Novel bionic frog connection and power storage device and use method thereof

Abstract

The invention relates to the technical field of intelligent manufacturing, and provides a novel bionic frog connection and force storage device and a control method thereof.The device comprises a shell, a steering engine, a steering engine shell, a front leg assembly, a rear leg assembly and a force storage assembly, and the force storage assembly comprises special-shaped teeth, a rack, a guide rail and a spring component; the two ends of the guide rail are fixedly connected with the front plate and the rear plate correspondingly, the rack is fixedly installed on the top plate, the special-shaped tooth is fixedly installed at the output end of the steering engine and engaged with the rack, the steering engine shell is slidably connected with the guide rail, and the spring component is installed between the shell and the steering engine shell and constructed to act along with the steering engine to achieve storage and release of spring potential energy. The rear leg assembly is driven to fold when the spring potential energy is stored, and the rear leg assembly is driven to stretch when the spring potential energy is released. Through cooperation of the steering engine, the special-shaped teeth and the rack, the spring component is driven to stretch and compress, more efficient energy storage and release are achieved, and powerful power can be provided for movement of the bionic frog.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and more specifically, to a novel biomimetic frog-inspired connection and energy storage device and its usage method. Background Technology

[0002] Bionic frogs are mechanical devices that mimic the movement characteristics of frogs. Commonly found in robotics, educational projects, and scientific research, they typically possess jumping capabilities and utilize designs such as tension springs for efficient energy storage and release. Some models can jump continuously. A typical bionic frog includes a torso, energy storage mechanism, release mechanism, and jumping mechanisms for the front and hind legs.

[0003] Regarding energy storage devices, most existing bionic frogs employ pre-stored energy, which suffers from drawbacks such as low energy storage efficiency and inflexible energy release. Pre-stored energy may lead to energy loss during storage, failing to provide the bionic frog with strong and continuous power, and it is difficult to adjust in real time according to actual movement needs. Summary of the Invention

[0004] To achieve more efficient energy storage and release, and to provide powerful propulsion for the movement of the biomimetic frog, this invention provides a novel connection and energy storage device for a biomimetic frog and its usage method, the specific technical solution of which is as follows: A novel biomimetic frog-inspired connection and energy storage device includes a shell, a servo motor, a servo motor housing, a front leg assembly, a rear leg assembly, and an energy storage component. The shell comprises a front plate, a rear plate, and a top plate. A space for accommodating and mounting the servo motor housing is formed between the front and rear plates. The servo motor is fixedly mounted within the servo motor housing. The front leg assembly provides support, and the rear leg assembly enables folding and extension. The energy storage component includes irregularly shaped teeth, a rack, a guide rail, and a spring component. The two ends of the guide rail are fixedly connected to the front and rear plates, respectively. The rack is fixedly mounted on the top plate. The irregularly shaped teeth are fixedly mounted on the output end of the servo motor and mesh with the rack. The servo motor housing is slidably connected to the guide rail. The spring component is installed between the shell and the servo motor housing and is configured to store and release spring potential energy in response to servo motor movement. When storing spring potential energy, it drives the rear leg assembly to fold; when releasing spring potential energy, it drives the rear leg assembly to extend.

[0005] The novel biomimetic frog connection and power storage device is equipped with a non-pre-emptive energy storage spring power storage device. This non-pre-emptive energy storage spring power storage device is different from the traditional pre-emptive energy storage method. It uses the cooperation of servo motor, special-shaped teeth and rack to drive the stretching and compression of spring components, realizing more efficient energy storage and release, and can provide powerful power for the movement of biomimetic frog.

[0006] Preferably, the rear leg assembly includes a first rear leg, a second rear leg, a third rear leg, a fourth rear leg, a fifth rear leg, a sixth rear leg, and a foot. One end of the first rear leg is hinged to one end of the second rear leg and the third rear leg. The other end of the first rear leg is hinged to the servo housing. The other end of the second rear leg is hinged to one end of the fourth rear leg. One end of the third rear leg is hinged to the bottom of the rear plate. The other end of the third rear leg is hinged to the fourth rear leg. The second rear leg is parallel to the third rear leg and is located between the third rear leg and the front plate. The other end of the fourth rear leg is hinged to the fifth rear leg. One end of the fifth rear leg is hinged to one end of the sixth rear leg. The other end of the sixth rear leg is hinged to the third rear leg and is located above the fourth rear leg. The other end of the fifth rear leg is hinged to the foot.

[0007] Preferably, the power storage assembly includes a compression spring and a tension spring. The compression spring is sleeved on the guide rail and located between the servo housing and the front plate. The two ends of the tension spring are fixedly connected to the servo housing and the rear plate, respectively.

[0008] Preferably, the front leg assembly includes a first front leg and a second front leg. The first front leg is Y-shaped, and one end of the first front leg is fixedly connected to the bottom of the servo housing. The second front leg includes two legs. The first front leg is located between the two second front legs and its other two ends are respectively hinged to one end of the two second front legs. The other end of the second front leg is hinged to the bottom of the front plate.

[0009] Preferably, the other end of the first rear leg is hinged to the servo housing by a male-female rivet, and one end of the first front leg is fixedly connected to the bottom of the servo housing by a letter rivet.

[0010] Preferably, the biomimetic frog-like novel connection and power storage device further includes a thickened rod, which is fixedly installed in the middle of the rear plate.

[0011] Preferably, the irregular tooth includes at least a gear portion for meshing with a rack and a toothless portion for driving the servo housing back to its initial state by the spring potential energy stored in the elastic member after the tooth portion disengages from the rack.

[0012] Preferably, the bottom surface of the foot is serrated.

[0013] A method for using a novel biomimetic frog-inspired connection and power storage device, applicable to the aforementioned novel biomimetic frog-inspired connection and power storage device, includes the following steps: The servo motor is controlled by the meshing of the special-shaped teeth and the rack, which drives the servo motor housing to move linearly along the guide rail; During energy storage, the irregular teeth mesh with the rack, the servo housing moves forward and engages with the front plate, driving the spring component to store the spring potential energy and drive the rear leg assembly to fold. When released, the irregular teeth disengage from the rack, releasing the spring potential energy stored in the spring component, driving the hind leg assembly to extend, thus realizing the biomimetic frog's movement and jumping.

[0014] Preferably, the method of use further includes the following steps: When the gear unit meshes with the rack and the gear unit moves to the point where only the last tooth of the gear unit is engaged with the rack, the power storage device is locked. When the gear part disengages from the rack and the toothless part faces upward, the spring potential energy stored in the spring component is released. Attached Figure Description

[0015] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0016] Figure 1 This is a schematic cross-sectional view of the overall structure of a novel biomimetic frog connection and energy storage device according to an embodiment of the present invention; Figure 2 This is a top view of a novel biomimetic frog-inspired connection and energy storage device according to an embodiment of the present invention; Figure 3 This is a front view of a novel biomimetic frog-inspired connection and energy storage device according to an embodiment of the present invention; Figure 4 This is a side view of a novel biomimetic frog connection and energy storage device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the overall structure of a novel biomimetic frog-inspired connection and energy storage device according to an embodiment of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the overall structure of a novel biomimetic frog-inspired connection and energy storage device according to an embodiment of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the overall structure of a novel biomimetic frog-inspired connection and energy storage device according to an embodiment of the present invention. Figure 3 ; Figure 8 This is a schematic diagram of a novel dexterous leg connecting motion device in one embodiment of the present invention; Figure 9 This is a schematic diagram of the serrated structure of a biomimetic frog's foot in one embodiment of the present invention; Figure 10 This is a schematic diagram of a novel front and rear leg connecting device according to an embodiment of the present invention; Figure 11 This is a schematic diagram of a non-pre-emptive energy storage spring energy storage device in one embodiment of the present invention; Figure 12 This is a schematic diagram of the energy storage limit in one embodiment of the present invention; Figure 13 This is a schematic diagram of each component when it is locked in preparation for release after energy storage is completed in one embodiment of the present invention; Figure 14 This is a schematic diagram of the frog's state when it is airborne in one embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Housing; 2. Servo; 3. Servo housing; 4. Front leg assembly; 5. Rear leg assembly; 6. Power storage assembly; 7. Umbrella rivet; 8. Threaded rivet; 10. Front plate; 11. Rear plate; 12. Top plate; 13. Thickened rod; 40. First front leg; 41. Second front leg; 50. First rear leg; 51. Second rear leg; 52. Third rear leg; 53. Fourth rear leg; 54. Fifth rear leg; 55. Sixth rear leg; 56. Foot; 60. Irregular tooth; 61. Rack; 62. Guide rail; 63. Compression spring; 64. Tension spring. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to its embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of protection of the invention.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] In this invention, "first" and "second" do not represent a specific quantity or order, but are merely used to distinguish names.

[0022] Before describing the embodiments of the present invention, a brief introduction to the prior art will be given.

[0023] For biomimetic frogs, traditional leg connection devices are relatively simple in structure, usually employing a single connection method, such as a simple hinge connection or a rigid connection. This connection method has significant limitations in terms of flexibility and adaptability, and cannot well simulate the natural movement of organisms, especially for creatures like frogs with complex movement patterns.

[0024] Existing biomimetic frog devices typically employ traditional connection methods for the front and rear legs, which suffer from limitations in stability and flexibility. Traditional connection devices may experience loosening or inaccuracies during movement, affecting the biomimetic frog's movement performance and reliability.

[0025] In terms of energy storage devices, most adopt the method of pre-storing energy, which has disadvantages such as low energy storage efficiency and insufficient flexibility in energy release. Pre-storing energy may lead to energy loss during storage and is difficult to adjust in real time according to actual movement needs.

[0026] For locking devices, common locking methods are often structurally complex and inconvenient to operate. Traditional locking devices may require multiple steps to lock and unlock, and their stability in the locked state also needs improvement.

[0027] In summary, existing bionic frog designs have the following problems: 1. The leg-connected movement device lacks flexibility, making it difficult to accurately simulate the natural movement of living organisms, resulting in poor biomimetic effects. For example, during movement, the range of motion of the joints is limited, making it impossible to achieve flexible movement at multiple angles and directions, which affects the practical application value of biomimetic machines such as biomimetic frogs.

[0028] 2. The lack of an efficient connection mechanism between the forelegs and hindlegs results in insufficient stability and flexibility in movement. Traditional connection methods may be structurally complex and ineffective in simulating the natural movement of a frog.

[0029] 3. Traditional energy storage methods mostly involve pre-storing energy, which results in low energy storage and release efficiency and cannot provide a powerful and continuous power source for the bionic frog.

[0030] 4. The lack of a reliable device that integrates locking and releasing functions means that existing locking devices may be complex to operate and unable to quickly respond to the movement changes required by the biomimetic frog. Therefore, existing biomimetic frog technology cannot adequately meet the needs of practical applications, and it is necessary to optimize and improve its structure.

[0031] like Figures 1-7As shown, an embodiment of the present invention provides a novel biomimetic frog connection and power storage device, including a housing 1, a servo motor 2, a servo motor 2 housing, a front leg assembly 4, a rear leg assembly 5, and a power storage assembly 6. The housing 1 includes a front plate 10, a rear plate 11, and a top plate 12. A space for accommodating and installing the servo motor 2 housing is formed between the front plate 10 and the rear plate 11. The servo motor 2 is fixedly installed inside the servo motor 2 housing. The front leg assembly 4 provides support, and the rear leg assembly 5 enables folding and extension. The power storage assembly 6 includes irregularly shaped teeth 60 and a rack 6. 1. A guide rail 62 and a spring component, wherein the two ends of the guide rail 62 are fixedly connected to the front plate 10 and the rear plate 11 respectively, the rack 61 is fixedly mounted on the top plate 12, the irregular tooth 60 is fixedly mounted on the output end of the servo 2 and meshes with the rack 61, the servo 2 housing is slidably connected to the guide rail 62, and the spring component is installed between the housing 1 and the servo 2 housing and is configured to store and release spring potential energy as the servo 2 moves, driving the rear leg assembly 5 to fold when storing spring potential energy, and driving the rear leg assembly 5 to extend when releasing spring potential energy.

[0032] The design aims to mimic the overall shape of a frog while minimizing overall weight to prevent excessive weight during takeoff and to avoid damage to components upon landing. In the mechanical structure design, based on the frog's leg structure, the hind legs can be simplified into a planar linkage mechanism, using linkages for the hind leg structure. The front legs are simply simplified into a single rod. For material selection, to reduce overall weight, lightweight, high-strength, and tough materials such as aluminum alloys are chosen. If the material strength is insufficient, a high-toughness film, such as epoxy resin, can be applied to improve the component's toughness and strength. In hardware selection, while meeting basic functional requirements, smaller and lighter hardware models are preferred.

[0033] The biomimetic frog's body is based on an inverted U-shaped shell 1. The front plate 10 remains unchanged due to its relatively low stress. To prevent deformation of the rear plate 11 caused by excessive tension from the spring components, a thickened rod 13 is installed in the middle of the rear plate 11. The inverted U-shaped shell 1 is chosen to avoid interference with the movement of the frog's front and rear legs at the bottom. A servo motor 2 housing is placed in the hollow middle of the inverted U-shaped shell to support the servo motor 2, facilitating the connection of the front and rear leg components 5 to a single component while simultaneously mounting the servo motor 2. The rear leg component 5 can be designed as a planar linkage mechanism to achieve folding and extension of the hind legs, mimicking the frog's jumping motion. The front leg component 4, rear leg component 5, and servo motor 2 housing are connected by rivets 8, and the rods of the rear leg component 5 are connected by umbrella rivets 7 to ensure mobility between components. The front leg component 4 is simplified to a single supporting rod.

[0034] The novel biomimetic frog connection and power storage device is equipped with a non-pre-emptive energy storage spring power storage device. This non-pre-emptive energy storage spring power storage device is different from the traditional pre-emptive energy storage method. It uses the cooperation of servo motor, special-shaped teeth and rack to drive the stretching and compression of spring components, realizing more efficient energy storage and release, and can provide powerful power for the movement of biomimetic frog.

[0035] As a preferred technical solution, such as Figure 1 , Figure 4 , Figure 5 as well as Figure 6 As shown, the rear leg assembly 5 includes a first rear leg 50, a second rear leg 51, a third rear leg 52, a fourth rear leg 53, a fifth rear leg 54, a sixth rear leg 55, and a foot 56. One end of the first rear leg 50 is hinged to one end of the second rear leg 51 and the third rear leg 52. The other end of the first rear leg 50 is hinged to the servo motor housing 2. The other end of the second rear leg 51 is hinged to one end of the fourth rear leg 53. One end of the third rear leg 52 is hinged to the bottom of the rear plate 11. The other end of the third hind leg 52 is hinged to the fourth hind leg 53. The second hind leg 51 is parallel to the third hind leg 52 and is located between the third hind leg 52 and the front plate 10. The other end of the fourth hind leg 53 is hinged to the fifth hind leg 54. One end of the fifth hind leg 54 is hinged to one end of the sixth hind leg 55. The other end of the sixth hind leg 55 is hinged to the third hind leg 52 and is located above the fourth hind leg 53. The other end of the fifth hind leg 54 is hinged to the foot 56.

[0036] like Figure 2 , Figures 4-7 As shown, the spring component includes a compression spring 63 and a tension spring 64. The compression spring 63 is sleeved on the guide rail 62 and located between the servo motor 2 housing and the front plate 10. The two ends of the tension spring 64 are fixedly connected to the servo motor 2 housing and the rear plate 11, respectively.

[0037] like Figures 1-7 As shown, the front leg assembly 4 includes a first front leg 40 and a second front leg 41. The first front leg 40 is Y-shaped, and one end of the first front leg 40 is fixedly connected to the bottom of the servo motor housing 2. The second front leg 41 includes two legs, with the first front leg 40 located between the two second front legs 41 and its other two ends respectively hinged to one end of the two second front legs 41. The other end of the second front leg 41 is hinged to the bottom of the front plate 10. The other end of the first rear leg 50 is hinged to the servo motor housing 2 via a male-female rivet 8, and one end of the first front leg 40 is fixedly connected to the bottom of the servo motor housing 2 via a letter rivet.

[0038] Specifically, to solve the following problems: 1. Constrained leg structure movement; 2. How to move the forelegs and hind legs simultaneously; 3. How to avoid premature energy storage while stationary; 4. How to lock the device after energy storage and then release it to achieve a jump. The bionic frog of this invention makes the following innovations: I. Novel Dexterous Leg Connecting Movement Device Our observations revealed that the movement of a folding umbrella frame is similar to the movement of a frog's hind legs. By referencing the frame structure of a folding umbrella, we can essentially simulate the movement of a frog's hind legs during a jump. Based on this frame structure, the frog's hind legs can be designed as a planar linkage mechanism, with the links connected by umbrella rivets 7, thus achieving the folding motion during energy storage and the extension during a jump. The hind leg structure is as follows... Figure 8 As shown. To ensure the frog can stand independently when static, the design increases the contact area between its feet and the ground, and the soles of its feet (56) are serrated to increase friction. Umbrella rivets (7) are used at the connection points between the feet and legs (the various components of the front leg assembly 4 and the various components of the rear leg assembly 5), allowing the connection points to be movable. This enables the frog to push off with its feet when jumping, generating an upward force that propels it forward. The serrated structure of the feet is shown below. Figure 9 As shown.

[0039] II. New type of integrated front and rear leg connection device To solve the problem of the front and rear legs not being able to move simultaneously, umbrella rivets 7 are used to fix the front and rear legs to the front plate 10 and rear plate 11 of the inverted U-shaped housing 1, respectively. Male and female rivets 8 are used to connect the front leg assembly 4 and the rear leg assembly 5 to the servo motor housing 2, enabling the servo motor housing 2 to simultaneously drive the front and rear legs to move together when it is performing linear motion. The novel front and rear leg connection device is as follows: Figure 10 As shown.

[0040] III. Non-preemptive energy storage spring energy storage device To address the issue of not pre-storing energy when stationary, the guide rail 62 comprises two parallel rails located on either side of the servo motor housing 2. Each guide rail 62 is fitted with a compression spring 63. When the servo motor housing 2 moves forward, it compresses the compression springs 63 on the guide rails 62 along with the inverted U-shaped front plate 10. Simultaneously, the tension spring 64 connecting the inverted U-shaped rear plate 11 and the servo motor housing 2 is stretched, thus achieving energy storage. A non-pre-storing spring energy storage device is described below. Figure 11 As shown. The energy storage limit is as follows. Figure 12 As shown.

[0041] IV. New type of locking and releasing integrated irregular tooth 60 locking device To solve the problem of how to lock the device after energy storage and then release it to achieve a jump, the special structure of the irregular tooth 60 is utilized. During transmission, the side with the gear engages with the rack 61 on the inverted U-shaped shell. Locking occurs when the gear reaches its last tooth. When the servo motor housing 2 moves forward, the toothless side of the irregular tooth 60 faces upward and cannot contact the rack 61 on the inverted U-shaped shell. Release is achieved the instant the irregular tooth 60 rotates. The biomimetic frog, after storing energy and locking it in preparation for release, utilizes the following components... Figure 13 As shown. The state of the biomimetic frog when it is airborne is as follows. Figure 14 As shown.

[0042] Specifically, the irregular tooth 60 includes at least a gear portion for meshing with the rack 61 and a toothless portion for driving the servo motor 2 housing back to its initial state by the spring potential energy stored in the elastic member after the tooth portion disengages from the rack 61.

[0043] In summary, the novel biomimetic frog connection and energy storage device described in this invention has the following advantages: 1. Novel Dexterous Leg Connecting Motion Device: By designing the front leg component 4 and the rear leg component 5, the problems of inflexible movement and easy damage of traditional connecting devices are overcome, making the leg movement of the bionic frog more natural and smooth, and improving the coordination and stability of the movement; it provides better support and power transmission for the movement of the bionic frog, enabling it to adapt to more complex terrain and movement tasks.

[0044] 2. Novel integrated front and rear leg connection device: improves the stability and flexibility of the bionic frog's movement; enables the servo motor housing 2 to drive the front and rear legs to move together when making linear motion, which can better simulate the natural movement state of the frog.

[0045] 3. Non-pre-emptive energy storage spring storage device: Unlike the traditional pre-emptive energy storage method, a compression spring 63 is fitted on the guide rails 62 on both sides of the U-shaped housing 1. When the servo motor 2 housing moves forward, it compresses the compression springs 63 fitted on the guide rails 62 together with the front plate 10 of the inverted U-shaped housing 1. At the same time, the tension spring 64 connecting the rear plate 11 of the U-shaped housing 1 and the servo motor 2 housing is stretched, realizing more efficient energy storage and release, providing powerful power for the movement of the bionic frog.

[0046] 4. Novel locking and releasing integrated irregular tooth 60 locking device: The locking and releasing functions are integrated into one unit. It adopts an irregular tooth 60 structure. During transmission, the side with gears meshes with the rack 61 on the U-shaped shell for transmission. When the gear moves to the last tooth, it locks. When the servo motor 2 housing moves forward, the toothless side of the irregular tooth 60 faces upward and cannot contact the rack 61 on the U-shaped shell. The release is achieved the moment the irregular tooth 60 turns, ensuring the stability and safety of the bionic frog in different movement states.

[0047] An embodiment of the present invention also provides a method for using a novel biomimetic frog connection and power storage device, which is applied to the aforementioned novel biomimetic frog connection and power storage device, and includes the following steps: S1 controls the operation of servo motor 2, which drives the housing of servo motor 2 to move linearly along guide rail 62 through the meshing between the special-shaped tooth 60 and the rack 61. S2, when storing energy, the irregular tooth 60 meshes with the rack 61, the servo motor housing 2 moves forward and cooperates with the front plate 10, driving the spring component to store the spring potential energy and driving the rear leg assembly 5 to fold. S3, when released, the irregular tooth 60 disengages from the rack 61, releasing the spring potential energy stored in the spring component, driving the rear leg assembly 5 to extend, thus realizing the movement and jumping of the biomimetic frog.

[0048] Preferably, when the gear part meshes with the rack 61 and the gear part moves to the point where only the last tooth of the gear part meshes with the rack 61, the energy storage device is locked; when the gear part disengages from the rack 61 and the toothless part faces upward, the spring potential energy stored in the spring part is released.

[0049] Specifically, the usage method is implemented through a control system. The control system runs the pre-programmed code to control the servo motor 2. After the servo motor 2 starts moving, it meshes with the rack 61 of the top plate 12 of the inverted U-shaped housing 1 via the irregular teeth 60, transmitting motion to the servo motor housing 2, causing the servo motor housing 2 to move linearly. Simultaneously, it drives the front leg assembly 4 and the rear leg assembly 5 connected to the servo motor housing 2 to move. When stationary, the servo motor housing 2 is located in the rear half of the frog. The positions of the components when the frog is stationary are as follows: Figure 1 As shown. During energy storage, the servo motor housing 2 moves forward and, together with the front plate 10 of the inverted U-shaped housing 1, compresses the compression spring 63 sleeved on the guide rail 62. At this time, the tension spring 64 is in a stretched state. During release, the tension spring 64 connecting the servo motor housing 2 and the rear plate 11 of the inverted U-shaped housing 1 quickly contracts, pulling the servo motor housing 2 back towards the frog's tail. At the same time, the spring sleeved on the guide rail 62 quickly returns to its original state, pushing the servo motor housing 2 towards the frog's tail. At this time, the frog's hind legs extend backward, and the frog as a whole is subjected to an upward force, thereby achieving the extension jump.

[0050] The novel biomimetic frog connection and power storage device is equipped with a non-pre-emptive energy storage spring power storage device. This non-pre-emptive energy storage spring power storage device is different from the traditional pre-emptive energy storage method. It uses the cooperation of a servo motor, special-shaped teeth and rack to drive the stretching and compression of the spring components, realizing more efficient energy storage and release, and can provide powerful power for the movement of the biomimetic frog.

[0051] As a preferred technical solution, this invention also includes a closed-loop control and adaptive adjustment module to address the shortcomings of existing open-loop control, such as high energy loss and poor jump consistency. The usage method is divided into three stages, each achieved through servo motor angle adjustment: 1. Energy storage stage: The servo drive engages the rack with the special-shaped teeth, causing the servo housing to move forward in a straight line, compressing the compression spring and stretching the tension spring.

[0052] 2. Locking and preparation phase: At the end of the energy storage phase, the irregular teeth automatically lock; the control algorithm introduces a short pause to stabilize the system.

[0053] 3. Release phase: The servo's fine adjustment of the irregular tooth angle triggers the unlock, releasing the spring energy and pushing the servo housing backward to achieve a jump.

[0054] Specifically, the design is based on the servo angle θ(t), which is linearly related to the servo housing position s(t). The transmission ratio c = Δs / Δθ, that is, the transmission ratio = change in servo housing position / change in servo angle. The formula corresponding to the usage method adopts a piecewise function form to ensure a smooth transition.

[0055] During the energy storage phase, the servo housing moves forward, compressing the compression spring. This invention innovatively introduces an S-shaped acceleration curve to reduce start-stop shock. For example, the energy storage phase function is represented by a smoothed sine function. .in, This indicates the maximum angle of the servo motor, corresponding to the end position of the energy storage. The default value is set based on structural limitations. This represents the energy storage time, with an initial value set to a fixed value (e.g., 0.5 seconds). t is the time variable. In this energy storage stage function, due to acceleration Setting the start and end points to zero avoids mechanical vibration. The compression and tension forces of the spring obey Hooke's Law, and smooth motion reduces energy loss.

[0056] The energy storage time can be corrected using feedback data, such as location errors. Here, α represents the learning rate, which is typically set to 0.1 and can be updated based on historical jump data. This indicates the positional error, which is equal to the target servo housing position minus the actual servo housing position. These represent the updated energy storage time and the energy storage time before the update, respectively.

[0057] During the locking and preparation phases, the irregularly shaped teeth automatically lock, with a short stabilization period set to ensure even distribution of spring force. During this stage, . To ensure a stable time, the default value is 0.1 seconds. A timer can be introduced to prevent premature release and improve locking reliability.

[0058] During the release phase, unlocking is triggered by micro-movements of the servo motor. A pulse control function can be used to quickly unlock and minimize servo motor power consumption. .in, This indicates the unlocking angle increment, typically between 1° and 5°, ensuring the irregularly shaped gear rotates away from the rack. B is the attenuation coefficient, such as 10s. -1 It is used to control the speed of movement. Indicates the release time, such as 0.05 seconds.

[0059] This exponential function enables rapid unlocking, reduces delay, and after unlocking, the servo stops, the spring dominates the movement, and energy is used efficiently.

[0060] Traditional biomimetic frog control methods rely on fixed codes and cannot adapt to spring aging or environmental changes. As a preferred technical solution, the method described in this invention records jump data (such as jump distance d) and uses simple machine learning (linear regression) to dynamically update the energy storage time. This allows for parameter self-optimization after each jump, similar to the learning process of organisms (such as frogs adapting to different terrains).

[0061] To mimic the neuromuscular pre-activation mechanism of frogs, the above-mentioned energy storage phase function can be used. Upgraded to a variable frequency oscillation function Among them, the dynamic frequency function Fundamental frequency It can be set to 1.5Hz, gain coefficient It can be set to 2.0, attenuation rate This can be set to 3 / s. This variable frequency oscillation function It can mimic the force-velocity relationship of the frog's gastrocnemius muscle, initially rapidly compressing the spring to avoid creep, achieving high-frequency acceleration in the initial stage, and achieving low-frequency steady current in the later stage.

[0062] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A novel biomimetic frog-inspired connection and power storage device, comprising a shell, a servo motor, a servo motor housing, a front leg assembly, a hind leg assembly, and a power storage assembly, characterized in that, The housing includes a front plate, a rear plate, and a top plate. A space is formed between the front and rear plates to accommodate and install a servo housing. The servo is fixedly installed inside the servo housing. The front leg assembly is used for support, and the rear leg assembly is used for folding and extension. The energy storage assembly includes a toothed component, a rack, a guide rail, and a spring component. The two ends of the guide rail are fixedly connected to the front and rear plates, respectively. The rack is fixedly installed on the top plate. The toothed component is fixedly installed on the output end of the servo and meshes with the rack. The servo housing is slidably connected to the guide rail. The spring component is installed between the housing and the servo housing and is configured to store and release spring potential energy as the servo moves. When storing spring potential energy, it drives the rear leg assembly to fold, and when releasing spring potential energy, it drives the rear leg assembly to extend.

2. The novel biomimetic frog connection and energy storage device as described in claim 1, characterized in that, The rear leg assembly includes a first rear leg, a second rear leg, a third rear leg, a fourth rear leg, a fifth rear leg, a sixth rear leg, and a foot. One end of the first rear leg is hinged to one end of the second rear leg and the third rear leg. The other end of the first rear leg is hinged to the servo housing. The other end of the second rear leg is hinged to one end of the fourth rear leg. One end of the third rear leg is hinged to the bottom of the rear plate. The other end of the third rear leg is hinged to the fourth rear leg. The second rear leg is parallel to the third rear leg and is located between the third rear leg and the front plate. The other end of the fourth rear leg is hinged to the fifth rear leg. One end of the fifth rear leg is hinged to one end of the sixth rear leg. The other end of the sixth rear leg is hinged to the third rear leg and is located above the fourth rear leg. The other end of the fifth rear leg is hinged to the foot.

3. The novel biomimetic frog connection and power storage device as described in claim 2, characterized in that, The power storage assembly includes a compression spring and a tension spring. The compression spring is sleeved on the guide rail and located between the servo housing and the front plate. The two ends of the tension spring are fixedly connected to the servo housing and the rear plate, respectively.

4. The novel biomimetic frog connection and power storage device as described in claim 3, characterized in that, The front leg assembly includes a first front leg and a second front leg. The first front leg is Y-shaped, and one end of the first front leg is fixedly connected to the bottom of the servo housing. The second front leg includes two legs. The first front leg is located between the two second front legs and its other two ends are respectively hinged to one end of the two second front legs. The other end of the second front leg is hinged to the bottom of the front plate.

5. The novel biomimetic frog connection and power storage device as described in claim 4, characterized in that, The other end of the first rear leg is hinged to the servo housing by a male and female rivet, and one end of the first front leg is fixedly connected to the bottom of the servo housing by a letter rivet.

6. The novel biomimetic frog connection and power storage device as described in claim 5, characterized in that, The novel biomimetic frog connection and power storage device also includes a thickened rod, which is fixedly installed in the middle of the rear plate.

7. The novel biomimetic frog connection and power storage device as described in claim 6, characterized in that, The irregular tooth includes at least a gear portion for meshing with a rack and a toothless portion for driving the servo housing back to its initial state by the spring potential energy stored in the elastic member after the tooth portion disengages from the rack.

8. The novel biomimetic frog connection and power storage device as described in claim 7, characterized in that, The bottom surface of the foot is serrated.

9. A method of using a novel biomimetic frog connection and power storage device, applied to the novel biomimetic frog connection and power storage device as described in any one of claims 1-8, characterized in that, Includes the following steps: The servo motor is controlled by the meshing of the special-shaped teeth and the rack, which drives the servo motor housing to move linearly along the guide rail; During energy storage, the irregular teeth mesh with the rack, the servo housing moves forward and engages with the front plate, driving the spring component to store the spring potential energy and drive the rear leg assembly to fold. When released, the irregular teeth disengage from the rack, releasing the spring potential energy stored in the spring component, driving the hind leg assembly to extend, thus realizing the biomimetic frog's movement and jumping.

10. The method of using the novel biomimetic frog connection and energy storage device as described in claim 9, characterized in that, The method of use also includes the following steps: When the gear unit meshes with the rack and the gear unit moves to the point where only the last tooth of the gear unit is engaged with the rack, the power storage device is locked. When the gear part disengages from the rack and the toothless part faces upward, the spring potential energy stored in the spring component is released.

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