Bionic frog bouncing projection robot

Abstract

The invention relates to the technical field of bionic robots, and particularly discloses a bionic frog bouncing projection robot which comprises a frog body, a driving motor is arranged on the front side of the bottom of the frog body, two rear legs are arranged on the rear side of the frog body, and a bouncing power mechanism is arranged on the inner side of the frog body. And the bouncing power mechanism is connected with the rear leg through a third traction rope. According to the bionic frog bouncing projection robot, the two rear legs which are in meshed linkage are used, one rear leg stretches and bends to be in linkage with the other rear leg to stretch and bend, the two legs synchronously exert force, and the stability of bionic frog bouncing is guaranteed. The bouncing power mechanism takes an extension spring as a core, and two ends are respectively connected with the driving motor and the rear legs through a first traction rope and a third traction rope. And one motor can be used for control, so that the electric energy consumption of the robot is reduced, and excessive storage batteries and driving equipment of the whole robot can be saved.

Description

Technical Field

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

[0002] In recent years, the research on jumping robots has become a hot topic in the military and detection fields. Frogs are small in size and have good jumping performance. They are widely used as bionic objects. They can easily jump over obstacles or ditches that are several times or even dozens of times their own height, and are more suitable for complex and unpredictable environments. In addition, the suddenness and explosiveness of their jumping movements help robots avoid danger.

[0003] Existing jumping machines have uncertainties in both the take-off angle and the jumping direction. Some robots have inconsistent force in their two legs at the moment of take-off, which causes the leg movement trajectory to be unstable during the take-off process, making it impossible to determine the robot's jumping direction, which is not conducive to actual operations.

[0004] Dynamic coupling is also an important factor affecting the jumping effect of the bionic frog. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic frog bouncing and projecting robot to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A bionic frog bouncing and projecting robot comprises a frog body, a driving motor is arranged on the front side of the bottom of the frog body, two hind legs are arranged on the rear side of the frog body, a bouncing power mechanism is arranged on the inner side of the frog body, the bouncing power mechanism is connected to the hind legs through a third traction rope, one end of the bouncing power mechanism away from the hind legs is connected to the output end of the driving motor through a first traction rope, a trigger mechanism penetrating the frog body is arranged in the middle of the bouncing power mechanism, and the bouncing power mechanism is connected to the trigger mechanism through a second traction rope.

[0008] Preferably, the hind legs include a thigh, one end of the thigh connected to the frog body is provided with a gear, the gears at the two ends of the thigh are meshed and connected, the end of the thigh away from the gear is rotatably connected to the calf, and the end of the calf is rotatably connected to the flipper.

[0009] Preferably, a wire groove is provided in the middle of the circumferential outer wall of the gear, a wiring hole is provided on the thigh, and the third traction rope is connected to the wiring hole along the wire groove.

[0010] Preferably, the bouncing power mechanism includes a tension spring, and both ends of the tension spring are respectively connected to a first connector and a second connector, the first connector is respectively connected to the first traction rope and the second traction rope, and the second connector is connected to the third traction rope.

[0011] Preferably, a tube hole is provided at the center of the first connecting head, and the second traction rope passes through the tube hole.

[0012] Preferably, the outer wall of the first connecting head is provided with a second pulley connected to the first traction rope.

[0013] Preferably, a first pulley is provided at the front end of the inner side of the frog body, and the first traction rope passes around the first pulley and passes through the frog body to be connected with the output end of the driving motor.

[0014] Preferably, the trigger mechanism includes a hook with one end rotatably connected to the top of the frog body, the other end of the hook is rotatably connected to a lever, the bottom of the frog body is rotatably connected to a hook, and the free end of the hook penetrates the frog body and passes through the middle of the bouncing power mechanism to engage with the hook.

[0015] Preferably, the bottom where the lever is connected to the hook is provided with an arc-shaped supporting head.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The bionic frog jumping and projecting robot uses two meshing and linked hind legs. One hind leg extends and flexes in conjunction with the other, and the two legs exert force synchronously, ensuring the stability of the bionic frog's jumping. The jumping power mechanism uses a tension spring as the core, and the two ends are connected to the drive motor and the hind legs through the first traction rope and the third traction rope respectively. The first traction rope is wound up by the driving motor, so that the tension spring is pulled to store energy for the robot's jumping. The second traction rope is connected to the tension spring and one end of the first traction rope is connected. By setting the length of the second traction rope, the relationship between the trigger point of the trigger mechanism and the stretching length of the tension spring is controlled, and then the robot's jumping distance is controlled according to the elastic coefficient and extension length of the spring. It can be controlled using one motor, which reduces the robot's power consumption, and the robot as a whole can save too much weight of batteries and drive equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of a frog's abdomen in a preferred embodiment of the present invention;

[0019] Figure 2 This is a schematic structural diagram of a frog's back in a preferred embodiment of the present invention;

[0020] Figure 3This is a schematic diagram of the internal structure of a frog in a preferred embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the hind legs in a preferred embodiment of the present invention;

[0022] Figure 5 It is a schematic structural diagram of a trigger mechanism in a preferred embodiment of the present invention.

[0023] In the figure: 1. frog body, 2. hind legs, 21. thighs, 22. calves, 23. gears, 24. wire grooves, 25. third traction ropes, 26. wiring holes, 3. trigger mechanisms, 31. hooks, 32. hooks, 33. levers, 4. drive motors, 5. first traction ropes, 6. first pulleys, 7. bouncing power mechanisms, 71. tension springs, 72. first connectors, 73. second pulleys, 74. second connectors, 8. second traction ropes. DETAILED DESCRIPTION

[0024] 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.

[0025] See also Figure 1-5 , the present invention provides a technical solution:

[0026] A bionic frog bouncing and projecting robot comprises a frog body 1, a driving motor 4 is arranged at the bottom front side of the frog body 1, and the driving motor 4 is connected to a battery fixed on the back of the frog body 1. Two hind legs 2 are arranged at the rear side of the frog body 1, and a bouncing power mechanism 7 connected to the two hind legs 2 is arranged on the inner side of the frog body 1, and the bouncing power mechanism 7 is connected to the hind legs 2 through a third traction rope 25. After the bouncing power mechanism 7 is triggered, the hind legs 2 are pulled straight by the third traction rope 25, thereby achieving the purpose of bouncing.

[0027] The end of the bouncing power mechanism 7 away from the hind leg 2 is connected to the output end of the driving motor 4 through the first traction rope 5. The driving motor 4 works and rotates. One end of the first traction rope 5 is fixed to the output end of the driving motor 4. The output end of the driving motor 4 rotates, and the first traction rope 5 is continuously wound around the output end of the driving motor 4 until the bouncing power mechanism 7 is triggered to pull the hind leg 2.

[0028] The middle part of the bouncing power mechanism 7 is provided with a trigger mechanism 3 penetrating the frog body 1, and the trigger mechanism 3 is used to fix the end of the bouncing power mechanism 7 close to the hind leg 2. The bouncing power mechanism 7 is connected to the trigger mechanism 3 through the second traction rope 8. The trigger mechanism 3 is connected to the top of the bouncing power mechanism 7, and when the driving motor 4 reels the first traction rope 5, the top of the bouncing power mechanism 7 is pulled to move, and the top of the bouncing power mechanism 7 drives the second traction rope 8. When the second traction rope 8 is tightened until the trigger mechanism 3 is pulled, the trigger mechanism 3 releases the restraint on the end of the bouncing power mechanism 7 close to the hind leg 2, so that the bouncing power mechanism 7 can quickly pull the hind leg 2 to straighten and realize bouncing.

[0029] The hind leg 2 includes a thigh 21, and a gear 23 is provided at one end of the thigh 21 connected to the frog body 1. The gears 23 at the ends of the two thighs 21 are meshed and connected. The connection of the two thighs 21 is connected by two gears 23, so that the two thighs 21 rotate synchronously to avoid the deviation of the jumping direction caused by the inconsistent rotation speed and force of the two thighs 21. The end of the thigh 21 away from the gear 23 is rotatably connected to the shank 22, and the end of the shank 22 is rotatably connected to the flipper. In order to increase the overall stability of the frog, the flipper can be increased in size.

[0030] An arc-shaped wire groove 24 is provided in the middle of the circumferential outer wall of the gear 23, and a wiring hole 26 is provided on the thigh 21. The third traction rope 25 is connected to the wiring hole 26 along the wire groove 24 to the inner wall of the thigh 21. When the third traction rope 25 is pulled by the tension spring 71, the ends of the two thighs 21 away from the gear 23 are brought closer to each other, and at the same time, the two calves 22 are brought closer to each other, so that the hind legs 2 are straightened, and then the jumping is realized. The height of the jumping depends on the elastic coefficient of the tension spring 71, and the selection of the tension spring 71 can be made according to actual needs.

[0031] The bouncing power mechanism 7 includes a tension spring 71, and the two ends of the tension spring 71 are respectively connected to a first connector 72 and a second connector 74. The first connector 72 is respectively connected to the first traction rope 5 and the second traction rope 8. A tube hole is provided at the center of the first connector 72, and the second traction rope 8 passes through the tube hole. The outer wall of the first connector 72 is provided with a second pulley 73 connected to the first traction rope 5.

[0032] The first connector 72 is a round tube, and a pulley is arranged on the outer wall of the first connector 72. One end of the first traction rope 5 is sleeved in the groove of the second pulley 73, so that when the first traction rope 5 pulls one end of the bouncing power mechanism 7, the second pulley 73 rolls to prevent the first connector 72 from contacting the inner wall of the frog body 1 to increase the friction force of movement; the second traction rope 8 passes through the tube core of the first connector 72. The second connector 74 is connected to the third traction rope 25, and one end of the two third traction ropes 25 is respectively connected to the two thighs 21, and the other end is fixed to the outer wall of the second connector 74.

[0033] A first pulley 6 is provided at the front end of the inner side of the frog body main body 1. The first traction rope 5 passes around the first pulley 6 and passes through the frog body main body 1 to be connected with the output end of the drive motor 4. The output end of the drive motor 4 is wound around the first traction rope 5 when working. The first traction rope 5 passes through the outer surface of the first pulley 6. The first traction rope 5 is guided by the first pulley 6 to make the first traction rope 5 face the output shaft of the drive motor 4, thereby avoiding the contact between the first traction rope 5 and the frog body 1 due to the need to turn when the first traction rope 5 is connected to the drive motor 4, thereby reducing the wear of the first traction rope 5.

[0034] The trigger mechanism 3 includes a hook 32 with one end rotatably connected to the top of the frog body 1, and the other end of the hook 32 is rotatably connected to an L-shaped lever 33, and one end of the lever 33 is connected to the second traction rope 8. The bottom of the frog body 1 is rotatably connected to a hook 31, and the free end of the hook 31 penetrates the frog body 1 and passes through the middle of the bouncing power mechanism 7 to be engaged with the hook 32. One end of the hook 31 is rotatably connected to the bottom of the frog body 1, and the other end is engaged with one end of the hook 32. When the free end of the hook 31 is engaged with the hook 32, the hook 31 blocks the second connector 74.

[0035] The bottom where the lever 33 and the hook 32 are connected is provided with an arc-shaped supporting head.

[0036] The second connector 74 is blocked by passing the free end of the hook 31 through the frog body 1 and clamping it on the hook 32. The driving motor is operated to reel in the first traction rope 5, so that the tension spring 71 is pulled to store energy for the robot to jump. The second traction rope 8 is connected to one end of the first traction rope 5 connected to the tension spring 71, and the length of the second traction rope 8 is set. When the tension spring 71 is stretched, the second traction rope 8 is also stretched. When the second traction rope 8 is stretched to a certain length, the L-shaped lever 33 is pulled to flip. The L-shaped lever 33 tilts one end of the hook 32, so that the hook 31 is separated from the hook 32, and the second connector 74 loses its obstruction. The tension spring 71 quickly pulls the third traction rope 25, and the third traction rope 25 pulls the thigh 21 to rotate, so that the hind leg 2 is quickly straightened as a whole, thereby achieving jumping.

[0037] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0039] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic frog jumping and projecting robot, comprising a frog body (1), characterized in that: A driving motor (4) is arranged at the front side of the bottom of the frog body (1); two hind legs (2) are arranged at the rear side of the frog body (1); a bouncing power mechanism (7) is arranged on the inner side of the frog body (1); the bouncing power mechanism (7) is connected to the hind legs (2) via a third traction rope (25); one end of the bouncing power mechanism (7) away from the hind legs (2) is connected to the output end of the driving motor (4) via a first traction rope (5); a trigger mechanism (3) penetrating the frog body (1) is arranged in the middle of the bouncing power mechanism (7); the bouncing power mechanism (7) is connected to the trigger mechanism (3) via a second traction rope (8).

2. A bionic frog bouncing and projecting robot according to claim 1, characterized in that: The hind leg (2) comprises a thigh (21), one end of the thigh (21) connected to the frog body (1) is provided with a gear (23), the gears (23) at the ends of the two thighs (21) are meshed and connected, the end of the thigh (21) away from the gear (23) is rotatably connected to the calf (22), and the end of the calf (22) is rotatably connected to a flipper.

3. The bionic frog jumping and projecting robot according to claim 12, characterized in that: A wire groove (24) is provided in the middle of the circumferential outer wall of the gear (23), a wire fixing hole (26) is provided on the thigh (21), and the third traction rope (25) is connected to the wire fixing hole (26) along the wire groove (24).

4. The bionic frog jumping and projecting robot according to claim 1, characterized in that: The bouncing power mechanism (7) comprises a tension spring (71), the two ends of the tension spring (71) are respectively connected to a first connector (72) and a second connector (74), the first connector (72) is respectively connected to a first traction rope (5) and a second traction rope (8), and the second connector (74) is connected to a third traction rope (25).

5. The bionic frog jumping and projecting robot according to claim 4, characterized in that: A tube hole is provided at the center of the first connecting head (72), and the second traction rope (8) passes through the tube hole.

6. The bionic frog jumping and projecting robot according to claim 4, characterized in that: The outer wall of the first connecting head (72) is provided with a second pulley (73) connected to the first traction rope (5).

7. The bionic frog jumping and projecting robot according to claim 1, characterized in that: A first pulley (6) is provided at the front end of the inner side of the frog body (1), and the first traction rope (5) passes around the first pulley (6) and penetrates the frog body (1) to be connected to the output end of the drive motor (4).

8. The bionic frog jumping and projecting robot according to claim 1, characterized in that: The trigger mechanism (3) comprises a hook (32) having one end rotatably connected to the top of the frog body (1); the other end of the hook (32) is rotatably connected to a lever (33); the bottom of the frog body (1) is rotatably connected to a hook (31); the free end of the hook (31) penetrates the frog body (1) and passes through the middle of the bouncing power mechanism (7) to be engaged with the hook (32).

9. The bionic frog jumping and projecting robot according to claim 8, characterized in that: The bottom portion where the lever (33) and the hook (32) are connected is provided with an arc-shaped supporting head.

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