Bionic frog jumping robot

Abstract

The invention discloses a bionic frog jumping robot. The bionic frog jumping robot comprises a head, a trunk, bionic front limbs, jumping rear limbs and supporting rear legs; the head part comprises an upper end plate, and the head part is connected with the trunk through the upper end plate; the bionic forelegs are distributed and placed on the two sides of the front part of the trunk in a bilateral symmetry manner; the supporting rear leg comprises a lower end plate; the bouncing hind limbs are arranged on the rear portion of the trunk in the body length direction and connected with the trunk through an upper end plate and a lower end plate. The supporting rear feet are arranged on the rear side of the lower end plate and make direct contact with the ground. Based on the principle of acting accumulation, the natural limitation of limited energy of single burst of jumping in the biological field is broken through, the upper limit of energy storage is greatly improved, extremely high jumping performance is achieved, and climbing over the complex environment can be achieved.

Description

Technical Field

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

[0002] Bionics, a discipline born in the 1960s, has been an important inspiration for people to understand nature and develop new technologies. Bionic robots are the product of combining bionics with the field of robotics. They play a unique role in specific scenarios and are an important means to deepen engineering control theory.

[0003] In complex scenes with rugged paths, the mobility of traditional robots with wheeled and tracked designs is often limited. However, the bionic frog jumping robot, with its high mobility and agility, is not only not blocked by difficult terrain, but can also easily cross obstacles that are several times its own height, making it particularly suitable for unstructured and complex field operations.

[0004] Looking at the existing jumping robots, they are mainly divided into connecting rod spring type structure, joint pneumatic muscle drive structure, wire drive steel sheet structure and other jumping methods. The connecting rod spring type structure has similar front and rear limbs and drive mechanism design. The forelimbs are symmetrically distributed in the front of the trunk for support. The hind limbs use a four-bar mechanism, and the springs are arranged along the diagonal direction of the parallelogram. Multiple connecting rods are used to pull the spring energy storage to achieve jumping. The joint pneumatic muscle bionic frog uses pneumatic muscles to drive, and imitates the biological structures of the frog's hind limbs such as thighs, calves, hip joints, knee joints, and ankle joints. The wire drive steel sheet structure uses a wire to pull the hind limbs to compress the spring steel sheets distributed along the length of the body to provide jumping power for the robot. Its structure is simple and low cost.

[0005] However, the bionic frog with a connecting rod spring structure has a complicated mechanical structure, is difficult to install, and is prone to malfunction. In addition, the energy storage benefits brought by spring stretching are not good, and the energy storage per unit mass is still inferior to many materials, so the cost-effectiveness of using it as an energy storage material is not high. Due to the limitations of the pneumatic muscle structure, the bionic frog with joint pneumatic muscles is cumbersome and has a short working distance. The jumping effect is unsatisfactory compared to its own large volume and weight. At the same time, its excessive focus on the complete replication of the frog's biological structure actually increases the complexity in disguise. The overly simple structural design of the wire-driven bionic frog bouncing robot does not fully utilize the energy storage of spring steel sheets. Spring steel sheets are not excellent energy storage materials. Overall, the jumping effect still needs to be improved, and the appearance design is too simple due to the large simplification, and the similarity with the frog is too low. Summary of the invention

[0006] In view of the problems existing in the above prior art solutions, the purpose of the present invention is to propose a bionic frog jumping robot with high jumping performance to solve the problems of short jumping distance, complex structure, low mechanism efficiency, etc. of the bionic frog.

[0007] In order to achieve the above object, the present invention adopts the following scheme.

[0008] A bionic frog jumping robot, comprising: a head, a trunk, a bionic forelimb, a bouncing hind limb, and a supporting hind foot;

[0009] The head comprises an upper end plate, and the head is connected to the trunk through the upper end plate; the bionic forelimbs are symmetrically distributed and placed on both sides of the front part of the trunk.

[0010] Optionally, the supporting hind foot includes a lower end plate; the bouncing hind limb is arranged at the rear of the trunk along the body length direction, and is connected to the trunk through an upper end plate and a lower end plate; the supporting hind foot is arranged on the rear side of the lower end plate and can contact the ground.

[0011] Optionally, the head also includes: a protective head shell and a remote control signal board; wherein the upper end plate is manufactured by 3D printing additive manufacturing, has a through hole designed inside, and has multiple upper end plate notches designed symmetrically on the left and right sides; the remote control signal board is glued and attached to the motor housing of the reduction motor.

[0012] Optionally, the protective head shell is glued and fixed to the upper surface of the upper end plate, and its edge size is consistent with the edge size of the upper end plate. The motor housing and remote control signal board of the reduction motor are hidden and protected inside the protective head shell.

[0013] Optionally, the trunk includes: a reduction motor, a battery, and a trunk housing;

[0014] Among them, the reduction motor includes: a motor housing, a reduction gear set, and a motor shaft. The motor housing is glued to the upper end plate, and the reduction gear set is clamped on the lower side of the upper end plate. The upper cover of the reduction gear set is glued to the lower surface of the upper end plate.

[0015] Optionally, the trunk further includes a release mechanism, and the release mechanism includes: a spring piece, a first column, a second column, a guide shaft, a sleeve, a Kevlar wire, and a trigger ball;

[0016] Among them, the spring piece, column one and column two are all connected to the lower surface of the upper end plate, the spring piece is arranged on the rear side of the reduction gear group, and column one and column two are symmetrically arranged on the left and right sides of the reduction gear group. Through holes are designed at the lower part of column one and column two, and the guide shaft is connected to the column through a wire shaft.

[0017] Optionally, the bionic forelimb includes: a forelimb upper arm, a forelimb lower arm, and a forelimb flipper, which are symmetrically distributed on both sides of the front part of the torso.

[0018] Optionally, the bouncing hind limbs include: a hip joint, a first elbow joint, a second elbow joint, an ankle joint, a connecting rod carbon sheet, a rotating hinge, and a carbon fiber bow, which are symmetrically distributed on both sides of the trunk.

[0019] Optionally, the supporting hind foot includes: a lower end plate and hind foot flippers, and the hind foot flippers are symmetrically distributed on the lower side of the hind limb.

[0020] Optionally, the root of the hind foot flipper is vertically connected and fixed to the lower surface of the lower end plate, and is connected and fixed to the palm bottom of the hind foot flipper at an angle of 45°, and the palm bottom is placed parallel to the ground to keep the entire trunk of the bionic frog at an angle of 45° to the ground.

[0021] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0022] 1. The bionic frog jumping robot proposed in the present invention adopts a new principle of work accumulation, breaking through the natural limitation of limited single burst energy of jumping in the biological world, greatly improving the upper limit of energy storage, and can achieve a jumping distance of about 60 times its body length. The maximum jumping distance can reach 6m and above, with extremely high jumping performance, and can achieve climbing over complex environments.

[0023] 2. The present invention adopts a double carbon fiber bow parallel four-bar linkage based on a reduction motor winding drive. By studying the moment of frog jumping, the jumping hind limbs are optimized to be placed on both sides of the trunk rather than the back side, which can maximize the working distance of the energy storage process and facilitate the use of simpler structures such as rotating hinges to simulate the frog's shoulder joints, hip joints, elbow joints and other parts.

[0024] 3. The present invention adopts the method of pulling the wire and wrapping the ball to trigger the release mechanism. The Kevlar wire is wound and shortened to drive the trigger ball to rise slowly, and finally squeeze the release mechanism spring to complete the passive instantaneous unlocking. No extra control device is required for release, which greatly simplifies the internal structure.

[0025] 4. Most of the parts of the main structure of the present invention adopt 3D printing additive manufacturing technology, which is convenient and quick to manufacture, has better strength than ordinary nylon materials, and is much lighter than metal materials.

[0026] 5. The energy storage material used in the present invention is T300 grade composite carbon fiber sheet, which has mature technology, low price, excellent mechanical properties of high specific strength and light weight, and extremely low cost of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings illustrate exemplary embodiments of the present invention and together with the description serve to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification.

[0028] Figure 1 A three-dimensional diagram of the overall structure of a bionic frog jumping robot in one embodiment of the present invention;

[0029] Figure 2 A side perspective view of a bionic frog jumping robot in one embodiment of the present invention;

[0030] Figure 3 A top-down perspective view of a bionic frog jumping robot in one embodiment of the present invention;

[0031] Figure 4 A side cross-sectional view of a bionic frog jumping robot in one embodiment of the present invention;

[0032] Figure 5 A top view of a bionic frog jumping robot according to an embodiment of the present invention;

[0033] Figure 6 A schematic diagram of the specific structure of the head and torso of a bionic frog jumping robot in one embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the specific structure of the upper end plate of the bionic frog jumping robot in one embodiment of the present invention;

[0035] Figure 8 A schematic diagram of the specific structure of a reduction motor for a bionic frog jumping robot in one embodiment of the present invention;

[0036] Fig. 9 A schematic diagram of the specific structure of the bionic forelimbs of a bionic frog jumping robot in one embodiment of the present invention;

[0037] Fig.10 A schematic diagram of the specific structure of the bouncing hind limbs of a bionic frog jumping robot in one embodiment of the present invention;

[0038] Fig.11 It is a stereoscopic diagram of the assembly of the bouncing hind limbs of the bionic frog jumping robot in one embodiment of the present invention;

[0039] Fig.12 This is a schematic diagram of the specific structure of the supporting hind legs of the bionic frog jumping robot in one embodiment of the present invention;

[0040] Reference numerals: head 1, protective head shell 1-1, upper end plate 1-2, through hole 1-2-1, through hole 2 1-2-2, upper end plate notch 1-2-3, remote control signal board 1-3, trunk 2, reduction motor 2-1, upper motor housing 2-1-1, middle reduction gear set 2-1-2, lower motor shaft 2-1-3, release mechanism 2-2, spring piece 2-2-1, column 1 2-2-2, column 2 2-2-3, guide shaft 2-2-4, bushing 2-2-5, Kevlar wire 2-2- 6, trigger ball 2-2-7, battery 2-3, torso shell 2-4, bionic forelimb 3, forelimb upper arm 3-1, forelimb lower arm 3-2, forelimb flipper 3-3, bouncing hind limb 4, hip joint 4-1, knee joint one 4-2, knee joint two 4-3, ankle joint 4-4, connecting rod carbon sheet 4-5, rotating hinge 4-6, carbon fiber bow 4-7, supporting hind foot 5, lower end plate 5-1, lower end plate notch 5-1-1, through hole 5-1-2, hole groove 5-1-3, hind foot flipper 5-2, steel shaft 5-3. DETAILED DESCRIPTION

[0041] The following is combined with Figures 1 to 12 The present invention is further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant contents, rather than to limit the present invention. It is also necessary to explain that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings.

[0042] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as exemplary features that provide various details of some ways in which the technical concept of the present invention can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged without departing from the technical concept of the present invention.

[0044] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.

[0045] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0046] For descriptive purposes, the present invention may use spatially relative terms such as "below", "beneath", "under", "lower", "above", "upper", "above", "higher", and "side (e.g., as in "sidewall")" to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, components described as "below" or "beneath" other components or features would then be positioned "above" the other components or features. Thus, the exemplary term "below" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0047] The terms used here are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used here, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used here, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0048] In one embodiment, the present invention provides a bionic frog jumping robot, comprising: a head, a trunk, a bionic forelimb, a bouncing hind limb, and a supporting hind foot;

[0049] The head comprises an upper end plate, and the head is connected to the trunk through the upper end plate; the bionic forelimbs are symmetrically distributed and placed on both sides of the front part of the trunk.

[0050] Optionally, the supporting hind foot includes a lower end plate; the bouncing hind limb is arranged at the rear of the trunk along the body length direction, and is connected to the trunk through an upper end plate and a lower end plate; the supporting hind foot is arranged on the rear side of the lower end plate and can contact the ground.

[0051] Optionally, the head also includes: a protective head shell and a remote control signal board; wherein the upper end plate is manufactured by 3D printing additive manufacturing, has a through hole designed inside, and has multiple upper end plate notches designed symmetrically on the left and right sides; the remote control signal board is glued and attached to the motor housing of the reduction motor.

[0052] Optionally, the protective head shell is glued and fixed to the upper surface of the upper end plate, and its edge size is consistent with the edge size of the upper end plate. The motor housing and remote control signal board of the reduction motor are hidden and protected inside the protective head shell.

[0053] Optionally, the trunk includes: a reduction motor, a battery, and a trunk housing;

[0054] Among them, the reduction motor includes: a motor housing, a reduction gear set, and a motor shaft. The motor housing is glued to the upper end plate, and the reduction gear set is clamped on the lower side of the upper end plate. The upper cover of the reduction gear set is glued to the lower surface of the upper end plate.

[0055] Optionally, the trunk further includes a release mechanism, and the release mechanism includes: a spring piece, a first column, a second column, a guide shaft, a sleeve, a Kevlar wire, and a trigger ball;

[0056] Among them, the spring piece, column one and column two are all connected to the lower surface of the upper end plate, the spring piece is arranged on the rear side of the reduction gear group, and column one and column two are symmetrically arranged on the left and right sides of the reduction gear group. Through holes are designed at the lower part of column one and column two, and the guide shaft is connected to the column through a wire shaft.

[0057] Optionally, the bionic forelimb includes: a forelimb upper arm, a forelimb lower arm, and a forelimb flipper, which are symmetrically distributed on both sides of the front part of the torso.

[0058] Optionally, the bouncing hind limbs include: a hip joint, a first elbow joint, a second elbow joint, an ankle joint, a connecting rod carbon sheet, a rotating hinge, and a carbon fiber bow, which are symmetrically distributed on both sides of the trunk.

[0059] Optionally, the supporting hind foot includes: a lower end plate and hind foot flippers, and the hind foot flippers are symmetrically distributed on the lower side of the hind limb.

[0060] Optionally, the root of the hind foot flipper is vertically connected and fixed to the lower surface of the lower end plate, and is connected and fixed to the palm bottom of the hind foot flipper at an angle of 45°, and the palm bottom is placed parallel to the ground to keep the entire trunk of the bionic frog at an angle of 45° to the ground.

[0061] In one embodiment, if Figures 1 to 5 , Figure 7 As shown, the present invention provides a bionic frog jumping robot, comprising: a head 1, a trunk 2, a bionic forelimb 3, a bouncing hind limb 4, and a supporting hind foot 5. The head 1 and the trunk 2 are connected through an upper end plate 1-2; a pair of bionic forelimbs 3 are symmetrically arranged on both sides of the front part of the trunk 2; a pair of bouncing hind limbs 4 are arranged at the rear part of the trunk 2 along the body length direction, and are connected to the trunk 2 through the upper end plate 1-2 and the lower end plate 5-1; the supporting hind foot 5 is arranged at the rear side of the lower end plate 5-1 and is in direct contact with the ground.

[0062] like Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown, the head 1 includes: a protective head shell 1-1, an upper end plate 1-2, and a remote control signal plate 1-3. Figure 7 The upper end plate 1-2 is manufactured by 3D printing, and is internally designed with a through hole 1-2-1 and a through hole 2 1-2-2. Three upper end plate notches 1-2-3 are symmetrically designed on the left and right sides; Figure 6 and Figure 8The remote control signal board 1-3 is glued and attached to the upper motor housing 2-1-1 of the reduction motor 2-1, and passes through the through hole 1-2-2 of the upper end plate to facilitate connection with the trunk part; the protective head shell 1-1 is glued and fixed to the upper surface of the upper end plate 1-2, and its edge size is consistent with the edge size of the upper end plate. The upper motor housing 2-1-1 of the reduction motor and the remote control signal board 1-3 are hidden and protected inside the head shell. Figure 1 Considering the diameter of the motor shaft 2-1-3 of the reduction motor, in order to ensure that the Kevlar wire 2-2-6 is always in the center position, the through hole 1-2-1 is designed to be eccentric; the through hole 2 is hollowed out to reduce weight, while ensuring that the power line of the battery 2-3 passes through.

[0063] like Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown, the trunk 2 includes: a reduction motor 2-1, a release mechanism 2-2, a battery 2-3, and a trunk housing 2-4. Figure 8 The reduction motor comprises: an upper motor housing 2-1-1, a reduction gear set 2-1-2, and a motor shaft 2-1-3; wherein the upper motor housing 2-1-1 is glued to the through hole 1-2-1 of the upper end plate 1-2, and the reduction gear set 2-1-2 is clamped on the lower side of the upper end plate 1-2, and the upper cover of the reduction gear set is glued to the lower surface of the upper end plate; Figure 1 and Figure 7 The release mechanism 2-2 includes: a spring piece 2-2-1, a column 1 2-2-2, a column 2-2-3, a guide shaft 2-2-4, a sleeve 2-2-5, a Kevlar line 2-2-6, and a trigger ball 2-2-7. The spring piece 2-2-1, the column 1 2-2-2, and the column 2 2-2-3 are all connected to the lower surface of the upper end plate 1-2. The spring piece 2-2-1 is arranged at the rear side of the aforementioned reduction gear set 2-1-2. The column 1 2-2-2 and the column 2 2-2-3 are symmetrically arranged on the left and right sides of the aforementioned reduction gear set 2-1-2. The lower parts of the column 1 2-2-2 and the column 2 2-2-3 are designed with through holes, and the steel wire shaft is used to The guide shaft 2-2-4 is connected to the second column, and the rear end of the guide shaft 2-2-4 can be supported on the expansion platform on the lower side of the spring piece 2-2-1, and a through hole is opened at the rear end of the guide shaft 2-2-4, and a steel wire shaft is passed through to support the Kevlar wire 2-2-6 on the steel wire shaft to realize steering, and the sleeve 2-2-5 is sleeved on the motor shaft 2-1-3 of the aforementioned reduction motor, and the Kevlar wire 2-2-6 is wound around the outside of the sleeve 2-2-5 and fixed with glue, and a through hole is opened in the middle of the trigger ball 2-2-7 and sleeved on the Kevlar wire 2-2-6, and the wire needs to be knotted at the lower end of the trigger ball 2-2-7 to prevent the ball from slipping, and the lower end of the Kevlar wire is connected to the lower end plate 5-1 supporting the rear foot.

[0064] The present invention adopts a wire-set ball triggering method, and uses the Kevlar wire 2-2-6 to shorten and drive the trigger ball 2-2-7 to rise slowly, and finally squeeze the release mechanism spring 2-2-1 to complete the passive instantaneous unlocking, without the need for redundant control devices for release, and simplifies the internal structure. One side of the battery 2-3 is glued and attached to the spring 2-2-1 of the aforementioned release mechanism, and the power line is connected to the power line of the remote control signal board 1-3 through the through hole 2 1-2-2 of the aforementioned upper end plate; the trunk shell 2-4 is glued and fixed to the lower surface of the upper end plate, and its edge size is consistent with the edge size of the upper end plate 1-2. The reduction motor reduction gear set 2-1-2, the reduction motor motor shaft 2-1-3, the release mechanism 2-2, and the battery 2-3 are all hidden and protected inside the trunk shell 2-4 manufactured by 3D printing additive manufacturing.

[0065] When assembling the head and torso, the following sequence should be followed: after the relevant circuits are welded, the reduction motor 2-1 passes through the through hole 1-2-1 of the upper end plate 1-2 from bottom to top. To ensure that the reduction motor does not fall off, the through hole 1-2-1 is designed to be an interference fit. When the upper motor housing 2-1-1 enters, the through hole 1-2-1 needs to be polished to a certain extent. After being firmly fastened, glue should be dripped on the joint between the motor housing and the through hole 1, and on the place where the reduction gear set 2-1-2 and the lower bottom surface of the upper end plate are attached; the release mechanism guide shaft 2-2-4 is located below the reduction motor, and is connected to the column 1 2-2-2 and the column 2 2-2-3 with a wire shaft, with the opening side facing the spring. 2-2-1, a steel wire shaft of appropriate length is passed through the opening side and fixed with glue; the trigger ball 2-2-7 is inserted into the Kevlar wire 2-2-6 in advance, and the upper end of the Kevlar wire is wound around the sleeve. Note that the winding direction should be coordinated with the motor rotation direction to prevent the wire end from untying itself during rotation. Then glue is fixed and the lower end of the Kevlar wire passes through the two through holes 5-1-2 of the lower end plate and is tied and fixed at a certain height from the surface of the lower end plate to hold up the trigger ball 2-2-7 to form a regular triangle to ensure that the left and right sides of the lower end plate 5-1 are subjected to the same force. The specific height of the node depends on the predetermined compression of the carbon fiber bow; the sleeve is inserted into the motor shaft of the reduction motor to complete the assembly of the release mechanism.

[0066] like Fig. 9As shown, the bionic forelimb 3 includes: a forelimb arm 3-1, a forelimb forearm 3-2, and a forelimb flipper 3-3, all of which are manufactured by 3D printing additives and are symmetrically placed on both sides of the front part of the trunk 2. Among them, the outer sides of the column 1 2-2-2 and the column 2 2-2-3 of the aforementioned release mechanism 2-2 are provided with a limit groove, and the forelimb arm 3-1 is connected to the limit groove through a steel wire shaft to form a shoulder joint; the top of the forelimb forearm 3-2 is provided with a fork structure, and the bottom of the forelimb arm 3-1 extends into the fork structure and is connected to the top of the forelimb forearm 3-2 through a steel wire shaft to form an elbow joint; the forelimb flipper 3-3 is connected to the bottom of the forearm 3-2 through a steel wire shaft to form an ankle joint; the joint connection is interference fit to ensure a certain rotation damping of the joint. The limit groove is designed to be box-shaped to ensure that the forelimb arm 3-1 can only rotate forward; the rotation damping can ensure that the bionic frog will not fall to the ground due to its own weight when it is placed still.

[0067] like Fig.10 and Fig.11 As shown, the bouncing hind limbs 4 include: hip joint 4-1, knee joint 1 4-2, knee joint 2 4-3, ankle joint 4-4, connecting rod carbon sheet 4-5, rotating hinge 4-6, carbon fiber bow 4-7. By studying the frog's jumping posture, the bouncing hind limbs 4 are symmetrically distributed on both sides of the trunk 2, which can maximize the working distance of the energy storage process and facilitate the use of simpler structures such as rotating hinges to simulate the frog's shoulder joints, hip joints, elbow joints and other parts. Among them, the hip joint 4-1 is connected to the upper end plate notch 1-2-3 located in the middle position on the aforementioned upper end plate 1-2; the knee joint 1 4-2 and the knee joint 2 4-3 are connected to each other through a wire shaft; the ankle joint 4-4 is connected to the lower end plate notch 5-1-1 located in the middle position at the edge of the lower end plate 5-1 supporting the rear foot; the connecting rod carbon sheet 4-5 is respectively inserted into the groove of each joint, and the hip joint 4-1 and the knee joint 1 4-2, the knee joint 2 4-3 and the ankle joint 4-4 are glued to form a four-bar deformation mechanism on the left and right; the rotating hinge 4-6 is respectively connected to the outer edges of the upper end plate 1-2 and the lower end plate 5-1 The two grooves on the side are connected, and the upper and lower parts are mirror-symmetrically distributed, which can maximize the use of the effective length of the carbon fiber bow 4-7; the carbon fiber bow 4-7 is inserted into the groove of the rotating hinge 4-6, is flush with the outer surface of the hinge and is fixed by gluing; the rotating hinge 4-6 and the carbon fiber bow 4-7 together form a carbon fiber bow deformation mechanism, which is connected in parallel with the aforementioned four-bar deformation mechanism to form a carbon fiber bow parallel four-bar mechanism; the hip joint 4-1, the ankle joint 4-4, and the rotating hinge 4-6 are all connected to the upper and lower end plates through a slender steel wire shaft, and a simpler structure such as a rotating pair is used to simulate the frog shoulder joint, hip joint, elbow joint and other parts.

[0068] Carbon fiber bow 4-7 uses T300 grade composite carbon fiber sheets with mature technology, low price, and excellent mechanical properties of high specific strength and light weight.

[0069] Different from the biological world where jumping is done by muscles only in one stroke, this robot adopts a new principle of multiple work accumulation, using the motor to repeatedly rotate multiple circles to drive the carbon fiber bow parallel four-bar linkage to perform long-term uninterrupted compression and energy storage before jumping, thereby increasing the energy storage time and jumping energy of the jumping robot. It breaks through the natural limitation of the limited single burst energy of jumping in the biological world, and increases the upper limit of energy storage compared to the traditional connecting rod structure. It can achieve a jumping distance of about 60 times the body length, and the maximum jumping distance can reach more than 6m, with extremely high jumping performance.

[0070] like Fig.12 The supporting hind leg 5 comprises: a lower end plate 5-1, a hind foot flipper 5-2, and a steel shaft 5-3, which are symmetrically distributed and placed on the lower side of the hind limb. The lower end plate 5-1 adopts 3D printing additive manufacturing technology to achieve weight reduction and thus increase the jumping distance. The outer edge is provided with three lower end plate notches 5-1-1 at the same position as the upper end plate edge, which are used to match the ankle joint 4-4 and the rotating hinge 4-6 of the jumping hind limb 4. The inner edge of the lower end plate 5-1 is provided with a through hole 5-1-2 and two hole grooves 5-1-3. The through hole 5-1-2 is used to pass the Kevlar line, and the hole groove 5-1-3 is used to insert the steel shaft 5-3 to connect the symmetrical lower end plate. The root of the hind foot flipper 5-2 is vertically connected and fixed to the bottom surface of the lower end plate 5-1, and is connected and fixed to the palm bottom of the hind foot flipper at an angle of 45°. The palm bottom is placed parallel to the ground to keep the overall trunk of the bionic frog at an angle of 45° with the ground, that is, the take-off angle. The bottom of the fin of the rear foot should be affixed with double-sided tape and glued to the ground to ensure that it does not slip when facing excessive elastic force at the moment of take-off; maintaining a 45° take-off angle can ideally balance the relationship between jumping height and jumping distance, and allow the bionic frog to have as long a carbon fiber bow as possible within a unit size of space.

[0071] The working process of the bionic frog jumping robot of the present invention is as follows:

[0072] like Figure 1 As shown in the figure, after the bionic frog jumping robot is assembled, the hind legs are fixed on the ground and the bionic forelimbs are adjusted to a suitable height for support. The open side of the guide shaft is placed on the expansion platform at the lower end of the shrapnel, and the jumping preparation stage is entered. After pressing the remote control, the remote control signal board receives the signal, controls the reduction motor to start rotating, and slowly winds the Kevlar wire from the shaft sleeve to the motor shaft. The steel wire shaft on the open side of the guide shaft can realize the Kevlar wire change direction. As the Kevlar wire is gradually wound and shortened, the trigger ball rises slowly, and the double carbon fiber bow parallel four-bar linkage of the jumping hind limbs is slowly compressed. After the maximum diameter of the ball touches the shrapnel, the extruded shrapnel is bent outward, and the guide shaft falls off the shrapnel expansion platform. The Kevlar wire, carbon fiber bow, and four-bar linkage are instantly released, generating a huge elastic force to jump forward and complete the jumping movement.

[0073] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0075] It should be understood by those skilled in the art that the above embodiments are only for the purpose of clearly illustrating the present invention, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present invention.

Claims

1. A bionic frog jumping robot, characterized in that: include: Head, trunk, bionic forelimbs, bouncing hindlimbs, supporting hind feet; The head comprises: an upper end plate, through which the head is connected to the trunk; The bionic forelimbs are symmetrically distributed and placed on both sides of the front part of the trunk.

2. A bionic frog jumping robot according to claim 1, characterized in that: Preferably, the supporting hind foot includes a lower end plate; the bouncing hind limb is arranged at the rear of the trunk along the body length direction, and is connected to the trunk through an upper end plate and a lower end plate; the supporting hind foot is arranged on the rear side of the lower end plate and can contact the ground.

3. The bionic frog jumping robot according to claim 1, characterized in that: The head also includes: a protective head shell and a remote control signal board; wherein the upper end board is manufactured by 3D printing additive manufacturing, has a through hole designed inside, and has a plurality of upper end board notches designed symmetrically on the left and right sides; the remote control signal board is glued and attached to the motor housing of the reduction motor.

4. The bionic frog jumping robot according to claim 3, characterized in that: The protective head shell is glued and fixed to the upper surface of the upper end plate, and its edge size is consistent with the edge size of the upper end plate. The motor housing and remote control signal board of the reduction motor are hidden and protected inside the protective head shell.

5. The bionic frog jumping robot according to claim 1, characterized in that: The trunk includes: a reduction motor, a battery, and a trunk shell; Among them, the reduction motor includes: a motor housing, a reduction gear set, and a motor shaft. The motor housing is glued to the upper end plate, and the reduction gear set is clamped on the lower side of the upper end plate. The upper cover of the reduction gear set is glued to the lower surface of the upper end plate.

6. The bionic frog jumping robot according to claim 5, characterized in that: The trunk also includes a release mechanism, which includes: a spring, a first column, a second column, a guide shaft, a sleeve, a Kevlar wire, and a trigger ball; Among them, the spring piece, column one and column two are all connected to the lower surface of the upper end plate, the spring piece is arranged on the rear side of the reduction gear group, and column one and column two are symmetrically arranged on the left and right sides of the reduction gear group. Through holes are designed at the lower part of column one and column two, and the guide shaft is connected to the column through a wire shaft.

7. The bionic frog jumping robot according to claim 1, characterized in that: The bionic forelimbs include: forelimb upper arms, forelimb lower arms, and forelimb flippers, which are symmetrically distributed and placed on both sides of the front part of the trunk.

8. The bionic frog jumping robot according to claim 1, characterized in that: The bouncing hind limbs include: a hip joint, a first elbow joint, a second elbow joint, an ankle joint, a connecting rod carbon sheet, a rotating hinge, and a carbon fiber bow, which are symmetrically distributed on both sides of the trunk.

9. The bionic frog jumping robot according to claim 1, characterized in that: The supporting hind foot comprises: a lower end plate and hind foot flippers, and the hind foot flippers are symmetrically distributed and placed on the lower side of the hind limb.

10. The bionic frog jumping robot according to claim 9, characterized in that: The root of the hind foot flipper is vertically connected and fixed to the lower surface of the lower end plate, and is connected and fixed to the palm bottom of the hind foot flipper at an angle of 45 degrees.

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