Bionic frog jumping robot

Abstract

The application relates to a bionic frog jumping robot, belonging to the technical field of bionic structures, which comprises a frog body, forelimbs and hind limbs arranged on the frog body, the hind limbs comprise a rack, a spring, a power output assembly and a transmission gear set, the racks are respectively inclined upwards and arranged on both sides of the tail of the frog body, the power output assembly comprises a motor connected to the frog body and a first gear sleeved on the rotating shaft of the motor, the transmission gear set comprises a transmission rotating shaft, a second gear sleeved on the transmission rotating shaft and two transmission gears, and the spring is connected between the frog body and the rack. The motor can realize periodic rotation of the transmission rotating shaft through the first gear and the second gear of the transmission gear set, so that the transmission gear and the rack cooperate to drive the spring to continuously store energy by periodically and rapidly extending or shortening, thereby realizing rapid and continuous jumping of the frog-shaped bouncing robot, preventing the motor from being damaged due to long-term high-load work, and ensuring the stability of the frog-shaped bouncing robot.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic structural technology, specifically relating to a biomimetic frog-jumping robot. Background Technology

[0002] Because traditional wheeled vehicles struggle to navigate complex terrain, researchers have developed a frog-shaped jumping robot to meet the requirements for travel in such environments. Existing frog-shaped jumping robots require a motor to deform a spring in the jumping structure before jumping, storing energy. Once energy storage is complete, the motor stops, and the spring releases the energy to initiate the jump. However, each time the spring deforms to store energy, the motor must start working from a standstill, resulting in a slow deformation rate and preventing the frog-shaped jumping robot from achieving rapid, continuous jumps.

[0003] Currently, to achieve rapid and continuous jumps in frog-shaped jumping robots, existing technologies employ increasing the motor's rotational speed, which to some extent increases the speed at which the spring deforms and stores energy. However, driving the spring to deform from a stationary state at a high speed results in a large torque required for the motor to drive the spring's deformation. Prolonged high-load operation of the motor can easily lead to malfunctions, reducing the stability of the frog-shaped jumping robot. Summary of the Invention

[0004] In view of this, the present invention provides a biomimetic frog jumping robot to overcome the shortcomings of the prior art. The present invention can realize rapid and continuous jumping of the frog-shaped jumping robot, while ensuring the stability of the frog-shaped jumping robot's operation.

[0005] The technical solution of the present invention is: a biomimetic frog jumping robot, comprising a frog body and forelimbs and hindlimbs mounted on the frog body. The hindlimbs include a rack, a spring, a power output component, and a transmission gear set. The rack is obliquely upward and passes through both sides of the tail of the frog body, and the rack is slidably connected to the frog body. The power output component includes a motor connected to the frog body and a first gear sleeved on the motor shaft. The transmission gear set includes a transmission shaft, a second gear sleeved on the transmission shaft, and two transmission gears. The axes of the transmission shaft and the first gear are parallel to each other. The transmission shaft is rotatably connected to the frog body. The second gear and the first gear intermittently transmit power. The transmission gears mesh with the rack so that the rack periodically moves towards the side closer to the frog body. The spring is connected between the frog body and the rack, and the rack drives the spring to periodically extend or shorten to continuously store energy.

[0006] Preferably, the power output assembly further includes: a third gear and a double-sided toothed synchronous belt. The third gear is rotatably connected to the frog's body and is parallel to the axis of the first gear. The double-sided toothed synchronous belt is sleeved on the first gear and the third gear and meshes with them respectively. The double-sided toothed synchronous belt extends along the direction from the frog's head to its tail. The teeth on the outer side of the double-sided toothed synchronous belt are arranged intermittently at equal intervals and mesh with the second gear.

[0007] Preferably, two plates are fixed to the lower side of the frog's body, a transmission shaft passes through the plates and is perpendicular to them, the transmission shaft is rotatably connected to the plates, a motor is fixedly connected to one of the plates, the output shaft of the motor passes through the plate and is connected to the first gear, and the third gear is rotatably connected to the plate through a connecting shaft.

[0008] Preferably, the rack has two pairs of connecting rods on both sides near the frog's head and tail. The ends of the two connecting rods in each pair that are away from the rack are hinged to each other. The other end of one connecting rod is hinged to the frog's body, and the other end of the other connecting rod is hinged to the end of the rack away from the frog's body. The two ends of the spring are connected to the hinged joints of the connecting rods on both sides of the rack.

[0009] Preferably, the rack is fitted with two connecting blocks, one of which is fixed to the end of the rack away from the frog's body, and the other is fixedly connected to the frog's body and slidably connected to it along the length of the rack. The end of the connecting rod near the rack is hinged to the connecting block.

[0010] Preferably, the hind limbs also include: feet, which are fixed to the end of the rack away from the frog's body, and the side of the feet away from the rack is in contact with the ground.

[0011] Preferably, the forelimb includes a connecting plate and a leg, one end of the leg being connected to the side of the frog's body away from the toothed bar, the connecting plate being connected to the other end of the leg, and the side of the connecting plate away from the leg abutting against the ground.

[0012] Preferably, the legs and the toothed rack are tilted downwards in opposite directions on the side away from the frog's body.

[0013] Preferably, there are two legs, which are parallel to each other. One end of each leg is connected to the two sides of the frog's head, and the other end is connected to the connecting plate.

[0014] Preferably, one end of the support leg is hinged to the frog body, and the other end is hinged to the connecting plate. The support leg is connected to the frog body and the connecting plate by a fastener.

[0015] Compared with existing technologies, the present invention provides a biomimetic frog-jumping robot. Through the coordinated use of the forelimbs, hindlimbs, and power output components of the frog, including the motor, first gear, transmission gear set, transmission shaft, second gear, and transmission gear, the motor can continuously drive the first gear to rotate at high speed. The intermittent transmission of the first and second gears causes the transmission shaft to rotate periodically. This, in turn, causes the transmission gear and rack to drive the spring to periodically and rapidly extend or shorten to continuously store energy. This enables the frog-shaped jumping robot to jump rapidly and continuously. At the same time, the continuous operation of the motor avoids driving the spring to deform with large torque, preventing the motor from failing due to long-term high-load operation and ensuring the stability of the frog-shaped jumping robot. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention;

[0017] Figure 2 This is a front view of the present invention;

[0018] Figure 3 This is a perspective view of the belt and transmission gear assembly of the present invention;

[0019] Figure 4 This is a schematic diagram of the forelimb structure of the present invention. Detailed Implementation

[0020] This invention provides a biomimetic frog-jumping robot, which is described below in conjunction with... Figures 1 to 4 The present invention is illustrated by the structural diagram shown below.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] Because traditional wheeled vehicles struggle to navigate complex terrain, researchers have developed a frog-shaped jumping robot to meet the requirements for travel in such environments. Existing frog-shaped jumping robots require a motor to deform a spring in the jumping structure before jumping, storing energy. Once energy storage is complete, the motor stops, and the spring releases the energy to initiate the jump. However, each time the spring deforms to store energy, the motor must start working from a standstill, resulting in a slow deformation rate and preventing the frog-shaped jumping robot from achieving rapid, continuous jumps.

[0023] Currently, to achieve rapid and continuous jumps in frog-shaped jumping robots, existing technologies employ increasing the motor's rotational speed, which to some extent increases the speed at which the spring deforms and stores energy. However, driving the spring to deform from a standstill at a high speed results in a large torque required for the motor to do so. This is because motors are typically less efficient at startup, needing to overcome static friction and spring resistance to accelerate to operating speed. Furthermore, the start-up and shutdown of the motor generate significant current and torque surges, leading to additional wear on mechanical and electrical components. Prolonged high-load operation of the motor can easily cause malfunctions, reducing the stability of the frog-shaped jumping robot.

[0024] To address the aforementioned issues, this invention provides a biomimetic frog-jumping robot. Through the coordinated use of the forelimbs, hindlimbs, and power output components of the frog—including a motor, a first gear, a transmission gear set, a transmission shaft, a second gear, and transmission gears—the motor continuously drives the first gear to rotate at high speed. The intermittent transmission of the first and second gears causes the transmission shaft to rotate periodically. This, in turn, causes the transmission gears and rack to work together to drive a spring to periodically and rapidly extend or shorten, continuously storing energy. This enables the frog-shaped jumping robot to jump rapidly and continuously. Simultaneously, the continuous operation of the motor avoids driving the spring with excessive torque, preventing motor malfunctions due to prolonged high-load operation and ensuring the stability of the frog-shaped jumping robot. The biomimetic frog-jumping robot of this invention exhibits good stability, ease of use, and strong practicality, making it worthy of promotion.

[0025] As shown in the figure Figure 1This is a perspective view of an embodiment of a biomimetic frog-jumping robot, including a frog body 9 and forelimbs 10 and hindlimbs mounted on the frog body 9. The hindlimbs include a rack 2, a spring 4, a power output component 6, and a transmission gear set 7. The rack 2 is obliquely upwardly mounted on both sides of the tail of the frog body 9 and is slidably connected to the frog body 9. The power output component 6 includes a motor 12 connected to the frog body 9 and a first gear 61 sleeved on the shaft of the motor 12. The transmission gear set 7 includes a transmission shaft 71, a second gear 72 sleeved on the transmission shaft 71, and two transmission gears 73. The axes of the transmission shaft 71 and the first gear 61 are parallel to each other. The transmission shaft 71 is rotatably connected to the frog body 9. The second gear 72 intermittently drives the first gear 61. The transmission gears 73 mesh with the rack 2 so that the rack 2 periodically moves towards the side closer to the frog body 9. The spring 4 is connected between the frog body 9 and the rack 2. The rack 2 drives the spring 4 to periodically extend or shorten to continuously store energy.

[0026] In this embodiment of the biomimetic frog jumping robot, when working, the first gear 61 of the power output component 6 is driven to rotate by the motor, and the transmission shaft 71 and the second gear 72 of the transmission gear set 7 are used to make the transmission shaft 71 rotate periodically. This causes the transmission gear 73 to drive the rack 2 to move periodically towards the side closer to the frog body 9, so that the spring 4 can continuously store energy by periodically stretching or shortening. This enables the biomimetic frog jumping robot to jump continuously and quickly.

[0027] In this embodiment of the present disclosure, continuous operation of the motor 12 can reduce wear and avoid large current and torque shocks when the motor starts and stops, thus preventing additional wear on mechanical and electrical components. Continuous operation of the motor 12 can reduce this wear and extend the service life of the motor. The motor 12 is usually less efficient when starting because it needs to overcome static friction and accelerate to the operating speed. However, the efficiency of the motor will be improved when the motor 12 runs continuously and stably.

[0028] The power output component in the above embodiments is specifically configured as shown in the figure. Figure 3 This is a perspective view of the power output assembly in this embodiment. Preferably, the power output assembly 6 further includes: a third gear 62 and a double-sided toothed synchronous belt 11. The third gear 62 is rotatably connected to the frog body 9 and is parallel to the axis of the first gear 61. The double-sided toothed synchronous belt 11 is sleeved on the first gear 61 and the third gear 62 and meshes with them respectively. The double-sided toothed synchronous belt 11 extends along the direction from the frog's head to its tail. The teeth on the outer side of the double-sided toothed synchronous belt 11 are arranged intermittently at equal intervals and mesh with the second gear 72.

[0029] In this embodiment of the biomimetic frog jumping robot, when working, the first gear 61 of the power output component 6 is driven to rotate by the motor, and the double-sided toothed synchronous belt 11 is moved by the third gear 62. Then, the teeth of the double-sided toothed synchronous belt 11 are intermittently arranged on the outer side and mesh with the second gear 72 of the transmission gear set 7, thereby causing the transmission shaft 71 to rotate periodically. This causes the transmission gear 73 to drive the rack 2 to move periodically towards the side closer to the frog body 9, so that the spring 4 can continuously store energy through periodic deformation, thereby enabling the biomimetic frog jumping robot to jump continuously and quickly.

[0030] As a further optimization, in this embodiment of the present disclosure, preferably, two plates 8 are fixed to the lower side of the frog body 9, a transmission shaft 71 passes through the plate 8 and is perpendicular to it, the transmission shaft 71 is rotatably connected to the plate 8, the motor 12 is fixedly connected to one of the plates 8, the output shaft of the motor 12 passes through the plate 8 and is connected to the first gear 61, and the third gear 62 is rotatably connected to the plate 8 through the connecting shaft.

[0031] In this embodiment, the motor 12 is fixedly connected to the frog body 9 via the plate 8, the output shaft of the motor 12 is parallel to the central axis of the transmission shaft 71, and the output shaft of the motor 12 is connected to the first gear 61.

[0032] In this embodiment, two plates are used to install and fix the power output component 6 and the transmission gear set 7.

[0033] As a further optimization, in this embodiment of the disclosure, as shown in the figure, Figure 2 This is a front view of the embodiment. Preferably, the rack 2 is provided with two pairs of connecting rods 3 on both sides near the frog's head and tail. The ends of the two connecting rods 3 in each pair that are away from the rack 2 are hinged to each other. The other end of one connecting rod 3 is hinged to the frog's body 9, and the other end of the other connecting rod 3 is hinged to the end of the rack 2 that is away from the frog's body 9. The two ends of the spring 4 are connected to the hinged joints of the connecting rods 3 on both sides of the rack 2.

[0034] In this embodiment, a connecting rod is used to install a spring, which allows the spring to be stably stretched to store energy, and at the same time allows the spring to be stably released to achieve a jump.

[0035] In this embodiment, the jumping height and distance of the bionic frog can be controlled by manually adjusting the meshing position of the gear and rack, allowing the bionic frog to flexibly cope with different obstacles and further improving ease of use.

[0036] In the aforementioned embodiment, the specific connection method between the rack, the connecting rod and the frog body is as follows: Preferably, two connecting blocks 5 are sleeved on the rack 2, one of which is fixed to the end of the rack 2 away from the frog body 9, and the other connecting block 5 is fixedly connected to the frog body 9 and slidably connected to it along the length direction of the rack 2. The end of the connecting rod 3 near the rack 2 is hinged to the connecting block 5.

[0037] Preferably, the hind limbs also include: foot 1, which is fixed to the end of the rack 2 away from the frog body 9, and the side of the foot 1 away from the rack 2 is in contact with the ground.

[0038] The forelimb 10 in the aforementioned embodiment has the following specific structure: Preferably, the forelimb 10 includes a connecting plate 101 and a leg 102. One end of the leg 102 is connected to the side of the frog body 9 away from the rack 2, the connecting plate 101 is connected to the other end of the leg 102, and the side of the connecting plate 101 away from the leg 102 is in contact with the ground.

[0039] As a further optimization, in this embodiment of the present disclosure, preferably, the support leg 102 and the rack 2 on the side away from the frog body 9 are respectively inclined downward in a direction away from each other.

[0040] In this embodiment, the forelimbs 10 and the rack 2 are tilted towards the front and rear ends of the frog's body, respectively, to imitate the frog's posture, thereby increasing the jumping distance and height and improving the ability to traverse complex terrain and landform environments.

[0041] As a further optimization, in this embodiment of the disclosure, as shown in the figure, Figure 4 This is a schematic diagram of the forelimb structure in this embodiment. Preferably, there are two legs 102, which are parallel to each other. One end of each leg 102 is connected to the two sides of the head of the frog body 9, and the other end is connected to the connecting plate 101.

[0042] In this embodiment, two support legs 102 are used in conjunction with the connecting plate 101 to improve the stability of the robot's jumps and landings.

[0043] As a further optimization, in this embodiment of the present disclosure, preferably, one end of the support leg 102 is hinged to the frog body 9, and the other end is hinged to the connecting plate 101. The support leg 102 is connected to the frog body 9 and the connecting plate 101 through a fastener.

[0044] In this embodiment, the angles of the outriggers 102 and the connecting plate 101 can be adjusted, making it easier for the biomimetic frog jumping robot to adapt to different terrains and further improving its ability to traverse complex terrain environments.

[0045] In this embodiment, two stepped grooves are provided on the left and right sides of the frog body 9 located at its head. One end of the support leg 102 is hinged to the stepped groove, and the other end is hinged to the connecting plate 101. Threaded fasteners are provided on the frog body 9 and the connecting plate 10. After the angle of the support leg 102 and the connecting plate 101 is adjusted, they are locked using the threaded fasteners.

[0046] Current biomimetic frog-jumping robots generally cannot continuously complete the energy storage and release process while the motor is continuously driving. Most of them use circuit boards to control the motor's start and stop, requiring the spring to store energy before jumping. The biomimetic frog-jumping robot of this invention achieves continuous jumping and a controllable jumping mechanism. Through a double-sided toothed synchronous belt, the transmission gear set and the double-sided toothed synchronous belt are periodically engaged, allowing the jumping mechanism to continuously repeat the energy storage and release process. This ensures continuous jumping while protecting the robot's power source.

[0047] The power output component 6 of this invention provides the power for jumping. The power output component 6 drives the double-sided toothed synchronous belt 11 to rotate. The outer teeth of the double-sided toothed synchronous belt 11 are periodically intermittently arranged, causing the double-sided toothed synchronous belt 11 to periodically engage with the second gear in the middle of the transmission gear set 7. This allows the transmission gear set 7 to periodically receive power. Furthermore, the two transmission gears on the outer side of the transmission gear set 7 mesh with the rack 2, providing power for the periodic movement of the rack 2. When the second gear 72 in the middle of the transmission gear set 7 engages with the toothed portion on the outer side of the double-sided toothed synchronous belt 11 while the motor 12 is continuously rotating, the transmission gear set 7 drives the frog body 9 to move downwards along the rack 2, causing the spring 4 to stretch and store energy. When the engagement between the second gear 72 in the middle of the transmission gear set 7 and the toothed portion on the outer side of the double-sided toothed synchronous belt 11 ends, the spring 4 contracts and releases energy. Under the action of the spring force, the connecting rod 3 contracts inwards, driving the rack 2 downwards. Under the reaction force of the ground, the robot jumps as a whole. Thus, one cycle is completed, and all parts return to their original positions. After one cycle is completed, the next cycle begins when the second gear 72 in the middle of the transmission gear set 7 engages again with the toothed part on the outer side of the double-sided toothed synchronous belt 11. The periodic appearance of the toothed and toothless parts on the outer side of the double-sided toothed synchronous belt 11 allows the biomimetic frog-jumping robot to jump continuously without stopping the motor.

[0048] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A biomimetic frog-jumping robot, characterized in that, include: The frog body (9) and the forelimbs (10) and hindlimbs mounted on the frog body (9); The hind limbs include: a rack (2), a spring (4), a power output assembly (6), and a transmission gear set (7). The rack (2) is obliquely and upwardly inserted on both sides of the tail of the frog body (9), and the rack (2) is slidably connected to the frog body (9). The power output assembly (6) includes: a motor (12) connected to the frog body (9) and a first gear (61) sleeved on the shaft of the motor (12). The transmission gear set (7) includes: a transmission shaft (71) and a second gear (72) sleeved on the transmission shaft (71). And two transmission gears (73), the transmission shaft (71) is parallel to the axis of the first gear (61), the transmission shaft (71) is rotatably connected to the frog body (9), the second gear (72) and the first gear (61) are intermittently transmitted, the transmission gear (73) meshes with the rack (2) so that the rack (2) moves periodically toward the side closer to the frog body (9), the spring (4) is connected between the frog body (9) and the rack (2), and the rack (2) drives the spring (4) to periodically extend or shorten to continuously store energy.

2. The biomimetic frog-jumping robot according to claim 1, characterized in that, The power output assembly (6) further includes: a third gear (62) and a double-sided toothed synchronous belt (11). The third gear (62) is rotatably connected to the frog body (9) and is parallel to the axis of the first gear (61). The double-sided toothed synchronous belt (11) is sleeved on the first gear (61) and the third gear (62) and meshes with them respectively. The double-sided toothed synchronous belt (11) extends along the direction from the frog's head to its tail. The teeth on the outer side of the double-sided toothed synchronous belt (11) are arranged intermittently at equal intervals and mesh with the second gear (72).

3. The biomimetic frog-jumping robot according to claim 2, characterized in that, Two plates (8) are fixed to the lower side of the frog body (9). The transmission shaft (71) passes through the plate (8) and is perpendicular to it. The transmission shaft (71) is rotatably connected to the plate (8). The motor (12) is fixedly connected to one of the plates (8). The output shaft of the motor (12) passes through the plate (8) and is connected to the first gear (61). The third gear (62) is rotatably connected to the plate (8) through the connecting shaft.

4. The biomimetic frog-jumping robot according to claim 1, characterized in that, The rack (2) is provided with two pairs of connecting rods (3) on both sides near the frog's head and tail. The two connecting rods (3) of each pair are hinged to each other at the ends away from the rack (2). The other end of one connecting rod (3) is hinged to the frog's body (9), and the other end of the other connecting rod (3) is hinged to the end of the rack (2) away from the frog's body (9). The two ends of the spring (4) are connected to the hinged joints of the connecting rods (3) on both sides of the rack (2).

5. The biomimetic frog-jumping robot according to claim 4, characterized in that, Two connecting blocks (5) are fitted on the rack (2). One of the connecting blocks (5) is fixed to the end of the rack (2) away from the frog body (9). The other connecting block (5) is fixedly connected to the frog body (9) and slidably connected to it along the length of the rack (2). The end of the connecting rod (3) near the rack (2) is hinged to the connecting block (5).

6. The biomimetic frog-jumping robot according to claim 1, characterized in that, The hind limb also includes a foot (1), which is fixed to the end of the rack (2) away from the frog body (9), and the side of the foot (1) away from the rack (2) is in contact with the ground.

7. The biomimetic frog-jumping robot according to claim 1, characterized in that, The forelimb (10) includes a connecting plate (101) and a leg (102). One end of the leg (102) is connected to the side of the frog body (9) away from the rack (2). The connecting plate (101) is connected to the other end of the leg (102). The side of the connecting plate (101) away from the leg (102) is in contact with the ground.

8. The biomimetic frog-jumping robot according to claim 7, characterized in that, The support leg (102) and the rack (2) are respectively inclined downwards in a direction away from the frog body (9).

9. The biomimetic frog-jumping robot according to claim 7, characterized in that, There are two legs (102), which are parallel to each other. One end of each leg (102) is connected to the two sides of the head of the frog body (9), and the other end is connected to the connecting plate (101).

10. The biomimetic frog-jumping robot according to claim 7, characterized in that, One end of the support leg (102) is hinged to the frog body (9), and the other end is hinged to the connecting plate (101). The support leg (102) is connected to the frog body (9) and the connecting plate (101) through a fastener.

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