A bionic bouncing device with adjustable jumping degree

Abstract

The present invention discloses a bionic bouncing device with adjustable jumping degree, which specifically relates to the technical field of bionic robots, including a machine shell, a sleeve column, a bracket and a jumping angle adjustment mechanism; wherein the jumping angle adjustment mechanism includes a reduction motor, a driving gear, a driven gear, a rotating shaft, a sleeve plate, an arc groove plate, a driving motor, an offset wheel and a torque sensor, wherein the torque sensor is fixedly connected to the sleeve column; a positioning friction mechanism is installed on one side of the sleeve column. The present invention has the function of accurately adjusting the in-situ bouncing angle of the machine shell according to actual use needs through the jumping angle adjustment mechanism, so that the bouncing angle of the machine shell can be accurately controlled during use, so that the bionic bouncing applicability of the machine shell is better, which solves the problem that the bouncing angle is difficult to accurately control during use, resulting in poor bouncing applicability of the bionic manipulator part.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and more specifically to a bionic bouncing device with adjustable jumping degree. Background Art

[0002] Bionic jumping devices can be designed for robots to enable them to move quickly and overcome obstacles. Such robots can use the efficient energy conversion and storage mechanism of jumping legs to achieve rapid jumping and crossing obstacles, thereby performing search and rescue tasks in complex environments.

[0003] After searching the existing published technical documents, the Chinese patent announcement number CN216505167U discloses a bionic cockroach detection robot, which is connected to two six-bar linkages through the other end of the shortest rod, each of which includes two quadrilateral linkages, and the end of each quadrilateral linkage is fixed with the robot's shock-absorbing foot joint, and a bouncing device is set on the lower side of the shock-absorbing foot joint. This technology can swiftly pass through rubble and narrow spaces, has a buffering function in the air, and can bounce on the ground. However, the robot still has the following problems when in use.

[0004] Although the robot can jump at a fixed position when it is used for bouncing, during the bouncing process, the bouncing offset angle is difficult to accurately calibrate and position, so the jumping angle direction is single, and it is difficult to accurately adjust the in-situ bouncing angle according to actual use needs. The bouncing angle is difficult to accurately control during use, resulting in poor bouncing applicability of the bionic manipulator. Therefore, a bionic bouncing device with adjustable jumping degree is provided. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a bionic bouncing device with adjustable jumping degree.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bionic bouncing device with adjustable jumping degree, comprising a machine shell, a sleeve column and a bracket, wherein the sleeve column is fixed on the lower surface of the machine shell, the bracket is fixedly connected to one side of the outer wall of the sleeve column, and the bottom end of the bracket is provided with a jumping angle adjustment mechanism; the jumping angle adjustment mechanism comprises a reduction motor fixedly arranged at the bottom end of the bracket, and the outer wall of the output end of the reduction motor is fixedly connected with a driving gear, the outer wall of the driving gear is meshingly connected with a driven gear, the inner wall of the driven gear is fixedly connected with a rotating shaft, and the outer wall of the rotating shaft is rotatably connected with the sleeve column.

[0007] The inner wall of the sleeve column is rotatably connected with a sleeve plate, and the sleeve plate is fixedly connected to the rotating shaft, arc-shaped slot plates are fixedly installed on both sides of the sleeve plate, and a driving motor is fixedly connected to one side of each arc-shaped slot plate, and an offset wheel is fixedly installed on the output end of the driving motor; the outer wall of the output end of the driving motor and the offset wheel are rotatably connected to the arc-shaped slot plates, a torque sensor is fixedly installed on one end of the rotating shaft, and the torque sensor is fixedly connected to the sleeve column; a positioning friction mechanism is installed on one side of the sleeve column.

[0008] Preferably, the two arc-shaped groove plates are symmetrically arranged about the sleeve plate, and the two arc-shaped groove plates and the sleeve plate are both made of carbon fiber material. Both sides of the machine shell are fixedly connected with connecting shafts, and one end of each connecting shaft is fixedly installed with a buffer frame, and the inner wall of the buffer frame is rotatably connected with a hinge rod; the outer wall of the hinge rod is rotatably connected with a bionic mechanical front leg, and the bionic mechanical front leg is rotatably connected to the buffer frame, and a spring sheet is installed on one side of the buffer frame, and the buffer frame and the bionic mechanical front leg are fixedly connected to the spring sheet. An articulated shaft is fixedly connected to one side of the inner wall of the machine shell, and a sleeve electric cylinder is rotatably connected to the outer wall of the articulated shaft, and an articulated sleeve block is fixedly installed at the output end of the sleeve electric cylinder; an articulated sleeve frame is rotatably connected to the inner wall of the articulated sleeve block, and a transmission shaft is fixedly connected to the inner wall of the articulated sleeve frame, and jumping shafts are fixedly installed at both ends of the transmission shaft, and the two jumping shafts are rotatably connected to the machine shell; a wireless controller is provided below the articulated sleeve frame, and a battery is fixedly installed between the wireless controller and the machine shell.

[0009] Preferably, the outer wall of the jumping shaft is fixedly connected with a transmission gear, the transmission gear is rotatably connected to the machine shell, an articulated mechanical arm is fixedly installed on one side of the transmission gear, and the inner wall of the articulated mechanical arm is rotatably connected to the jumping sleeve arm; the outer wall of the transmission gear is meshingly connected with a linkage gear, and the inner wall of the linkage gear is fixedly installed with a linkage shaft, the outer wall of the linkage shaft is rotatably connected to the inner wall of the machine shell, an articulated pressure arm is fixedly installed on one side of the linkage gear, and the inner wall of the linkage shaft is rotatably connected to the articulated rotating arm; the inner wall of the articulated rotating arm is rotatably connected to a bionic mechanical hind leg, and the bionic mechanical hind leg is rotatably connected to the jumping sleeve arm, and the outer wall of the bionic mechanical hind leg is set to a smooth surface.

[0010] In this technical solution, the reduction motor drives the driving gear to rotate forward, the driving gear drives the driven gear to rotate clockwise, the rotating shaft rotates clockwise on the sleeve column, and the sleeve plate drives the two arc-shaped slot plates to rotate vertically clockwise. The driving motor drives the offset wheel to rotate vertically clockwise. When the torque value sensed by the torque sensor is the same as the torque value set by the wireless controller, the offset wheel can contact the ground according to the specified extrusion force. The driving motor drives the offset wheel to rotate counterclockwise, and the offset wheel causes the output end of the driving motor to drive the arc-shaped slot plate to rotate horizontally clockwise, the rotating shaft drives the sleeve column to rotate horizontally clockwise, the machine shell drives the rotating column to rotate horizontally clockwise, and the two limit swivels rotate horizontally clockwise on the sleeve. The connecting shaft supports the sleeve to remain stationary, so that the machine shell can rotate at the bouncing angle. The bionic mechanical front legs and bionic mechanical hind legs both rotate horizontally clockwise.

[0011] Preferably, the positioning friction mechanism comprises a rotating column mounted on one side of the sleeve column, and the rotating column is fixedly connected to the machine housing; the outer wall of the rotating column is rotatably connected to a sleeve, and the upper and lower surfaces of the sleeve are rotatably connected to a limit swivel, and the two limit swivels are fixedly connected to the rotating column, and an extrusion electric cylinder is provided on one side of one of the limit swivels, and the extrusion electric cylinder is fixedly connected to the sleeve; a pressure sensor is fixedly installed on the output end of the extrusion electric cylinder, and a pressure strip is fixedly connected to the bottom end of the pressure sensor, and a friction block is fixedly installed on the bottom end of the pressure strip, and a contact friction block is slidably connected to the outer wall of the friction block; two connecting shafts are fixedly connected between the contact friction block and the sleeve; an angle offset indicating assembly is provided on one side of the outer wall of the contact friction block, the two limit swivels are symmetrically arranged about the sleeve, the sleeve and the limit swivel are both made of carbon fiber material, the two connecting shafts are symmetrically arranged about the center point of the rotating column, and the cross-sectional shapes of the two connecting shafts are both circular.

[0012] In this technical solution, the extrusion electric cylinder pushes the pressure sensor downward, the pressure sensor drives the pressure strip downward, and the friction block moves downward along the inner wall of the contact friction block. When the pressure value sensed by the pressure sensor is the same as the pressure value set by the wireless controller, the extrusion electric cylinder is closed by the wireless controller. The rotating column drives the two limit rotating rings downward, the sleeve squeezes the two connecting shafts downward, and the bottom surface of the contact friction block rubs against the ground position, so that the contact friction block and the bottom surface of the friction block can increase the contact friction force, and firmly realize the positioning friction of the connecting shaft and the sleeve.

[0013] Preferably, the angle offset indication assembly comprises a reinforcement frame fixedly arranged on one side of the outer wall of the contact friction block; a camera is fixedly installed on one side of the inner wall of the reinforcement frame, a support block is fixedly connected to the upper surface of the camera, and a fixed laser pen is fixedly installed on one side of the support block; an offset laser pen is installed above the fixed laser pen, and a support bar is fixedly connected to the top of the offset laser pen, and the support bar is fixedly connected to the socket column. The lower inclined surface of the support block is arranged parallel to the lower inclined surface of the camera, and a gap is formed between the support bar and the support block.

[0014] In this technical solution, the support bar drives the offset laser pen to rotate horizontally clockwise. After the fixed laser pen is turned on, the fixed laser pen can generate a red laser line position at a fixed position. The camera is remotely turned on through the wireless controller, and the camera collects the laser line position of the fixed laser pen and the offset laser line position of the offset laser pen. When the laser line position of the offset laser pen is offset to the specified bouncing direction, the reduction motor is turned off through the wireless controller.

[0015] Technical effects and advantages of the present invention:

[0016] 1. The present invention uses a jumping angle adjustment mechanism, a reduction motor drives the driving gear to rotate forward, and the driving gear drives the driven gear to rotate clockwise. When the outer wall of the offset wheel touches the ground downward, the torque force of the rotating shaft is sensed by the torque sensor, and the offset wheel can contact the ground according to a specified extrusion force. The driving motor drives the offset wheel to rotate counterclockwise, and the offset wheel enables the output end of the driving motor to drive the arc groove plate to rotate clockwise horizontally, and the sleeve column drives the machine shell to rotate clockwise horizontally. The machine shell can realize precise adjustment of the in-situ bouncing angle according to actual use needs, so that the bouncing angle of the machine shell can be accurately controlled when it is used, thereby having better bionic bouncing applicability of the machine shell.

[0017] 2. The present invention utilizes a positioning friction mechanism, and pushes the pressure sensor downward by an extrusion electric cylinder. The pressure sensor drives the pressure strip downward, and the friction block moves downward along the inner wall of the contact friction block. The friction surface at the bottom of the friction block can be pressed and contacted on the ground. When the pressure value sensed by the pressure sensor is the same as the pressure value set by the wireless controller, the extrusion electric cylinder is closed by the wireless controller, and the rotating column drives the two limit rotating rings to move downward. The two limit rotating rings squeeze the sleeve downward, and the contact friction block and the bottom surface of the friction block can increase the contact friction force, firmly realizing positioning friction on the connecting shaft and the sleeve, and the machine shell can make the two limit rotating rings rotate horizontally clockwise on the sleeve, while the contact friction block and the bottom surface of the friction block realize positioning friction and remain motionless, so that the machine shell can stably and accurately adjust the in-situ bouncing angle, and the bouncing angle of the machine shell can be accurately controlled when used.

[0018] 3. The present invention adopts an angle offset indicating component, so that when the sleeve column rotates clockwise horizontally, it will drive the supporting bar to rotate synchronously, and the laser line position of the offset laser pen can be offset at an angle. The reinforcement frame is supported by the contact friction block, and the reinforcement frame reinforces the camera. The reinforcement frame is supported by the contact friction block, and the reinforcement frame reinforces the camera. When the laser line position of the offset laser pen is offset to the specified bounce direction position, the laser line position of the offset laser pen is determined by the camera, and the offset angle position of the machine shell adjustment can be known. The offset adjustment angle of the machine shell can be accurately known, and the bounce angle of the machine shell can be accurately controlled during use, so that the bionic bounce applicability of the manipulator part of the machine shell is better.

[0019] According to the mutual influence of the above multiple effects, firstly, the friction block and the bottom surface of the friction block are contacted to achieve positioning friction, and then the offset wheel can contact the ground according to the specified extrusion force, and the driving motor drives the offset wheel to rotate counterclockwise, while fixing the laser line position of the laser pen as a reference, so that the specific offset position of the laser line position of the offset laser pen can be known, and finally the manipulator bounce operation is performed. In summary, the machine shell can realize the precise adjustment of the in-situ bounce angle, and the bounce angle of the machine shell can be accurately controlled during use, so that the bionic bounce applicability of the machine shell is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the main structure of the bionic bouncing device with adjustable jumping degree of the present invention.

[0021] Figure 2 It is a schematic diagram of the partial structure of the connection between the sleeve column and the bracket of the present invention.

[0022] Figure 3 It is a schematic diagram of the local structure of the connection between the reduction motor and the driving gear of the present invention.

[0023] Figure 4 It is a schematic diagram of the vertical cross-section structure of the bionic bouncing device with adjustable jumping degree of the present invention.

[0024] Figure 5 It is a schematic diagram of the partial structure of the connection between the jump shaft and the machine shell of the present invention.

[0025] Figure 6 The figure is a bottom-up structural schematic diagram of the bionic bouncing device with adjustable jumping degree according to the present invention.

[0026] Figure 7 It is a schematic diagram of a partial structure of the positioning friction mechanism of the present invention in a front view.

[0027] Figure 8 It is a schematic diagram of a partial structure of the positioning friction mechanism of the present invention when viewed from above.

[0028] Fig. 9 For the present invention Figure 6 Enlarged structural diagram at A in the middle.

[0029] The accompanying drawings are marked as follows: 1, machine housing; 2, sleeve column; 3, bracket; 4, reduction motor; 5, driving gear; 6, driven gear; 7, rotating shaft; 8, sleeve plate; 9, arc groove plate; 10, driving motor; 11, offset wheel; 12, torque sensor; 13, connecting support shaft; 14, buffer frame; 15, spring piece; 16, articulated rod; 17, bionic mechanical front leg; 18, articulated shaft; 19, sleeve electric cylinder; 20, articulated sleeve block; 21, articulated sleeve frame; 22, transmission shaft; 23, wireless controller; 24, battery; 25, Jumping shaft; 26. Transmission gear; 27. Articulated mechanical arm; 28. Jumping sleeve arm; 29. ​​Linkage gear; 30. Linkage shaft; 31. Articulated pressure arm; 32. Articulated rotating arm; 33. Bionic mechanical hind leg; 34. Rotating column; 35. Bushing; 36. Limiting swivel; 37. Extrusion electric cylinder; 38. Pressure sensor; 39. Pressure strip; 40. Friction block; 41. Contact friction block; 42. Connecting shaft; 43. Reinforcement frame; 44. Camera; 45. Support block; 46. Fixed laser pen; 47. Offset laser pen; 48. Support bar. DETAILED DESCRIPTION

[0030] 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.

[0031] As attached Figure 1-9 A bionic bouncing device with adjustable jumping degree is shown, and the bionic bouncing device with adjustable jumping degree is provided with a jumping angle adjustment mechanism, a positioning friction mechanism, and an angle offset indicating component. The settings of each mechanism and component can enable the machine shell 1 to achieve precise adjustment of the in-situ bouncing angle. The bouncing angle of the machine shell 1 can be precisely controlled during use, so that the bionic bouncing applicability of the manipulator part of the machine shell 1 is better. The specific structural settings of each mechanism and component are as follows.

[0032] In this embodiment, as shown in the attached Figure 1-3 As shown, the socket column 2 is fixed on the lower surface of the machine housing 1, the bracket 3 is fixedly connected to one side of the outer wall of the socket column 2, and the bottom end of the bracket 3 is provided with a jump angle adjustment mechanism; the jump angle adjustment mechanism includes a reduction motor 4 fixedly arranged at the bottom end of the bracket 3, and the outer wall of the output end of the reduction motor 4 is fixedly connected with a driving gear 5, the outer wall of the driving gear 5 is meshingly connected with a driven gear 6, the inner wall of the driven gear 6 is fixedly connected with a rotating shaft 7, and the outer wall of the rotating shaft 7 is rotatably connected to the socket column 2.

[0033] The inner wall of the sleeve column 2 is rotatably connected with a sleeve plate 8, and the sleeve plate 8 is fixedly connected to the rotating shaft 7, arc-shaped slot plates 9 are fixedly installed on both sides of the sleeve plate 8, and a driving motor 10 is fixedly connected to one side of each arc-shaped slot plate 9, and an offset wheel 11 is fixedly installed at the output end of the driving motor 10; the outer wall of the output end of the driving motor 10 and the offset wheel 11 are rotatably connected to the arc-shaped slot plate 9, a torque sensor 12 is fixedly installed at one end of the rotating shaft 7, and the torque sensor 12 is fixedly connected to the sleeve column 2; a positioning friction mechanism is installed on one side of the sleeve column 2.

[0034] In this embodiment, as shown in the attached Figure 1 As shown, both sides of the machine shell 1 are fixedly connected with connecting shafts 13, and one end of each connecting shaft 13 is fixedly installed with a buffer frame 14, and the inner wall of the buffer frame 14 is rotatably connected with a hinge rod 16; the outer wall of the hinge rod 16 is rotatably connected with a bionic mechanical front leg 17, and the bionic mechanical front leg 17 is rotatably connected to the buffer frame 14, and a spring piece 15 is installed on one side of the buffer frame 14, and the buffer frame 14 and the bionic mechanical front leg 17 are fixedly connected to the spring piece 15, so that when the machine shell 1 falls to the ground, the bionic mechanical front leg 17 can rotate on the outer wall of the hinge rod 16, the connecting shaft 13 supports the buffer frame 14, and the bionic mechanical front leg 17 rotates on the buffer frame 14 at the same time, the spring piece 15 is squeezed by force on the buffer frame 14, and the bionic mechanical front leg 17 and the buffer frame 14 can realize a buffering operation.

[0035] In this embodiment, as shown in the attached Figure 4-5 As shown, an articulated shaft 18 is fixedly connected to one side of the inner wall of the machine shell 1, and a sleeve electric cylinder 19 is rotatably connected to the outer wall of the articulated shaft 18, and an articulated sleeve block 20 is fixedly installed at the output end of the sleeve electric cylinder 19; an articulated sleeve block 20 is rotatably connected to an articulated sleeve frame 21, and a transmission shaft 22 is fixedly connected to the inner wall of the articulated sleeve frame 21, and both ends of the transmission shaft 22 are fixedly installed with jump shafts 25, and the two jump shafts 25 are rotatably connected to the machine shell 1; a wireless controller 23 is provided below the articulated sleeve frame 21, and a battery 24 is fixedly installed between the wireless controller 23 and the machine shell 1, so that the wireless controller 23 is powered by the battery 24, and the wireless controller 23 and the sleeve electric cylinder 19 push the articulated sleeve block 20 to tilt upward, and at the same time, the sleeve electric cylinder 19 rotates on the outer wall of the articulated shaft 18, and the articulated sleeve block 20 drives the articulated sleeve frame 21 to rotate clockwise, and the transmission shaft 22 drives the two jump shafts 25 to rotate clockwise.

[0036] The outer wall of the jump shaft 25 is fixedly connected with a transmission gear 26, which is rotatably connected to the machine housing 1. An articulated mechanical arm 27 is fixedly installed on one side of the transmission gear 26, and a jump sleeve arm 28 is rotatably connected to the inner wall of the articulated mechanical arm 27; the outer wall of the transmission gear 26 is meshingly connected with a linkage gear 29, and a linkage shaft 30 is fixedly installed on the inner wall of the linkage gear 29, and the outer wall of the linkage shaft 30 is rotatably connected to the inner wall of the machine housing 1, and an articulated pressure arm 31 is fixedly installed on one side of the linkage gear 29, and an articulated rotating arm 32 is rotatably connected to the inner wall of the linkage shaft 30. A bionic mechanical hind leg 33 is rotatably connected to the inner wall of the articulated rotating arm 32, and the bionic mechanical hind leg 33 is rotatably connected to the jumping sleeve arm 28, and the outer wall of the bionic mechanical hind leg 33 is set as a smooth surface, so that the transmission gear 26 drives the articulated mechanical arm 27 to rotate clockwise, and the jumping sleeve arm 28 approaches the articulated pressure arm 31. At the same time, the transmission gear 26 drives the linkage gear 29 to engage and rotate, and the linkage gear 29 drives the linkage shaft 30 to rotate counterclockwise, and the connection between the articulated pressure arm 31 and the articulated rotating arm 32 moves closer to the jumping sleeve arm 28, and the articulated rotating arm 32 can rotate on the bionic mechanical hind legs 33, so that the machine shell 1 can bounce upward.

[0037] In this embodiment, as shown in the attached Figure 6-8 As shown, the positioning friction mechanism includes a rotating column 34 installed on one side of the sleeve column 2, and the rotating column 34 is fixedly connected to the machine housing 1; the outer wall of the rotating column 34 is rotatably connected to a sleeve 35, and the upper and lower surfaces of the sleeve 35 are both rotatably connected to a limit ring 36, and the two limit rings 36 are both fixedly connected to the rotating column 34, and an extrusion electric cylinder 37 is provided on one side of one of the limit rings 36, and the extrusion electric cylinder 37 is fixedly connected to the sleeve 35; a pressure sensor 38 is fixedly installed at the output end of the extrusion electric cylinder 37, and a pressure strip 39 is fixedly connected to the bottom end of the pressure sensor 38, and a friction block 40 is fixedly installed at the bottom end of the pressure strip 39, and a contact friction block 41 is slidably connected to the outer wall of the friction block 40; two connecting shafts 42 are fixedly connected between the contact friction block 41 and the sleeve 35; an angle offset indication component is provided on one side of the outer wall of the contact friction block 41. The two limit rings 36 are symmetrically arranged about the sleeve 35, and the sleeve 35 and the limit ring 36 are both made of carbon fiber material. The two connecting shafts 42 are symmetrically arranged about the center point of the rotating column 34 , and the cross-sectional shapes of the two connecting shafts 42 are both circular.

[0038] In this embodiment, as shown in the attached Fig. 9As shown, the angle offset indication assembly includes a reinforcement frame 43 fixedly arranged on one side of the outer wall of the contact friction block 41; a camera 44 is fixedly installed on one side of the inner wall of the reinforcement frame 43, a support block 45 is fixedly connected to the upper surface of the camera 44, and a fixed laser pen 46 is fixedly installed on one side of the support block 45; an offset laser pen 47 is installed above the fixed laser pen 46, and a support bar 48 is fixedly connected to the top of the offset laser pen 47, and the support bar 48 is fixedly connected to the sleeve column 2. The lower inclined surface of the support block 45 is arranged parallel to the lower inclined surface of the camera 44, and a gap is formed between the support bar 48 and the support block 45.

[0039] The use principle of the bionic bouncing device with adjustable jumping degree of the present invention is as follows:

[0040] First, when the present invention performs positioning friction, the wireless controller 23 is powered by the battery 24, and the wireless controller 23 remotely starts the extrusion electric cylinder 37, which pushes the pressure sensor 38 downward, and the pressure sensor 38 drives the pressure strip 39 downward, and the pressure strip 39 makes the friction block 40 move downward. In this way, the friction block 40 moves downward along the inner wall of the contact friction block 41, and the friction surface at the bottom of the friction block 40 can be pressed and contacted on the ground. When the pressure value sensed by the pressure sensor 38 is the same as the pressure value set by the wireless controller 23, the extrusion electric cylinder 37 is closed by the wireless controller 23.

[0041] At the same time, the gravity of the machine housing 1 presses on the rotating column 34, and the rotating column 34 drives the two limiting rotating rings 36 to move downward, and the two limiting rotating rings 36 press the shaft sleeve 35 to move downward, and the shaft sleeve 35 presses the two connecting rotating shafts 42 to move downward, and the two connecting rotating shafts 42 press the contact friction block 41, and the bottom surface of the contact friction block 41 rubs against the ground. In this way, the contact friction block 41 and the bottom surface of the friction block 40 can increase the contact friction force, and firmly realize the positioning friction of the connecting rotating shaft 42 and the shaft sleeve 35.

[0042] Secondly, when the present invention adjusts the jumping angle, the machine shell 1 supports the sleeve column 2, the sleeve column 2 supports the bracket 3, the bracket 3 supports the reduction motor 4, and the wireless controller 23 starts the reduction motor 4 at the same time, the reduction motor 4 drives the driving gear 5 to rotate forward, the driving gear 5 drives the driven gear 6 to rotate clockwise, the driven gear 6 drives the rotating shaft 7 to rotate clockwise, the rotating shaft 7 rotates clockwise on the sleeve column 2, the rotating shaft 7 drives the sleeve plate 8 to rotate clockwise vertically, and the sleeve plate 8 drives the two arc-shaped slot plates 9 to rotate clockwise vertically. The arc-shaped slot plate 9 drives the driving motor 10 to rotate clockwise vertically, and the driving motor 10 drives the offset wheel 11 to rotate clockwise vertically. When the outer wall of the offset wheel 11 contacts the ground downward, the torque force of the rotating shaft 7 is sensed by the torque force sensor 12. When the torque force value sensed by the torque force sensor 12 is the same as the torque force value set by the wireless controller 23, the offset wheel 11 can contact the ground according to the specified extrusion force.

[0043] Then the wireless controller 23 starts the driving motor 10, and the driving motor 10 drives the offset wheel 11 to rotate counterclockwise, and the offset wheel 11 contacts and rubs with the ground, so that the offset wheel 11 causes the output end of the driving motor 10 to drive the arc groove plate 9 to rotate clockwise horizontally, the arc groove plate 9 drives the rotating shaft 7 to rotate clockwise horizontally, the rotating shaft 7 drives the sleeve column 2 to rotate clockwise horizontally, the sleeve column 2 drives the machine shell 1 to rotate clockwise horizontally, the machine shell 1 drives the rotating column 34 to rotate clockwise horizontally, the rotating column 34 drives the two limit rotating rings 36 to rotate clockwise horizontally, and the two limit rotating rings 36 rotate clockwise horizontally on the shaft sleeve 35. Because the contact friction block 41 and the bottom surface of the friction block 40 realize positioning friction and remain stationary, the connecting shaft 42 remains stationary, and the connecting shaft 42 supports the shaft sleeve 35 to remain stationary, so that the machine shell 1 can perform the bouncing angle positioning rotation. At the same time, since the outer wall of the bionic mechanical front leg 17 and the outer wall of the bionic mechanical hind leg 33 are both smooth surfaces, the bionic mechanical front leg 17 and the bionic mechanical hind leg 33 both rotate clockwise laterally.

[0044] At the same time, when the present invention indicates the angle offset, the sleeve column 2 will drive the support bar 48 to rotate synchronously when rotating clockwise in the horizontal direction, and the support bar 48 drives the offset laser pen 47 to rotate clockwise in the horizontal direction. After the offset laser pen 47 is turned on, a red laser line position will be generated, and after the fixed laser pen 46 is turned on, the fixed laser pen 46 can generate a red laser line position at a fixed position, so that the laser line position of the offset laser pen 47 can be offset at an angle. At the same time, the laser line position of the fixed laser pen 46 can support the reinforcement frame 43 by contacting the friction block 41, the reinforcement frame 43 reinforces the camera 44, the camera 44 supports the support block 45, the support block 45 supports the fixed laser pen 46, and the camera 44 is remotely turned on by the wireless controller 23, the camera 44 collects the laser line position of the fixed laser pen 46, and the offset laser line position of the offset laser pen 47, when the laser line position of the offset laser pen 47 is offset to the specified bounce direction position, the laser line position of the offset laser pen 47 is determined by the camera 44, and the reduction motor 4 is turned off by the wireless controller 23.

[0045] Then, when the present invention is reset, the reduction motor 4 drives the driving gear 5 to rotate in the opposite direction, the driving gear 5 drives the driven gear 6 to rotate counterclockwise, the driven gear 6 drives the rotating shaft 7 to rotate counterclockwise, the rotating shaft 7 rotates counterclockwise on the sleeve column 2, and the rotating shaft 7 drives the sleeve plate 8 to rotate counterclockwise vertically. At the same time, the sleeve plate 8 drives the two arc-shaped slot plates 9 to rotate counterclockwise vertically, the arc-shaped slot plates 9 drive the driving motor 10 to rotate counterclockwise vertically, and the driving motor 10 drives the offset wheel 11 to rotate counterclockwise vertically. When the upper surfaces of the two arc-shaped slot plates 9 are in a horizontal position, the two offset wheels 11 are reset to a balance point.

[0046] Finally, when the present invention performs mechanical jumping, the sleeve electric cylinder 19 is started through the wireless controller 23, and the sleeve electric cylinder 19 pushes the articulated sleeve block 20 to tilt and move upward. At the same time, the sleeve electric cylinder 19 rotates on the outer wall of the articulated shaft 18, and the articulated sleeve block 20 drives the articulated sleeve frame 21 to rotate clockwise, and the articulated sleeve frame 21 drives the transmission shaft 22 to rotate clockwise, and the transmission shaft 22 drives the two jumping shafts 25 to rotate clockwise. The two jumping shafts 25 respectively drive the two transmission gears 26 to rotate clockwise, and the transmission gear 26 drives the articulated mechanical arm 27 to rotate clockwise. The articulated mechanical arm 27 drives the jumping sleeve arm 28 to approach the articulated pressing arm 31, and the jumping sleeve arm 28 rotates on the bionic mechanical hind leg 33.

[0047] At the same time, the transmission gear 26 drives the linkage gear 29 to mesh and rotate, and the linkage gear 29 drives the linkage shaft 30 to rotate counterclockwise. The linkage gear 29 also drives the hinged pressure arm 31 to rotate counterclockwise, and the connection between the hinged pressure arm 31 and the hinged rotating arm 32 moves closer to the jumping sleeve arm 28. At the same time, the hinged rotating arm 32 can rotate on the bionic mechanical hind leg 33, so that the machine shell 1 can bounce upward. When the machine shell 1 lands, the two bionic mechanical front legs 17 contact the ground, so that the bionic mechanical front legs 17 can rotate on the outer wall of the hinge rod 16, and at the same time, the machine shell 1 supports the connecting support shaft 13, and the connecting support shaft 13 supports the buffer frame 14, and the bionic mechanical front legs 17 rotate on the buffer frame 14 at the same time, and the bionic mechanical front legs 17 are forced to squeeze the spring sheet 15, and the spring sheet 15 is forced to squeeze on the buffer frame 14, so that the bionic mechanical front legs 17 and the buffer frame 14 can realize the buffer operation, so that the machine shell 1 can perform the manipulator bionic jumping according to the movement state of the frog.

[0048] The contents not described in detail in the specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and will not be described here.

[0049] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic bouncing device with adjustable jumping degree, comprising a machine housing (1), a sleeve column (2) and a bracket (3), wherein the sleeve column (2) is fixed to the lower surface of the machine housing (1), and the bracket (3) is fixedly connected to one side of the outer wall of the sleeve column (2), characterized in that: A jumping angle adjustment mechanism is provided at the bottom end of the bracket (3); The jump angle adjustment mechanism comprises a reduction motor (4) fixedly arranged at the bottom end of the bracket (3), and the outer wall of the output end of the reduction motor (4) is fixedly connected to a driving gear (5), the outer wall of the driving gear (5) is meshingly connected to a driven gear (6), the inner wall of the driven gear (6) is fixedly connected to a rotating shaft (7), and the outer wall of the rotating shaft (7) is rotatably connected to the sleeve column (2); The inner wall of the sleeve column (2) is rotatably connected to a sleeve plate (8), and the sleeve plate (8) is fixedly connected to the rotating shaft (7), arc-shaped slot plates (9) are fixedly mounted on both sides of the sleeve plate (8), and a driving motor (10) is fixedly connected to one side of each arc-shaped slot plate (9), and an offset wheel (11) is fixedly mounted on the output end of the driving motor (10); A positioning friction mechanism is installed on one side of the sleeve column (2), comprising an extrusion electric cylinder (37), a pressure sensor (38) is fixedly installed on the output end of the extrusion electric cylinder (37), and a pressure strip (39) is fixedly connected to the bottom end of the pressure sensor (38), a friction block (40) is fixedly installed on the bottom end of the pressure strip (39), and a contact friction block (41) is slidably connected to the outer wall of the friction block (40).

2. The bionic bouncing device with adjustable jumping degree according to claim 1, characterized in that: The output end outer wall of the drive motor (10) and the offset wheel (11) are both rotatably connected to the arcuate slot plate (9); a torque sensor (12) is fixedly mounted on one end of the rotating shaft (7); and the torque sensor (12) is fixedly connected to the sleeve column (2); the two arcuate slot plates (9) are symmetrically arranged with respect to the sleeve plate (8); and the two arcuate slot plates (9) and the sleeve plate (8) are both made of carbon fiber material.

3. The bionic bouncing device with adjustable jumping degree according to claim 1, characterized in that: Both sides of the machine housing (1) are fixedly connected with connecting shafts (13), one end of each connecting shaft (13) is fixedly mounted with a buffer frame (14), and the inner wall of the buffer frame (14) is rotatably connected with a hinge rod (16); The outer wall of the hinged rod (16) is rotatably connected to a bionic mechanical front leg (17), and the bionic mechanical front leg (17) is rotatably connected to a buffer frame (14); a spring sheet (15) is mounted on one side of the buffer frame (14), and the buffer frame (14) and the bionic mechanical front leg (17) are both fixedly connected to the spring sheet (15).

4. The bionic bouncing device with adjustable jumping degree according to claim 1, characterized in that: A hinge shaft (18) is fixedly connected to one side of the inner wall of the machine housing (1), and a sleeve electric cylinder (19) is rotatably connected to the outer wall of the hinge shaft (18), and a hinge sleeve block (20) is fixedly installed at the output end of the sleeve electric cylinder (19); The inner wall of the articulated sleeve block (20) is rotatably connected to an articulated sleeve frame (21), and the inner wall of the articulated sleeve frame (21) is fixedly connected to a transmission shaft (22), and both ends of the transmission shaft (22) are fixedly mounted with jump shafts (25), and both jump shafts (25) are rotatably connected to the machine housing (1); A wireless controller (23) is provided below the articulated sleeve (21), and a storage battery (24) is fixedly installed between the wireless controller (23) and the machine housing (1).

5. The bionic bouncing device with adjustable jumping degree according to claim 4, characterized in that: The outer wall of the jumping shaft (25) is fixedly connected to a transmission gear (26), the transmission gear (26) is rotationally connected to the machine housing (1), an articulated mechanical arm (27) is fixedly mounted on one side of the transmission gear (26), and the inner wall of the articulated mechanical arm (27) is rotationally connected to a jumping sleeve arm (28); The outer wall of the transmission gear (26) is meshedly connected to a linkage gear (29), and a linkage shaft (30) is fixedly mounted on the inner wall of the linkage gear (29); the outer wall of the linkage shaft (30) is rotationally connected to the inner wall of the machine housing (1); a hinged pressure arm (31) is fixedly mounted on one side of the linkage gear (29), and a hinged rotating arm (32) is rotationally connected to the inner wall of the linkage shaft (30); The inner wall of the hinged rotating arm (32) is rotatably connected to a bionic mechanical hind leg (33), and the bionic mechanical hind leg (33) is rotatably connected to the jumping sleeve arm (28), and the outer wall of the bionic mechanical hind leg (33) is set as a smooth surface.

6. The bionic bouncing device with adjustable jumping degree according to claim 1, characterized in that: The positioning friction mechanism comprises a rotating column (34) mounted on one side of the sleeve column (2), and the rotating column (34) is fixedly connected to the machine housing (1); The outer wall of the rotating column (34) is rotatably connected to a shaft sleeve (35), the upper surface and the lower surface of the shaft sleeve (35) are both rotatably connected to a limit rotating ring (36), the two limit rotating rings (36) are both fixedly connected to the rotating column (34), and an extrusion electric cylinder (37) is provided on one side of one of the limit rotating rings (36), and the extrusion electric cylinder (37) is fixedly connected to the shaft sleeve (35); Two connecting shafts (42) are fixedly connected between the contact friction block (41) and the shaft sleeve (35); An angle deviation indicating component is provided on one side of the outer wall of the contact friction block (41).

7. The bionic bouncing device with adjustable jumping degree according to claim 6, characterized in that: The two position-limiting swivels (36) are symmetrically arranged about the shaft sleeve (35), and the shaft sleeve (35) and the position-limiting swivels (36) are both made of carbon fiber material.

8. The bionic bouncing device with adjustable jumping degree according to claim 6, characterized in that: The two connecting rotating shafts (42) are symmetrically arranged about the center point of the rotating column (34), and the cross-sectional shapes of the two connecting rotating shafts (42) are both circular.

9. The bionic bouncing device with adjustable jumping degree according to claim 6, characterized in that: The angle deviation indicating assembly comprises a reinforcing frame (43) fixedly arranged on one side of the outer wall of the contact friction block (41); A camera (44) is fixedly mounted on one side of the inner wall of the reinforcement frame (43); a support block (45) is fixedly connected to the upper surface of the camera (44); and a fixed laser pen (46) is fixedly mounted on one side of the support block (45); An offset laser pen (47) is installed above the fixed laser pen (46), and a support bar (48) is fixedly connected to the top of the offset laser pen (47), and the support bar (48) is fixedly connected to the sleeve column (2).

10. The bionic bouncing device with adjustable jumping degree according to claim 9, characterized in that: The lower inclined surface of the support block (45) is arranged parallel to the lower inclined surface of the camera (44), and a gap is formed between the support bar (48) and the support block (45).

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