A biomimetic frog jumping robot

Abstract

The application discloses a bionic frog jumping robot, which comprises a head, a trunk, bionic forelimbs, springing hind limbs and supporting hind feet. The head comprises an upper end plate, and the head is connected with the trunk through the upper end plate. The bionic forelimbs are symmetrically arranged on both sides of the front part of the trunk. The supporting hind feet comprise a lower end plate. The springing hind limbs are arranged along the length direction of the trunk at the rear part of the trunk and are connected with the trunk through the upper end plate and the lower end plate. The supporting hind feet are arranged at the rear side of the lower end plate and directly contact the ground. The application is based on the work accumulation principle, breaks through the natural limitation of the limited single burst energy of biological jumping, greatly improves the upper limit of energy storage, has high jumping performance and can realize the crossing of complex environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a bionic frog jumping robot. BACKGROUND

[0002] Bionics, as a discipline born in the 1960s, has important enlightenment for people to understand nature and open up new technologies. Bionic robots are the product of the combination of bionics and the field of robots, and play a unique role in specific scenarios, and are an important means of deepening engineering control theory.

[0003] In complex scenarios with rough paths, the action ability of traditional robots designed with wheels and tracks is often limited. The bionic frog jumping robot, with its high mobility and agility, not only overcomes difficult terrain, but also easily jumps over obstacles several times its own height, making it particularly suitable for unstructured and complex field operations.

[0004] Looking at existing bounce robots, they are mainly divided into link spring structure, joint pneumatic muscle driving structure, and line-driven steel sheet structure jumping methods. The link spring structure has similar front and rear limb and driving mechanism designs, the front limbs are symmetrically distributed in the front of the torso to provide support, and the rear limbs use a four-bar linkage mechanism, with springs arranged along the diagonal of the parallelogram. The use of multiple linkages to pull the spring to store energy enables jumping. The joint pneumatic muscle bionic frog uses pneumatic muscles for driving, and imitates the biological structures of the frog's hind limbs, thighs, shanks, hip joints, knee joints, and ankle joints. The line-driven steel sheet structure uses a pull wire to pull the hind limbs to compress the spring steel sheets distributed along the body length, providing jumping power for the robot. Its structure is simple and low in cost.

[0005] However, the bionic frog mechanical structure with a link spring structure is complex and difficult to install, which can easily cause faults. The energy storage benefit brought by spring stretching is not good, and the unit mass storage energy is still inferior to many materials, making the energy storage material not cost-effective. The bionic frog with joint pneumatic muscles has a large structure due to the limitations of the pneumatic muscle structure, and the working distance is short, so the jumping effect is not satisfactory compared to its large size and weight. At the same time, it excessively focuses on the complete replication of the frog's biological structure, which essentially increases the complexity. The line-driven bionic frog bounce robot has a simple structure design, which does not fully utilize the spring steel sheet energy storage, and the spring steel sheet is not an excellent energy storage material. Overall, the jumping effect still needs to be improved, and the appearance design is too simplified, with a low degree of similarity to the frog. SUMMARY

[0006] To solve the problems of short jumping distance, complex structure, and low mechanism efficiency of the bionic frog jumping robot, the present application proposes a bionic frog jumping robot with high jumping performance.

[0007] To achieve the above object, the present application adopts the following scheme.

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

[0009] The head comprises: an upper end plate, the head is connected with the trunk through the upper end plate; the bionic forelimb is placed symmetrically on both sides of the front part of the trunk.

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

[0011] Optionally, the head further comprises: a protective head shell and a remote control signal plate; the upper end plate is made by 3D printing additive manufacturing and is designed with through holes inside and a plurality of upper end plate notches symmetrically on both sides; the remote control signal plate is attached to the motor shell of the reduction motor.

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

[0013] Optionally, the trunk comprises: a reduction motor, a battery and a trunk shell.

[0014] The reduction motor comprises: a motor shell, a reduction gear set and a motor shaft, the motor shell is glued and adhered with the upper end plate, the reduction gear set is clamped at the lower side of the upper end plate, and the upper cover of the reduction gear set is glued and adhered with the lower surface of the upper end plate.

[0015] Optionally, the trunk further comprises a release mechanism, the release mechanism comprises: a spring, a first vertical column, a second vertical column, a guide shaft, a shaft sleeve, a Kevlar line and a trigger ball.

[0016] The spring, the first vertical column and the second vertical column are all connected with the lower surface of the upper end plate, the spring is arranged at the rear side of the reduction gear set, the first vertical column and the second vertical column are symmetrically arranged at the left and right sides of the reduction gear set, the lower part of the first vertical column and the second vertical column is designed with a through hole, and the guide shaft is connected with the vertical column through a steel wire shaft.

[0017] Optionally, the bionic forelimb comprises: a forelimb large arm, a forelimb small arm and a forelimb fin, and is placed symmetrically on both sides of the front part of the trunk.

[0018] Optionally, the bouncing hind limb comprises: a hip joint, an elbow joint one, an elbow joint two, an ankle joint, a connecting rod carbon sheet, a rotating hinge and a carbon fiber arch, and is placed symmetrically on both sides of the trunk.

[0019] Optionally, the supporting rear leg comprises a lower end plate and rear leg flippers, which are placed symmetrically on the lower side of the rear leg.

[0020] Optionally, the root of the rear leg flipper is connected perpendicularly and fixedly to the lower surface of the lower end plate, and is connected fixedly at an angle of 45° with the palm bottom of the rear leg flipper, and 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.

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

[0022] 1. The bionic frog jumping robot adopts a new work accumulation principle, breaks through the natural limitation of single burst energy of biological jumping, greatly improves the upper limit of energy storage, can realize a jumping distance of about 60 times the body length, and has a maximum jumping distance of 6m or more, has a high jumping performance, and can realize the crossing of complex environment.

[0023] 2. The bionic frog jumping robot adopts a double-carbon-fiber arch parallel four-bar linkage mechanism based on a reduction motor winding drive, and through research on the instant of frog take-off, the elastic jumping leg is placed on the two sides of the trunk instead of the rear side, so that the working distance of the energy storage process can be maximized, and the frog shoulder joint, hip joint, elbow joint and other parts can be simulated by using a rotating hinge and other simpler structures.

[0024] 3. The bionic frog jumping robot adopts a pull line sleeve ball mode to realize the triggering of the release mechanism, uses Kevlar line winding to shorten the trigger ball to slowly rise, and finally squeezes the release mechanism sheet to complete passive instantaneous unlocking, without the need for additional control device for release, greatly simplifying the internal structure.

[0025] 4. Most of the parts of the bionic frog jumping robot body structure are manufactured by 3D printing additive manufacturing technology, which is convenient and fast, has higher strength than ordinary nylon material, and is much lighter than metal material.

[0026] 5. The energy storage material used by the bionic frog jumping robot is T300 composite carbon fiber sheet, which has mature technology, low price, high specific strength and light weight, and excellent mechanical properties, and the overall cost is very low. BRIEF DESCRIPTION OF DRAWINGS

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

[0028] Figure 1 It is a three-dimensional view of the overall structure of the bionic frog jumping robot in an embodiment of the present application.

[0029] Figure 2 Side view of a bionic frog jumping robot in one embodiment of the present application;

[0030] Figure 3 Top view of a bionic frog jumping robot in one embodiment of the present application;

[0031] Figure 4 Side view of a bionic frog jumping robot in one embodiment of the present application;

[0032] Figure 5 Top view of a bionic frog jumping robot in one embodiment of the present application;

[0033] Figure 6 Detailed structure diagram of a head and a trunk of a bionic frog jumping robot in one embodiment of the present application;

[0034] Figure 7 Detailed structure diagram of an upper end plate of a bionic frog jumping robot in one embodiment of the present application;

[0035] Figure 8 Detailed structure diagram of a reduction motor of a bionic frog jumping robot in one embodiment of the present application;

[0036] Figure 9 Detailed structure diagram of a bionic forelimb of a bionic frog jumping robot in one embodiment of the present application;

[0037] Figure 10 Detailed structure diagram of a bouncing hind limb of a bionic frog jumping robot in one embodiment of the present application;

[0038] Figure 11 Assembly perspective view of a bouncing hind limb of a bionic frog jumping robot in one embodiment of the present application;

[0039] Figure 12 Detailed structure diagram of a supporting hind leg of a bionic frog jumping robot in one embodiment of the present application;

[0040] Reference numerals: Head 1, Protective head shell 1-1, Upper end plate 1-2, Through hole one 1-2-1, Through hole two 1-2-2, Upper end plate slot 1-2-3, Remote control signal plate 1-3, Body 2, Gear motor 2-1, Upper motor housing 2-1-1, Middle gear reduction gear set 2-1-2, Lower motor shaft 2-1-3, Release mechanism 2-2, Spring piece 2-2-1, Column one 2-2-2, Column two 2-2-3, Guide shaft 2-2-4, Bushing 2-2-5, Kevlar cable 2-2- 6, Trigger sphere 2-2-7, Battery 2-3, Torso shell 2-4, Bionic forelimb 3, Forelimb upper arm 3-1, Forelimb forearm 3-2, Forelimb webbed foot 3-3, Jumping hindlimb 4, 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, Supporting hind foot 5, Lower end plate 5-1, Lower end plate slot 5-1-1, Through hole 5-1-2, Hole slot 5-1-3, Hind foot webbed foot 5-2, Steel shaft 5-3. Detailed Implementation

[0041] The following is in conjunction with the appendix Figures 1 to 12 The present invention will be further described in detail below with reference to the embodiments. It is to be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The technical solution of this invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] Unless otherwise stated, the exemplary embodiments / exemplifications shown are to be understood as providing exemplary features of various details that provide ways in which the technical concept of the invention can be implemented in practice. Therefore, unless otherwise stated, the features of the various embodiments / exemplifications may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concept of the invention.

[0044] The use of cross-hatching and / or shading in the drawings is generally used to illustrate the boundaries and / or transitions from one portion of a part to another portion of the part. As such, unless specified, the presence of cross-hatching or shading in no way supercedes, or otherwise clarifies, any aspect of the parts described as being clear, transparent, opaque, solid, formed, unformed, etc. Moreover, in the drawings, the size and relative sizes of parts can be exaggerated for clarity. When exemplary embodiments can be carried out in different ways, the specific sequential order described can be performed in a different order. For example, two sequentially described processes can be performed at about the same time or in the reverse order than described. Additionally, like reference numerals can denote like parts throughout the description.

[0045] When a part is referred to as being "on" or "over" another part, "connected to" or "coupled to" another part, it can be directly on, connected or coupled to the other part, or intervening parts can be present. In contrast, when an part is referred to as being "directly on," "directly connected to," or "directly coupled to" another part, there are no intervening parts present. For example, the term "connected" can refer to physical or electrical connection, whether direct or through intervening parts.

[0046] For purposes of describing the subject matter, spatially relative terms, such as "under", "below", "lower", "above", "upper", "on", "over", "higher", and "side" (e.g., as in "side wall") can be used herein for ease of description to describe one part's or one element's relationship to another part or element, as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientations depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "under" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0047] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "comprising," "including," "containing," and / or "having" and variations thereof are used herein, such terms are intended to be inclusive, in an open-ended sense, and not exclusive, or closed-ended, unless the context indicates otherwise. It is also to be noted that the terms "substantially," "approximately," and other similar terms, where used herein, are used in an absolute sense to mean that the stated value or condition exists or is obtained within a range of values or conditions that one of ordinary skill in the art would consider reasonable in light of the stated value or condition, unless the context indicates otherwise.

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

[0049] The head comprises: an upper end plate, the head is connected with the trunk through the upper end plate; the bionic forelimb is placed symmetrically on both sides of the front part of the trunk.

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

[0051] Optionally, the head further comprises: a protective head shell, a remote control signal plate; wherein the upper end plate is made by 3D printing additive manufacturing, and a through hole is designed inside, and a plurality of upper end plate notches are symmetrically designed on the left and right sides; the remote control signal plate is attached to the motor shell of the reduction motor.

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

[0053] Optionally, the trunk comprises: a reduction motor, a battery, a trunk shell;

[0054] The reduction motor comprises: a motor shell, a reduction gear set, and a motor shaft, the motor shell is glued and adhered with the upper end plate, the reduction gear set is clamped on the lower side of the upper end plate, and the upper cover of the reduction gear set is glued and adhered with the lower surface of the upper end plate.

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

[0056] The elastic sheet, the first column and the second column are connected with the lower surface of the upper end plate, the elastic sheet is arranged at the rear side of the speed reduction gear set, the first column and the second column are symmetrically arranged at the left and right sides of the speed reduction gear set, the lower part of the first column and the second column is designed with a through hole, and the guide shaft is connected with the column through the steel wire shaft.

[0057] Optionally, the bionic forelimb comprises a forelimb large arm, a forelimb small arm and a forelimb fin, and is placed symmetrically on both sides of the front part of the trunk.

[0058] Optionally, the bouncing hind limb comprises a hip joint, an elbow joint one, an elbow joint two, an ankle joint, a connecting rod carbon sheet, a rotating hinge and a carbon fiber arch, and is placed symmetrically on both sides of the trunk.

[0059] Optionally, the supporting hind foot comprises a lower end plate and a hind foot fin, and the hind foot fin is placed symmetrically on the lower side of the hind limb.

[0060] Optionally, the root of the hind foot fin is connected perpendicularly and fixedly with the lower surface of the lower end plate, and is connected fixedly with the palm bottom at an angle of 45°, and the palm bottom is placed parallel to the ground, so that the whole trunk of the bionic frog is kept at an angle of 45° with the ground.

[0061] In one embodiment, as shown in Figures 1 to 5 , Figure 7 , the application provides a bionic frog jumping robot, which comprises 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 placed symmetrically on both sides of the front part of the trunk 2; a pair of bouncing hind limbs 4 are arranged along the length direction of the trunk 2 at the rear part of the trunk 2 and are connected with the trunk 2 through the upper end plate 1-2 and a lower end plate 5-1; and the supporting hind foot 5 is arranged at the rear side of the lower end plate 5-1 and directly contacts the ground.

[0062] As shown in Figure 1 , Figure 6 , Figure 7 and Figure 8 , the head 1 comprises a protective head shell 1-1, an upper end plate 1-2 and a remote control signal plate 1-3. As shown in Figure 7 , the upper end plate 1-2 is made by 3D printing additive manufacturing, is designed with a through hole one 1-2-1 and a through hole two 1-2-2 inside, and is symmetrically designed with three upper end plate notches 1-2-3 on the left and right sides; as shown in Figure 6 and Figure 8, the 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 two 1-2-2 of the aforementioned upper end plate to facilitate connection with the trunk part; the protective head shell 1-1 is glued and fixed with the upper surface of the upper end plate 1-2, the size of the edge is consistent with the size of the edge of the upper end plate, and the upper motor housing 2-1-1 of the reduction motor and the remote control signal board 1-3 are hidden in the head shell. Referring to Figure 1 , considering the diameter of the motor shaft 2-1-3 of the reduction motor, in order to ensure that the Kevlar line 2-2-6 is always in the center position, the through hole one 1-2-1 is designed eccentrically; the through hole two is a weight-reducing hollow, while ensuring that the power line of the battery 2-3 passes through.

[0063] As shown in Figure 1 , Figure 6 , Figure 7 and Figure 8 , the trunk 2 comprises: a reduction motor 2-1, a release mechanism 2-2, a battery 2-3, and a trunk shell 2-4. Referring to 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 and matched with the through hole one 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 and adhered between the lower surface of the upper end plate; referring to Figure 1 and Figure 7 , the release mechanism 2-2 comprises: a spring 2-2-1, a first column 2-2-2, a second column 2-2-3, a guide shaft 2-2-4, a shaft sleeve 2-2-5, a Kevlar line 2-2-6, and a trigger ball 2-2-7, the spring 2-2-1, the first column 2-2-2, and the second column 2-2-3 are connected with the lower surface of the upper end plate 1-2, the spring 2-2-1 is arranged at the rear side of the aforementioned reduction gear set 2-1-2, the first column 2-2-2 and the second column 2-2-3 are symmetrically arranged on the left and right sides of the aforementioned reduction gear set 2-1-2, the lower part of the first column 2-2-2 and the second column 2-2-3 is designed with a through hole, the guide shaft 2-2-4 is connected with the second column through a steel wire shaft, the rear end of the guide shaft 2-2-4 can be supported on the expansion platform on the lower side of the spring 2-2-1, and a through hole is provided at the rear end of the guide shaft 2-2-4, a steel wire shaft is passed through to support the Kevlar line 2-2-6 on the steel wire shaft to realize steering, the shaft sleeve 2-2-5 is sleeved on the aforementioned motor shaft 2-1-3 of the reduction motor, the Kevlar line 2-2-6 is wound outside the shaft sleeve 2-2-5 and is glued and fixed, the through hole is provided in the middle of the trigger ball 2-2-7 and is sleeved on the Kevlar line 2-2-6, the lower end of the trigger ball 2-2-7 needs to be knotted with the wire to prevent the ball from sliding off, and the lower end of the Kevlar line is connected with the lower end plate 5-1 supporting the rear foot.

[0064] The application adopts a pull wire sleeve ball triggering mode, utilizes the winding and shortening of Kevlar wire 2-2-6 to drive the slow rising of trigger ball 2-2-7, finally squeezes release mechanism spring 2-2-1, and completes passive instantaneous unlocking, without the need of extra control device for release, and simplifies the internal structure. One side of battery 2-3 is glued and attached with spring 2-2-1 of the aforementioned release mechanism, and the power line is connected with the power line of remote control signal plate 1-3 through the through hole two 1-2-2 of the aforementioned upper end plate; trunk shell 2-4 is glued and fixed with the lower surface of the upper end plate, the edge size of which is consistent with the edge size of upper end plate 1-2, and speed reduction motor speed reduction gear set 2-1-2, speed reduction motor motor shaft 2-1-3, release mechanism 2-2 and battery 2-3 are all hidden and protected inside 3D printing additive manufacturing trunk shell 2-4.

[0065] When the head and the trunk are assembled, the following sequence should be followed: after the relevant circuit welding is completed, speed reduction motor 2-1 passes through through hole one 1-2-1 of upper end plate 1-2 from bottom to top, in order to ensure that the speed reduction motor does not fall off, through hole one 1-2-1 is designed as an interference fit, and the upper motor shell 2-1-1 needs to be polished to a certain extent when entering, and after being tightly fitted, glue should be dropped at the joint between the motor shell and the through hole one, and the place where speed reduction gear set 2-1-2 is attached to the lower bottom surface of the upper end plate; release mechanism guide shaft 2-2-4 is located below the speed reduction motor, connected with steel wire shaft and column one 2-2-2 and column two 2-2-3, with the opening side facing spring 2-2-1, and a steel wire shaft of appropriate length is inserted through the opening side and glued; trigger ball 2-2-7 is inserted into Kevlar wire 2-2-6 in advance, the upper end of the Kevlar wire is wound on the shaft sleeve, and attention should be paid to the cooperation between the winding direction and the motor rotation direction to avoid the line head from being untied during rotation, and then glue is dropped to fix it, the lower end of the Kevlar wire passes through two through holes 5-1-2 of the lower end plate, and is knotted and fixed at a certain height from the surface of the lower end plate to support trigger ball 2-2-7, forming a regular triangle to ensure that the left and right of lower end plate 5-1 bear the same force, and the specific height of the knot depends on the predetermined compression amount of the carbon fiber bow; the shaft sleeve is sleeved into the speed reduction motor motor shaft to complete the assembly of the release mechanism.

[0066] As Figure 9As shown, the bionic forelimb 3 includes: forelimb large arm 3-1, forelimb small arm 3-2, forelimb flipper 3-3, which are placed on both sides of the front of the torso 2 in left-right symmetry by 3D printing additive manufacturing. Among them, the post one 2-2-2 and the post two 2-2-3 of the aforementioned release mechanism 2-2 are provided with a limiting groove, and the forelimb large arm 3-1 is connected with the limiting groove through a steel wire shaft to form a shoulder joint; the top end of the forelimb small arm 3-2 is provided with a bifurcated structure, and the bottom end of the forelimb large arm 3-1 extends into the bifurcated structure and is connected with the top end of the forelimb small arm 3-2 through a steel wire shaft to form an elbow joint; the forelimb flipper 3-3 is connected with the bottom end of the small arm 3-2 through a steel wire shaft to form an ankle joint; the joint connection parts are all interference fit to ensure a certain rotational damping of the joint. The limiting groove is designed as a box shape to ensure that the forelimb large arm 3-1 can only rotate forward; the rotational damping can ensure that the bionic frog will not fall down due to its own weight when it is placed still.

[0067] As shown in Figure 10 and Figure 11 As shown, the bouncing hindlimb 4 includes: 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, which is placed on both sides of the torso 2 in left-right symmetry by studying the posture of the frog at the moment of take-off, can maximize the working distance of the energy storage process, and is convenient for using rotating hinges and other simpler structures to simulate the frog shoulder joint, hip joint, elbow joint and other parts. Among them, the hip joint 4-1 is connected with the upper end plate slot 1-2-3 on the upper end plate 1-2 in the middle position; the knee joint one 4-2 and the knee joint two 4-3 are connected with each other through a steel wire shaft; the ankle joint 4-4 is connected with the lower end plate slot 5-1-1 on the edge of the lower end plate 5-1 in the middle position; the connecting rod carbon sheet 4-5 is inserted into the grooves of each joint, and is glued to connect the hip joint 4-1 with the knee joint one 4-2, the knee joint two 4-3 with the ankle joint 4-4, and left and right to form a four-bar linkage deformation mechanism; the rotating hinge 4-6 is connected with the two slots on the outer side of the edge of the upper end plate 1-2 and the lower end plate 5-1, and is distributed in mirror symmetry up and down, which can maximize 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, and is flush with the outer surface of the hinge and fixed by gluing; the rotating hinge 4-6 and the carbon fiber bow 4-7 form a carbon fiber bow deformation mechanism, which is connected in parallel with the aforementioned four-bar linkage deformation mechanism to form a carbon fiber bow parallel four-bar linkage mechanism; the hip joint 4-1, the ankle joint 4-4 and the rotating hinge 4-6 are connected with the upper and lower end plates through slender steel wire shafts to simulate the frog shoulder joint, hip joint, elbow joint and other parts through simpler structures such as rotating pairs.

[0068] The carbon fiber bow 4-7 adopts T300 level composite carbon fiber sheet, which has mature technology, low price, high specific strength and light weight, and excellent mechanical properties.

[0069] Different from the fact that the biological world only uses its muscles to work in one stroke, a brand-new multiple work accumulation principle is adopted, a motor is repeatedly rotated for multiple rounds, a carbon fiber bow and a parallel four-bar linkage mechanism are driven to compress and store energy for a long time without interruption before jumping, so that the energy storage time and jumping energy of the jumping robot are increased, the natural limitation of the limited single burst energy of the biological world is broken, compared with the traditional linkage structure, the upper limit of energy storage is improved, the jumping distance can be about 60 times the body length, the maximum jumping distance can be more than 6m, and the jumping performance is extremely high.

[0070] As shown in the figure, Figure 12 As shown in the figure, the supporting rear leg 5 comprises a lower end plate 5-1, a rear leg fin 5-2 and a steel shaft 5-3, which are symmetrically arranged on the lower side of the rear leg. The lower end plate 5-1 is made of 3D printing additive manufacturing technology to reduce weight and improve jumping distance, the outer edge is provided with three lower end plate notches 5-1-1 at the same position as the edge of the upper end plate, which is used to cooperate with the ankle joint 4-4 and the rotating hinge 4-6 of the elastic rear leg 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 through the Kevlar line, and the hole groove 5-1-3 is used to insert the steel shaft 5-3 to connect the symmetric lower end plates; the root of the rear leg fin 5-2 is vertically connected to the bottom surface of the lower end plate 5-1 and is fixed, and the rear leg fin palm is connected to the rear leg fin palm at an angle of 45°, and the palm is placed parallel to the ground to maintain the 45° angle between the overall trunk of the bionic frog and the ground, that is, the take-off angle. The palm bottom should be pasted with double-sided tape and stuck to the ground to ensure that it does not slip when facing the instant take-off force; maintaining a 45° take-off angle can more ideally balance the relationship between jumping height and jumping distance, and the bionic frog can have the longest carbon fiber bow 4-7 in a unit size of space.

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

[0072] As shown in the figure, Figure 1 After the bionic frog jumping robot is assembled, the rear leg is fixed to the ground and the bionic forelimb is adjusted to an appropriate height for support, the guide shaft opening side is placed on the lower end expansion platform of the elastic sheet, and the elastic jumping preparation stage is entered. Press the remote controller, the remote control signal board receives the signal, controls the speed reducer motor to start rotating, slowly winds the Kevlar line from the shaft sleeve to the motor shaft, the guide shaft opening side wire shaft can realize the Kevlar line direction changing effect, with the gradual winding and shortening of the Kevlar line, the trigger ball slowly rises, the double carbon fiber bow parallel four-bar linkage mechanism of the elastic rear leg is slowly compressed, when the trigger ball touches the elastic sheet at the maximum diameter, the elastic sheet is bent outward, the guide shaft falls off from the elastic sheet expansion platform, the Kevlar line, the carbon fiber bow and the four-bar linkage mechanism are released instantly, a huge elastic force is generated to jump forward, and the jumping motion is completed.

[0073] In the description of the specification, the description of the terms "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment / way or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments / ways or examples. In addition, the person skilled in the art can combine and combine the different embodiments / ways or examples described in the specification and the features of the different embodiments / ways or examples, without contradiction.

[0074] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0075] The person skilled in the art should understand that the above-mentioned embodiments are only for clearly illustrating the present application, and are not intended to limit the scope of the present application. Based on the above disclosure, other changes or modifications can also be made by those skilled in the art, and these changes or modifications are still within the scope of the present application.

Claims

1. A biomimetic frog jumping robot, characterized by, The application relates to a robot with a head, a trunk, a bionic forelimb, a bouncing hind limb and a supporting hind foot. The head comprises an upper end plate, the head is connected with the trunk through the upper end plate, and the bionic forelimb is placed on the two sides of the front part of the trunk in a left-right symmetrical mode. The head further comprises a protective head shell and a remote control signal plate; the upper end plate is manufactured by 3D printing, is internally designed with a through hole, and is symmetrically designed with a plurality of upper end plate notches on the left and right sides; the remote control signal plate is attached to the motor shell of a speed reducer motor. The supporting hind foot comprises a lower end plate; the bouncing hind limb is arranged on the rear part of the trunk along the body length direction, is connected with the trunk through the upper end plate and the lower end plate, and the supporting hind foot is arranged on the rear side of the lower end plate and can be in contact with the ground. The supporting hind foot further comprises a hind foot web, and the hind foot web is placed on the lower side of the hind limb in a left-right symmetrical mode. The lower end plate is manufactured by 3D printing to reduce weight and improve jumping distance, the outer side edge is provided with three lower end plate notches at the same positions as the edge of the upper end plate, is used for matching the ankle joint and the rotating hinge of the bouncing hind limb, the inner side edge of the lower end plate is provided with a through hole and two hole grooves, the through hole is used for penetrating a Kevlar line, and the hole grooves are used for inserting steel shafts to connect the left and right symmetrical lower end plates. The trunk further comprises a release mechanism, and the release mechanism comprises a spring, a first vertical column, a second vertical column, a guide shaft, a shaft sleeve, a Kevlar line and a trigger ball. The spring, the first vertical column and the second vertical column are connected with the lower surface of the upper end plate, the spring is arranged on the rear side of the speed reducer gear set, the first vertical column and the second vertical column are symmetrically arranged on the left and right sides of the speed reducer gear set, the lower parts of the first vertical column and the second vertical column are designed with through holes, and the guide shaft is connected with the vertical column through a steel wire shaft. The protective head shell is glued and fixed with the upper surface of the upper end plate, the edge size of the protective head shell is consistent with the edge size of the upper end plate, the motor shell of the speed reducer motor and the remote control signal plate are hidden and protected in the interior of the protective head shell.

2. The bionic frog jumping robot according to claim 1, characterized in that, The trunk comprises a speed reducer motor, a battery and a trunk shell.

3. The bionic frog jumping robot according to claim 1, characterized in that, The speed reducer motor comprises a motor shell, a speed reducer gear set and a motor shaft, the motor shell is glued and adhered with the upper end plate, the speed reducer gear set is clamped on the lower side of the upper end plate, and the upper cover of the speed reducer gear set is glued and adhered with the lower surface of the upper end plate. The bionic forelimb comprises a forelimb large arm, a forelimb small arm and a forelimb web, and is placed on the two sides of the front part of the trunk in a left-right symmetrical mode.

4. The biomimetic frog hopping robot according to claim 1, wherein, The bouncing hind limb comprises a hip joint, an elbow joint one, an elbow joint two, an ankle joint, a connecting rod carbon sheet, a rotating hinge and a carbon fiber arch, and is placed on the two sides of the trunk in a left-right symmetrical mode.

5. The biomimetic frog hopping robot according to claim 1, wherein, The root of the hind foot web is vertically connected with the lower surface of the lower end plate and is fixed, and the root of the hind foot web is connected with the palm bottom at an angle of 45 degrees.

6. The biomimetic frog hopping robot according to claim 1, wherein, ​

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