. The second gear 21 is sleeved on the second input shaft 26.

[0037] In this embodiment, a first input shaft 29 is provided to be connected to the first motor 22, and a first gear 28 is sleeved on the first input shaft 29, and a second gear 21 is provided on the second input shaft 26, so that the first gear 28 is meshed with the second gear 21. The first motor 22 can drive the second input shaft 26 to rotate forward or reverse through the mechanical transmission of the first input shaft 29, the first gear 28 and the second gear 21. The gears that mesh with each other act as a reducer, thereby increasing the torque output and facilitating the operation of the first bobbin 23 and the second bobbin 18.

[0038] Alternatively, as Figure 1As shown, the frame includes a third outer plate 32 , and the two third outer plates 32 are respectively located on the left and right sides of the frame and are sleeved on both ends of the second output shaft 24 . The upward vertex of the first rear leg frame 61 is hinged to the third outer plate 32 .

[0039] In this embodiment, a third outer plate 32 is provided on both sides of the frame along the Y-axis direction to provide an installation position for the second output shaft 24 and the first rear leg frame 61. The third outer plate 32 is sleeved on the second output shaft 24, and the first rear leg frame 61 is hinged to the third outer plate 32 to improve the stability of the overall structure.

[0040] Specifically, the two third outer plates 32 are also sleeved on both ends of the third input shaft 25 , the second input shaft 26 , and the first output shaft 27 to improve the overall structural stability.

[0041] Alternatively, as Figure 4 As shown, the micro-frog jumping robot also includes a first pin 322, a second pin 323 and a third pin 324. A cross slot 321 is provided on the third outer plate 32. The cross slot 321 includes four notches in the upper, lower, front and back directions. The first rear leg frame 61 includes a first front upper rear leg plate 613, a first rear upper rear leg plate 614, a first front lower rear leg plate 615 and a first rear lower rear leg plate 616. The end of the first front upper rear leg plate 613 connected to the first rear upper rear leg plate 614 is provided with a first connecting hole and a second connecting hole, and the end of the first rear upper rear leg plate 614 connected to the first front upper rear leg plate 613 is provided with a third connecting hole and a fourth connecting hole. The first pin 322 is passed through the first connecting hole, the third connecting hole and the upper notch, the second pin 323 is passed through the second connecting hole and the rear notch, and the third pin 324 is passed through the fourth connecting hole and the front notch.

[0042] In this embodiment, a cross slot 321 is provided on the third outer plate 32, the cross slot 321 includes an upper slot and a lower slot facing the positive and negative directions of the Z axis, and a front slot and a rear slot facing the positive and negative directions of the X axis. The first rear leg frame 61 includes a first front upper rear leg plate 613, a first rear upper rear leg plate 614, a first front lower rear leg plate 615 and a first rear lower rear leg plate 616. The first front upper rear leg plate 613 is provided with a first connecting hole and a second connecting hole at one end facing the first rear upper rear leg plate 614, and the first rear upper rear leg plate 614 is provided with a third connecting hole and a fourth connecting hole at one end facing the first front upper rear leg plate 613. A first pin 322 is provided to pass through the first connecting hole, the third connecting hole and the upper slot, a second pin 323 is provided to pass through the second connecting hole and the rear slot, and a third pin 324 is provided to pass through the fourth The connecting hole and the front notch make the first front upper rear leg plate 613 and the first rear upper rear leg plate 614 hinged to the third outer plate 32. When the first spool 23 pulls the first rear leg frame 61 to contract in the Z-axis direction, the first front upper rear leg plate 613 and the first rear upper rear leg plate 614 rotate around the first pin 322 at the same time, and the second pin 323 drives the first front upper rear leg plate 613 to move from the rear notch to the front notch, and the third pin 324 drives the first rear upper rear leg plate 614 to move from the front notch to the rear notch. The moving distances of the second pin 323 and the third pin 324 are the same but in opposite directions, so that the first front upper rear leg plate 613 and the first rear upper rear leg plate 614 rotate around the first pin 322 at the same angle, so that the center of gravity of the first rear leg frame 61 only moves along the Y-axis direction, which is convenient for ensuring the smooth movement of the micro frog-like jumping robot.

[0043] Alternatively, as Figure 1 and Figure 4 As shown, the hind leg mechanism also includes a second hind leg frame 62 and a second spring 72. The second hind leg frame 62 has the same structure as the first hind leg frame 61. The two upward sides of the second hind leg frame 62 are hinged to the two downward sides of the first hind leg frame 61 respectively. The two ends of the second spring 72 are respectively connected to the two vertices of the second hind leg frame 62 along the front and rear directions. The first wire drum 23 includes two extended wires. The two wires extended from the first wire drum 23 are respectively connected to the corresponding downward vertex of the first hind leg frame 61 and the downward vertex of the second hind leg frame 62 in the hind leg mechanism. The sole 8 is connected to the bottom of the second hind leg frame 62.

[0044] In this embodiment, a second hind leg frame 62 is arranged below the first hind leg frame 61, and the second hind leg frame 62 also has a diamond structure. The two upward sides of the second hind leg frame 62 are respectively hinged to the two downward sides of the first hind leg frame 61, and the hinge point is the midpoint of each side. The sole 8 is connected to the bottom of the second hind leg frame 62. Accordingly, a second spring 72 is arranged between the front and rear vertices of the second hind leg frame 62, and the first bobbin 23 is also provided with a line connected to the lower end of the second hind leg frame 62. When working, the first bobbin 23 simultaneously pulls the first hind leg frame 61 and the second hind leg frame 62 to contract in the Z-axis direction, and the first spring 71 and the second spring 72 accumulate elastic potential energy together to improve the jumping distance of the micro frog-like jumping robot.

[0045] Specifically, each second bobbin 18 is also provided with two wires, which are respectively connected to the first spring 71 and the second spring 72 to further enhance the stored elastic potential energy.

[0046] Alternatively, as Figure 1 and Figure 4 As shown, the sole 8 is hinged to the lower vertex of the first rear leg frame 61.

[0047] In this embodiment, by hingedly connecting the sole 8 to the lower end of the first hind leg frame 61, the sole 8 can rotate relative to the first hind leg frame 61 when the miniature frog-like jumping robot takes off and lands, making the bionic robot take off and land more smoothly.

[0048] Alternatively, as Figure 1 and Figure 5 As shown, the miniature frog-like jumping robot also includes a second outer plate 31, a front leg 4 and a connecting rope. The two second outer plates 31 are respectively connected to the left and right sides of the frame. The second outer plate 31 is provided with a downwardly extending connecting plate, which is located in front of the hind leg mechanism. The lower end of the connecting plate is rotatably connected to the middle part of the front leg 4. The rear end of the front leg 4 is provided with a blocking structure 41, which is used to abut against the connecting plate. The two ends of the connecting rope are respectively connected to the rear end of the front leg 4 and the rearward part of the first hind leg frame 61.

[0049] In this embodiment, second outer plates 31 are provided on both sides of the frame, and a connecting plate extending downward is provided on the second outer plate 31, and the connecting plate is located in front of the rear leg mechanism, that is, in the positive direction of the X-axis, so that the front leg 4 is rotatably connected to the connecting plate, and the connection point is located in the middle of the front leg 4, and a connecting rope is provided on the rear end of the front leg 4, and the other end of the connecting rope is connected to the rear part of the first rear leg frame 61, and the connecting rope plays a role of limiting the front leg 4. When the first bobbin 23 pulls the first rear leg frame 61 to retract along the Z-axis, the rear part of the first rear leg frame 61 moves backward, driving the connecting rope, pulling the front leg 4 to rotate, so that the front end of the front leg 4 extends forward, maintaining the overall center of gravity balance of the miniature frog-like jumping robot. When the first bobbin 23 is released, the connecting rope is loose, and the front end of the front leg 4 rotates downward, and a blocking structure 41 is provided on the rear end of the front leg 4. During the rotation process, the blocking structure 41 abuts against the connecting plate, hindering the rotation of the front leg 4, so that the front leg 4 is always in a state of extending forward.

[0050] Specifically, a rope hole 65611 for connecting a connecting rope is opened on the first rear upper rear leg plate 614.

[0051] Alternatively, as Figure 1 As shown, the miniature frog-like jumping robot also includes a steering wheel 3 and a steering motor. The steering wheel 3 is connected to the front of the frame, and the axial direction of the steering wheel 3 extends in the front-back direction. The steering motor is drive-connected to the steering wheel 3, and the steering wheel 3 is used to roll along the working plane.

[0052] In this embodiment, a steering wheel 3 is provided in front of the frame, and the axis of the steering wheel 3 extends along the X-axis direction. When the first bobbin 23 pulls the first hind leg frame 61 to shrink along the Z-axis direction, the overall center of gravity of the micro frog-like jumping robot is lowered, and the steering wheel 3 is in contact with the working plane. A steering motor is provided to drive the steering wheel 3 to rotate, so that the steering wheel 3 rolls on the working plane to adjust the jumping direction of the micro frog-like jumping robot.

[0053] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A miniature frog-like jumping robot, characterized in that: The invention comprises a frame, a main energy storage assembly and two rear leg mechanisms installed on the frame, wherein the main energy storage assembly comprises a second incomplete gear (13), a sixth gear (15), a second output shaft (24) and two first bobbins (23), wherein the second output shaft (24) is rotatably connected to the frame, the sixth gear (15) and the two first bobbins (23) are fixedly sleeved on the second output shaft (24), the second incomplete gear (13) is meshed with the sixth gear (15), and the two rear leg mechanisms are respectively connected to the left and right sides of the frame, the rear leg mechanism comprises a first spring (71), a sole (8) and a first rear leg frame (61), and the first rear leg frame (61) is A diamond structure, wherein the four sides of the diamond structure are hinged in sequence, the upward vertex of the first rear leg frame (61) is hinged to the frame body, the upward vertex of the first rear leg frame (61) is located in front of the downward vertex of the first rear leg frame (61) in the front-to-back direction, the two ends of the first spring (71) are respectively connected to the two vertices of the first rear leg frame (61) in the front-to-back direction, and the sole (8) is connected to the bottom of the first rear leg frame (61); the wires extended from the two first wire drums (23) are respectively connected to the downward vertices of the first rear leg frames (61) of the two rear leg mechanisms, and the two first wire drums (23) are used to respectively pull the corresponding first rear leg frames (61) to deform; The auxiliary energy storage assembly also includes two second bobbins (18), a first incomplete gear (12), a fifth gear (19), and a first output shaft (27). The first output shaft (27) is rotatably connected to the frame body. The fifth gear (19) and the two second bobbins (18) are fixedly sleeved on the first output shaft (27). The two second bobbins (18) are respectively located at two ends of the first output shaft (27). The fifth gear (19) is meshed with the first incomplete gear (12). A spring sleeve rod (63) is provided at the rear vertex of the first rear leg frame (61). The spring sleeve rod (63) extends in the left and right directions. The wires extended from the two second bobbins (18) respectively pass around the spring sleeve rods (63) of the two first rear leg frames (61) and are connected to the rear end of the first spring (71). The invention also includes a first motor (22), a second input shaft (26), a third gear (20), a fourth gear (14) and a third input shaft (25), wherein the second input shaft (26) and the third input shaft (25) are respectively rotatably connected to the frame, the first motor (22) is drivingly connected to the second input shaft (26), the first incomplete gear (12) and the third gear (20) are both fixedly sleeved on the second input shaft (26), the third gear (20) and the fourth gear (14) are meshed, the fourth gear (14) and the second incomplete gear (13) are both fixedly sleeved on the third input shaft (25), and the third gear (20) and the first incomplete gear (12) are respectively provided with one-way bearings with different rotation directions.

2. The miniature frog-like jumping robot according to claim 1, characterized in that: The invention also includes a first input shaft (29), a first gear (28) and a second gear (21), wherein the first motor (22) is drivingly connected to the first input shaft (29), the first gear (28) is sleeved on the first input shaft (29), the first gear (28) is meshed with the second gear (21), and the second gear (21) is sleeved on the second input shaft (26).

3. The miniature frog-like jumping robot according to claim 1, characterized in that: The frame body includes a third outer plate (32), two third outer plates (32) are respectively located on the left and right sides of the frame body and are sleeved on both ends of the second output shaft (24), and the upward vertex of the first rear leg frame (61) is hinged to the third outer plate (32).

4. The miniature frog-like jumping robot according to claim 3, characterized in that: The invention also includes a first pin (322), a second pin (323) and a third pin (324); a cross slot (321) is provided on the third outer plate (32); the cross slot (321) includes four notches in the upper, lower and front and rear directions; the first rear leg frame (61) includes a first front upper rear leg plate (613), a first rear upper rear leg plate (614), a first front lower rear leg plate (615) and a first rear lower rear leg plate (616); a first connecting hole and a second connecting hole are provided at one end of the first front upper rear leg plate (613) connected to the first rear upper rear leg plate (614); a third connecting hole and a fourth connecting hole are provided at one end of the first rear upper rear leg plate (614) connected to the first front upper rear leg plate (613); the first pin (322) is passed through the first connecting hole, the third connecting hole and the upper notch; the second pin (323) is passed through the second connecting hole and the rear notch; and the third pin (324) is passed through the fourth connecting hole and the front notch.

5. The miniature frog-like jumping robot according to claim 1, characterized in that: The hind leg mechanism also includes a second hind leg frame (62) and a second spring (72), the second hind leg frame (62) having the same structure as the first hind leg frame (61), the two upward sides of the second hind leg frame (62) being hinged to the two downward sides of the first hind leg frame (61), the two ends of the second spring (72) being respectively connected to the two vertices of the second hind leg frame (62) along the front-back direction, the first wire drum (23) including two extended wires, the two extended wires of the first wire drum (23) being respectively connected to the downward vertices of the first hind leg frame (61) and the downward vertices of the second hind leg frame (62) in the corresponding hind leg mechanism, and the sole (8) being connected to the bottom of the second hind leg frame (62).

6. The miniature frog-like jumping robot according to claim 1, characterized in that: The sole (8) is hinged to the lower vertex of the first hind leg frame (61).

7. The miniature frog-like jumping robot according to claim 1, characterized in that: The invention also includes a second outer plate (31), a front leg (4) and a connecting rope, wherein the two second outer plates (31) are respectively connected to the left and right sides of the frame body, and a connecting plate extending downward is provided on the second outer plate (31), and the connecting plate is located in front of the rear leg mechanism, and the lower end of the connecting plate is rotatably connected to the middle part of the front leg (4), and the rear end of the front leg (4) is provided with a blocking structure (41), and the blocking structure (41) is used to abut against the connecting plate, and the two ends of the connecting rope are respectively connected to the rear end of the front leg (4) and the rearward portion of the first rear leg frame (61).

8. The miniature frog-like jumping robot according to claim 1, characterized in that: It also includes a steering wheel (3) and a steering motor, wherein the steering wheel (3) is connected to the front of the frame, the axial direction of the steering wheel (3) extends in the front-back direction, the steering motor is drive-connected to the steering wheel (3), and the steering wheel (3) is used to roll along the working plane.

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