Bionic high-performance bouncing frog

Abstract

The bionic high-performance bouncing frog comprises front feet, transmission wheels, a bionic frog shell and a head rope disc, the transmission wheels are installed between the inner walls of the front feet, the head rope disc is arranged on the outer walls of the transmission wheels, and a gear motor is installed in the bionic frog shell through a fixing plate; a second rear leg is hinged to the side wall of the outer side of the bionic frog shell, a connecting piece is hinged to the top end of the second rear leg, a second rotating shaft is installed on one side of the connecting piece, and a plurality of tension springs are arranged on the outer wall of the second rotating shaft; a fence component is installed on the side, away from the second rotating shaft, of the tension spring, a third rotating shaft is installed on the inner wall of the fence component, the device has the jumping function through transmission, the steel wire traction rope position energy storage design is adopted, power output in the frog jumping process is enhanced, and the jumping distance and accuracy can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic frogs, in particular to a bionic high-performance jumping frog. Background Art

[0002] The adaptive bouncing robot is a new type of intelligent robot, whose design is inspired by the bouncing motion of organisms, such as the jumping of frogs. In existing robotics technology, there are already some mechanisms and devices that try to imitate this biological motion to improve the robot's mobility and flexibility.

[0003] The bionic robot frog hind limb mechanism developed by Wang Meng and others from Harbin Institute of Technology uses a simplified single-degree-of-freedom diamond four-bar mechanism, which stores spring energy by pulling the rope through a reduction motor, thereby achieving the robot's bouncing movement. Li Tao from North China University of Technology designed a frog-like jumping robot that uses springs, dial linkage and wire rope structure to complete elastic energy storage and jumping. Yan Jia proposed a frog-inspired variant mobile robot design that can achieve the conversion between land jumping and breaststroke in water. The following mainly introduces the bionic robot frog hind limb mechanism developed by Wang Meng and others from Harbin Institute of Technology.

[0004] However, the existing bionic high-performance bouncing frog has the following problems during use: Although the hind limb mechanism of the conventional bionic robot frog simulates the bouncing motion of the organism to a certain extent, it has the following disadvantages or shortcomings: 1. Low energy conversion efficiency: The energy conversion efficiency between the reduction motor and the spring needs to be improved, which limits the robot's jumping performance and endurance; 2. Complex control strategy: complex control algorithms are required to accurately control the movement of the reduction motor and spring to achieve the desired bouncing effect; 3. Mechanism complexity: Although it has been simplified, the diamond four-bar mechanism is still relatively complex, which increases the difficulty of manufacturing and maintenance; 4. Jumping height and frequency limitations: Due to the limitations of physical structure and control strategy, the jumping height and frequency of existing robots are usually limited. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic high-performance jumping frog to solve the related problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bionic high-performance bouncing frog, comprising front feet, a transmission wheel, a bionic frog shell and a head rope drum, a transmission wheel is installed between the inner walls of the front feet, and the outer wall of the transmission wheel is provided with a head rope drum, a reduction motor is installed inside the bionic frog shell through a fixing plate, and a winch drum is installed at the output end of the reduction motor through a coupling, a second hind leg is hinged on the outer side wall of the bionic frog shell, and a connecting piece is hinged on the top of the second hind leg, a second rotating shaft is installed on one side of the connecting piece, and the second hind leg is hinged on the outer side wall of the bionic frog shell. The outer walls of the two rotating shafts are provided with multiple tension springs, a fence component is installed on the side of the tension spring away from the second rotating shaft, and the inner wall of the fence component is installed with a third rotating shaft, the side wall of the second hind leg is hinged with the third hind leg, and the bottom end of the third hind leg is hinged with the fourth hind leg, and the bottom end of the fourth hind leg is hinged with the sole body, the outer side wall of the bionic frog shell is hinged with the first hind leg, and the bottom end of the first hind leg is hinged with the fifth hind leg hinged with the fourth hind leg and the second hind leg, and the rear wall of the bionic frog shell is provided with an automatic release mechanism for releasing the position of the second rotating shaft.

[0007] The technical solution provides a bionic high-performance bouncing frog, wherein the front wall of the bionic frog shell is hinged with front feet.

[0008] The technical solution provides a bionic high-performance jumping frog, wherein the second hind leg, the third hind leg, the fourth hind leg, the first hind leg and the fifth hind leg are all made of carbon fiber material.

[0009] The technical solution provides a bionic high-performance jumping frog, wherein a rubber anti-skid pad is arranged at the bottom end of the sole body, and the rubber anti-skid pad is made of TPU soft material.

[0010] The technical solution provides a bionic high-performance bouncing frog, wherein the outer wall of the winding drum is installed with a steel wire traction rope that passes through the head rope drum and extends to be connected to the third rotating shaft.

[0011] The technical solution provides a bionic high-performance jumping frog, wherein a foot hinge plate is installed on the top of the foot body, and the inner wall of the foot hinge plate and the bottom end of the fourth hind leg are hinged to each other.

[0012] The technical solution provides a bionic high-performance bouncing frog, wherein the automatic release mechanism includes a tail hook and a first rotating shaft. The inner wall of the bionic frog shell is provided with the first rotating shaft, and the outer wall of the first rotating shaft is provided with a tail hook in contact with the second rotating shaft.

[0013] Compared with the prior art, the present invention provides a bionic high-performance jumping frog, which has the following beneficial effects: 1. The present invention starts the reduction motor to drive the winch drum to rotate, thereby stretching the tension spring. When the pulling force is greater than the friction force, the tail hook position is separated from the second rotating shaft, and the jumping function is achieved through transmission. The application adopts a steel wire traction rope position energy storage design, which enhances the power output of the frog during the jumping process, and can effectively improve the jumping distance and accuracy.

[0014] 2. The present invention uses a combination of TPU soft material and carbon fiber in the sole of the frog's foot, which not only achieves lightweight and ensures structural strength, but also provides the frog with sufficient grip to adapt to different complex ground conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the main structure of the present invention; Figure 3 It is a bottom view structural schematic diagram of the present invention; Figure 4 It is a right view structural schematic diagram of the present invention; Figure 5 It is a bottom view structural schematic diagram of the present invention; Figure 6 It is a schematic diagram of the main structure of the present invention.

[0016] In the figure: 1. front foot; 2. transmission wheel; 3. bionic frog shell; 4. first hind leg; 5. second hind leg; 6. connecting piece; 7. tail hook; 8. third hind leg; 9. fourth hind leg; 10. fifth hind leg; 11. foot hinge plate; 12. foot body; 13. steel wire traction rope; 14. reduction motor; 15. first rotating shaft; 16. second rotating shaft; 17. tension spring; 18. fence component; 19. third rotating shaft; 20. head rope drum; 21. winding drum. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Embodiment 1, as Figure 1-2As shown, the present invention provides a technical solution: a bionic high-performance bouncing frog, comprising a front foot 1, a transmission wheel 2, a bionic frog shell 3 and a head rope drum 20, a transmission wheel 2 is installed between the inner walls of the front foot 1, and a head rope drum 20 is arranged on the outer wall of the transmission wheel 2, and a reduction motor 14 is installed inside the bionic frog shell 3 through a fixing plate, and the reduction motor 14 adopts a DWG steel wire traction rope 13 as the main power source, and in order to increase the torque of the steel wire traction rope 13, a multi-stage gear reduction is used, and the reduction ratio is as high as 1:1000. Under the drive of a 7.4V voltage battery, the rated torque is as high as 1.5kg*cm, and the torque is as high as 8kg*cm. The high torque of the steel wire traction rope 13 is further converted into the high elastic force of the tension spring 17 by pulling the wire through the winch drum 21, and the minimum radius of the winch is 2mm. When the rated tension exceeds 7.5kg, the maximum tension can reach 40kg.

[0019] Embodiment 2, as Figure 1-4As shown, the present invention provides a technical solution: a bionic high-performance bouncing frog, comprising a reduction motor 14 whose output end is equipped with a winch drum 21 through a coupling, a second hind leg 5 hingedly connected to the outer side wall of the bionic frog shell 3, and a connecting member 6 hingedly connected to the top of the second hind leg 5, a second rotating shaft 16 is installed on one side of the connecting member 6, and a plurality of tension springs 17 are arranged on the outer wall of the second rotating shaft 16, a fence component 18 is installed on the side of the tension spring 17 away from the second rotating shaft 16, and a third rotating shaft 19 is installed on the inner wall of the fence component 18, and the side wall of the second hind leg 5 is hingedly connected to the outer side wall of the bionic frog shell 3. The third hind leg 8 is hinged, and the bottom end of the third hind leg 8 is hinged with the fourth hind leg 9, and the bottom end of the fourth hind leg 9 is hinged with the sole body 12, the outer side wall of the bionic frog shell 3 is hinged with the first hind leg 4, and the bottom end of the first hind leg 4 is hinged with the fifth hind leg 10 hinged with the fourth hind leg 9 and the second hind leg 5, the front wall of the bionic frog shell 3 is hinged with the front foot 1, the top of the sole body 12 is installed with a sole hinge plate 11, and the inner wall of the sole hinge plate 11 is hinged with the bottom end of the fourth hind leg 9, and the outer wall of the third rotating shaft 19 is provided with a rope disc 2 penetrating the head 0 and extends to the steel wire traction rope 13 of the winch drum 21, the rear wall of the bionic frog shell 3 is provided with an automatic release mechanism for releasing the position of the second rotating shaft 16, the automatic release mechanism includes a tail hook 7 and a first rotating shaft 15, the inner wall of the bionic frog shell 3 is provided with the first rotating shaft 15, and the outer wall of the first rotating shaft 15 is provided with a tail hook 7 in contact with the second rotating shaft 16, and the winch drum 21 is driven to rotate by starting the reduction motor 14, so that the winch drum 21 drives the steel wire traction rope 13 on the outer wall of the head rope drum 20, and then the steel wire traction rope 13 drives the third The rotating shaft 19 moves forward, causing the tension spring 17 to stretch, and the second rotating shaft 16 receives pressure to counteract the engagement position of the tail hook 7. When the pulling force is greater than the friction force, the tail hook 7 is separated from the second rotating shaft 16. Under the elastic force of the tension spring 17, the second rotating shaft 16 drives the second hind leg 5 to move downward, so that the second hind leg 5 drives the fifth hind leg 10 and the fourth hind leg 9 on both sides to move backward, and then the sole body 12 contacts the ground, causing the bionic frog shell 3 to jump upward, thereby realizing the jumping function through transmission.

[0020] Embodiment 3, as Figure 1-6 As shown, the present invention provides a technical solution: a bionic high-performance bouncing frog, comprising a second hind leg 5, a third hind leg 8, a fourth hind leg 9, a first hind leg 4 and a fifth hind leg 10, all of which are made of carbon fiber material, a rubber anti-skid pad is arranged at the bottom end of the sole body 12, and the rubber anti-skid pad is made of TPU soft material, and a steel wire traction rope 13 position energy storage design is adopted, which enhances the power output of the frog during jumping, and can effectively improve the jumping distance and accuracy, and the sole body 12 of the frog imitating the frog adopts a combination of TPU soft material and carbon fiber, which not only achieves lightweight and ensures the strength of the structure, but also provides the frog with sufficient grip ability to adapt to different complex ground conditions.

[0021] Working principle: firstly, the external power supply is turned on, and the input end of the external remote controller is wirelessly connected to the output end of the reduction motor 14. Then the operator can press the remote controller to send a signal to the reduction motor 14 through the remote controller to start the reduction motor 14. Then the reduction motor 14 drives the winch drum 21 to rotate, so that the winch drum 21 drives the steel wire traction rope 13 on the outer wall of the head rope drum 20, and then the steel wire traction rope 13 drives the third rotating shaft 19 to move forward, so that the tension spring 17 is stretched, and the second rotating shaft 16 receives pressure and counteracts the engagement position of the tail hook 7, and the tension spring 17 is pulled. After the extension force is greater than the friction position with the tail hook 7, the second rotating shaft 16 is separated from the tail hook 7, so that the second rotating shaft 16 drives the second hind leg 5 to move downward, and the second hind leg 5 drives the fifth hind leg 10 and the fourth hind leg 9 on both sides to move backward, and then the sole body 12 contacts the ground, so that the bionic frog shell 3 jumps upward, thereby realizing the jumping function through transmission. The structure has the design of optimizing the tension spring 17, reduces energy loss, improves elastic performance and endurance, improves energy conversion efficiency, and has a simple structure, reducing the difficulty of manufacturing and maintenance.

[0022] This application adopts an energy storage design at the position of the steel wire traction rope 13, which enhances the power output of the frog during jumping and can effectively improve the jumping distance and accuracy. The frog-imitation foot body 12 adopts a combination of TPU soft material and carbon fiber, which not only achieves lightweight and ensures the strength of the structure, but also provides the frog with sufficient grip to adapt to different complex ground conditions.

[0023] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A bionic high-performance bouncing frog, comprising front feet (1), a transmission wheel (2), a bionic frog shell (3) and a head rope disc (20), Features: A transmission wheel (2) is installed between the inner walls of the front legs (1), and a head rope drum (20) is provided on the outer wall of the transmission wheel (2); a reduction motor (14) is installed inside the bionic frog shell (3) via a fixing plate, and a winch drum (21) is installed at the output end of the reduction motor (14) via a coupling; a second hind leg (5) is hingedly connected to the outer side wall of the bionic frog shell (3), and a connecting piece (6) is hingedly connected to the top of the second hind leg (5); a second rotating shaft (16) is installed on one side of the connecting piece (6), and a plurality of tension springs (17) are provided on the outer wall of the second rotating shaft (16), and the tension springs (17) are away from the second rotating shaft (16). A fence component (18) is installed on one side of the bionic frog shell (3), and a third rotating shaft (19) is installed on the inner wall of the fence component (18); the third rear leg (8) is hingedly connected to the side wall of the second rear leg (5), and the fourth rear leg (9) is hingedly connected to the bottom end of the third rear leg (8); the sole body (12) is hingedly connected to the bottom end of the fourth rear leg (9); the first rear leg (4) is hingedly connected to the outer side wall of the bionic frog shell (3), and the fifth rear leg (10) hingedly connected to the fourth rear leg (9) and the second rear leg (5) is hingedly connected to the bottom end of the first rear leg (4); and the rear wall of the bionic frog shell (3) is provided with an automatic release mechanism for releasing the position of the second rotating shaft (16).

2. A bionic high-performance jumping frog according to claim 1, Features: The front wall of the bionic frog shell (3) is hingedly connected with a front foot (1).

3. A bionic high-performance jumping frog according to claim 1, Features: The second rear leg (5), the third rear leg (8), the fourth rear leg (9), the first rear leg (4) and the fifth rear leg (10) are all made of carbon fiber material.

4. The bionic high-performance jumping frog according to claim 1, Features: A rubber anti-skid pad is provided at the bottom end of the sole body (12), and the rubber anti-skid pad is made of TPU soft material.

5. The bionic high-performance jumping frog according to claim 1, Features: The outer wall of the winch drum (21) is provided with a steel wire traction rope (13) which passes through the head rope drum (20) and extends to be connected to the third rotating shaft (19).

6. The bionic high-performance jumping frog according to claim 1, Features: A sole hinge plate (11) is installed at the top end of the sole body (12), and the inner wall of the sole hinge plate (11) and the bottom end of the fourth rear leg (9) are hinged to each other.

7. The bionic high-performance jumping frog according to claim 1, Features: The automatic release mechanism comprises a tail hook (7) and a first rotating shaft (15); the inner wall of the bionic frog housing (3) is provided with the first rotating shaft (15), and the outer wall of the first rotating shaft (15) is provided with a tail hook (7) in contact with a second rotating shaft (16).

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