Novel bionic jumping robot

Abstract

The utility model relates to the technical field of robots, in particular to a novel bionic jumping robot. The device comprises a top frame, mounting shells, front legs and rear legs, the mounting shells are fixed to the two ends of the top frame, the front legs are fixed to the bottoms of the mounting shells, the two rear legs are assembled at one end of the top frame, a driving mechanism is assembled between the top frame and the mounting shells and comprises a power assembly and a transmission assembly, and the power assembly is assembled on the inner sides of the top frame and the mounting shells. The transmission assembly is assembled on the inner side of the power assembly, the power assembly comprises a motor, spiral cams, a center sliding rod, a carrying plate and a first connecting spring, the motors are fixed to the inner side of the mounting shell, the spiral cams are fixed to the output ends of the motors, and arc-shaped faces are formed in the outer sides of the spiral cams. Through the structural design of the driving mechanism, the device can perform bionic jumping, and is simple in structure and light in weight, so that the weight of the bionic robot is reduced, and long-time jumping can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a novel bionic jumping robot. Background Art

[0002] The remarkable characteristics of jumping robots and their broad application prospects in various fields have attracted great attention from various research institutions at home and abroad. Domestic and foreign scholars have done a lot of work in this field and have achieved certain research results. According to the jumping method, jumping robots can be roughly divided into two categories: 1. Continuous jumping robots. The robot jumps again in a very short time after touching the ground. The continuous jumping machine requires real-time control of the robot's posture and balance, which is complex to control; 2. Intermittent jumping robots. The energy replenishment, posture adjustment and path planning of this type of robot are completed during the ground stationary stage, which simplifies the control of the robot and is more practical. According to the mechanical structure of the jumping robot, it can be divided into telescopic cylinder type and articulated jumping robot. In recent decades, bionic robots have become an important direction of robot research around the world. While people are studying the structure, movement mode and control method of animals, they are also designing sophisticated bionic robots based on the basic characteristics of animals;

[0003] The mechanical structure of a jumping bionic robot is usually made of lightweight materials to reduce the mass of the robot, thereby increasing the jumping height and distance. The power system is responsible for providing the energy required for jumping, which may include motors, springs, pneumatic devices, etc. These power systems are closely integrated with the mechanical structure to ensure that the robot can generate sufficient thrust and stability during the jumping process. Remote control refers to the operation of remote control equipment through wireless signal transmission. It is based on the principle of electromagnetic wave transmission and uses wireless communication between the remote control and the controlled device to transmit information and control operations. The research steps of bionic robots mainly include three stages: research on biological prototypes and motion mechanisms, mathematical representation of biological models, and application of mathematical models to engineering technology test models. With the rise of new disciplines such as the Internet of Things, big data, and cloud computing, bionic robots have achieved the integration of control systems and biological properties, and the combination of traditional structures and new materials, thus creating robots with intelligent control, self-perception, and life-like systems. Bionic robots are divided into land robots, aerial robots, underwater robots, amphibious robots, and amphibious robots according to the living environment of the bionic objects. According to the bionic characteristics, they can be divided into structural bionics, material bionics, control bionics, and functional bionics.

[0004] However, in the use of existing technologies, most bionic frogs require human control or preset programs to achieve jumping, and completely simulating the jumping mechanism of frogs may lead to increased equipment weight and complex structure. For this reason, we propose a new type of bionic jumping robot. Utility Model Content

[0005] The purpose of the utility model is to provide a novel bionic jumping robot to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0007] A novel bionic jumping robot comprises a top frame, a mounting shell, front legs and hind legs, wherein the mounting shells are fixed at both ends of the top frame, the front legs are fixed at the bottom of the mounting shell, two hind legs are mounted at one end of the top frame, a driving mechanism is mounted between the top frame and the mounting shell, the driving mechanism comprises a power assembly and a transmission assembly, the power assembly is mounted on the inner sides of the top frame and the mounting shell, and the transmission assembly is mounted on the inner side of the power assembly.

[0008] Preferably, the power assembly includes a motor, a spiral cam, a center slide bar, a mounting plate and a first connecting spring, a motor is fixed on the inner side of the mounting shell, a spiral cam is fixed to the output end of the motor, an arc-shaped surface is provided on the outer side of the spiral cam, a center slide bar is fixed to one end of the inner side of the top frame, a mounting plate is slidably connected to the outer side of the center slide bar, square hooks are fixed to both ends of the mounting plate, the mounting plates are slidably connected to the arc-shaped surface, a first connecting spring is fixed to one side of the mounting plate, the first connecting spring is sleeved on the outer side of the center slide bar, and the end of the first connecting spring away from the mounting plate is fixed to the top frame.

[0009] Preferably, the transmission assembly includes a second connecting spring, a guide slot, a force transmission rod, a first connecting arm and an L-shaped support rod, a second connecting spring is fixed to the side of the carrying plate away from the first connecting spring, the second connecting spring is sleeved on the outer side of the center sliding rod, and one end of the second connecting spring away from the carrying plate is fixed to the center sliding rod, both sides of the top frame are provided with guide slots, the inner sides of the guide slots are equipped with force transmission rods, one end of the force transmission rod is fixed with a cylindrical hook, the cylindrical hook is slidably connected to the guide slot, the cylindrical hook corresponds to the position of the square hook, the other end of the force transmission rod is rotatably connected to the first connecting arm, the first connecting arm is assembled and connected to the rear legs, and L-shaped support rods are fixed to the bottom of both sides of the top frame, one end of the L-shaped support rod is fixed to the mounting shell, and the first connecting arm is rotatably connected to the L-shaped support rod.

[0010] Preferably, both sides of the end of the first connecting arm away from the force transmission rod are rotatably connected to the second connecting arm, one end of the second connecting arm is rotatably connected to the hind legs, the bottom of the L-shaped support rod is rotatably connected to the first force arm, both sides of the bottom of the first force arm are rotatably connected to the second force arm, and one end of the second force arm is rotatably connected to the hind legs.

[0011] Preferably, the bottoms of the hind legs are provided with anti-slip protrusions.

[0012] Preferably, a microcontroller is fixed to the bottom of one of the mounting shells, and the microcontroller is electrically connected to the motor via a wire.

[0013] It can be seen without a doubt that the above-mentioned technical solution of the present application can definitely solve the technical problem to be solved by the present application.

[0014] At the same time, through the above technical solutions, the utility model has at least the following beneficial effects:

[0015] The utility model enables the device to perform bionic jumping through the structural design of the driving mechanism, and at the same time has a simple structure and light weight, thereby reducing the weight of the bionic robot and realizing long-term jumping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the connection structure between the top frame and the central sliding rod of the utility model;

[0019] Figure 3 This is a schematic diagram of the connection structure between the central sliding rod and the carrying plate of the utility model;

[0020] Figure 4 This is a schematic diagram of the connection structure of the first connecting arm and the second connecting arm of the utility model;

[0021] Figure 5 It is a schematic diagram of the connection structure of the mounting plate and the force transmission rod of the utility model.

[0022] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0023] In the figure: 1. top frame; 2. mounting shell; 3. front legs; 4. rear legs; 5. motor; 6. spiral cam; 7. center slide bar; 8. mounting plate; 9. first connecting spring; 10. second connecting spring; 11. guide groove; 12. force transmission rod; 13. first connecting arm; 14. second connecting arm; 15. L-shaped support rod; 16. first force arm; 17. second force arm. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0025] Example 1

[0026] Reference Figure 1-5 A novel bionic jumping robot comprises a top frame 1, a mounting shell 2, front legs 3 and hind legs 4, the mounting shells 2 are fixed at both ends of the top frame 1, the front legs 3 are fixed at the bottom of the mounting shell 2, one end of the top frame 1 is equipped with two hind legs 4, a driving mechanism is installed between the top frame 1 and the mounting shell 2, the driving mechanism comprises a power assembly and a transmission assembly, the power assembly is installed on the inner side of the top frame 1 and the mounting shell 2, and the transmission assembly is installed on the inner side of the power assembly.

[0027] The power assembly includes a motor 5, a spiral cam 6, a center slide bar 7, a mounting plate 8 and a first connecting spring 9. The motor 5 is fixed on the inner side of the mounting shell 2. The motor 5 is an N20 motor or other commonly used models. The output end of the motor 5 is fixed with a spiral cam 6. The outer side of the spiral cam 6 is provided with an arc surface. A center slide bar 7 is fixed to one end of the inner side of the top frame 1. The outer side of the center slide bar 7 is slidably connected with a mounting plate 8. Square hooks are fixed at both ends of the mounting plate 8. The mounting plates 8 are slidably connected to the arc surface. A first connecting spring 9 is fixed to one side of the mounting plate 8. The first connecting spring 9 is sleeved on the outer side of the center slide bar 7. The end of the first connecting spring 9 away from the mounting plate 8 is fixed to the top frame 1. An aviation battery is fixed to one end of the bottom of the top frame 1, which can provide power for the entire device.

[0028] The transmission assembly includes a second connecting spring 10, a guide slot 11, a force transmission rod 12, a first connecting arm 13 and an L-shaped support rod 15. The second connecting spring 10 is fixed to the side of the mounting plate 8 away from the first connecting spring 9. The second connecting spring 10 is sleeved on the outer side of the central slide bar 7. The end of the second connecting spring 10 away from the mounting plate 8 is fixed to the central slide bar 7. Guide slots 11 are provided on both sides of the top frame 1. The inner side of the guide slots 11 is equipped with a force transmission rod 12. One end of the force transmission rod 12 is fixed with a cylindrical hook. The cylindrical hook It is slidingly connected to the guide groove 11, and the cylindrical hook corresponds to the position of the square hook. The other end of the force transmission rod 12 is rotatably connected to the first connecting arm 13, and the first connecting arm 13 is assembled and connected to the rear leg 4. L-shaped support rods 15 are fixed to the bottom of both sides of the top frame 1, and one end of the L-shaped support rod 15 is fixed to the mounting shell 2. The first connecting arm 13 is rotatably connected to the L-shaped support rod 15. It can be understood that the connection between the cylindrical hook and the guide groove 11 is a rotating body, so that the cylindrical hook can also rotate when it moves inside the guide groove 11.

[0029] The first connecting arm 13 is rotatably connected to the second connecting arm 14 on both sides of the end away from the force transmission rod 12, one end of the second connecting arm 14 is rotatably connected to the hind leg 4, the bottom of the L-shaped support rod 15 is rotatably connected to the first force arm 16, the two sides of the bottom of the first force arm 16 are rotatably connected to the second force arm 17, one end of the second force arm 17 is rotatably connected to the hind leg 4, when the first connecting arm 13 rotates, the rotation of the hind leg 4 can be driven by the second connecting arm 14, and at the same time, under the limitation of the second force arm 17 and the first force arm 16, the movement of the animal's hind legs can be realized.

[0030] The bottom of the hind legs 4 are all provided with anti-skid protrusions, and the provision of the anti-skid protrusions makes the hind legs 4 have a stronger grip.

[0031] Example 2

[0032] The embodiment 1 is further optimized. Specifically, a microcontroller is fixed at the bottom of one of the mounting shells 2. The microcontroller is electrically connected to the motor 5 through a wire. The microcontroller is a domestically produced ESP32C-3 module, which integrates the dual communication capabilities of traditional Bluetooth and WIFI, showing the perfect fusion of technology and creativity. By sending instructions to the Internet of Things development platform "Bafa Cloud", we broke the constraints of physical distance, allowing the frog to jump freely after receiving the information push, showing amazing agility.

[0033] The powerful function of WI FI communication not only makes the interaction between the frog and the controller smoother, but also provides unlimited possibilities for the expansion of the function of the bionic frog. Whether it is remote control, real-time feedback or intelligent learning, it can all be realized on this platform.

[0034] From the above, we can know that:

[0035] The utility model aims at the technical problem that most bionic frogs need human control or preset programs to realize jumping, and completely simulating the jumping mechanism of frogs may increase the weight of the equipment and make the structure complicated; the technical solutions of the above embodiments are adopted. At the same time, the implementation process of the above technical solutions is:

[0036] When in use, the two motors 5 are controlled by a microcontroller to realize that the two spiral cams 6 rotate in the same direction at the same time. Since the arc surface on the spiral cam 6 contacts the mounting plate 8, the mounting plate 8 drives the square hook to move along the outer side of the central slide bar 7, thereby causing the first connecting spring 9 and the second connecting spring 10 to deform. Since the mounting plate 8 is fixed to the force transmission rod 12 and the cylindrical hook is slidably connected to the guide groove 11, the force transmission rod 12 can drive the first connecting arm 13 to move. At the same time, since the first connecting arm 13 is connected to the second connecting arm 14 by rotation, Then, the second connecting arm 14 is rotationally connected to the hind leg 4, the hind leg 4 is rotationally connected to the second force arm 17, and the second force arm 17 is rotationally connected to the first force arm 16. Under the limiting guidance of the L-shaped support rod 15, when the spiral cam 6 rotates to reach the pushing range, the carrying plate 8 is released, and the carrying plate 8 drives the square hook to move synchronously. The square hook on the carrying plate 8 and the cylindrical hook on the force transmission rod 12 are hooked with each other, thereby driving the force transmission rod 12 to move forward, so that the whole device can complete the forward jumping action, and through the continuous rotation of the spiral cam 6, a long-term jump is achieved.

[0037] Through the above configuration, the present application can certainly solve the above technical problems and achieve the following technical effects:

[0038] The utility model enables the device to perform bionic jumping through the structural design of the driving mechanism, and at the same time has a simple structure and light weight, thereby reducing the weight of the bionic robot and realizing long-term jumping.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Obviously, the embodiments described above are only some embodiments of the utility model, rather than all embodiments. The preferred embodiments of the utility model are given in the accompanying drawings, but they do not limit the patent scope of the utility model. The utility model can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. Although the utility model is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to replace some of the technical features therein with equivalents. Any equivalent structure made using the contents of the utility model specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the utility model.

Claims

1. A new type of bionic jumping robot, characterized in that: The invention comprises a top frame (1), a mounting shell (2), front legs (3) and rear legs (4); the mounting shells (2) are fixed at both ends of the top frame (1); the front legs (3) are fixed at the bottom of the mounting shell (2); one end of the top frame (1) is equipped with two rear legs (4); a driving mechanism is arranged between the top frame (1) and the mounting shell (2); the driving mechanism comprises a power assembly and a transmission assembly; the power assembly is arranged on the inner sides of the top frame (1) and the mounting shell (2); and the transmission assembly is arranged on the inner side of the power assembly.

2. A novel bionic jumping robot according to claim 1, characterized in that: The power assembly comprises a motor (5), a spiral cam (6), a center slide bar (7), a mounting plate (8) and a first connecting spring (9); the motor (5) is fixed on the inner side of the mounting shell (2); the output end of the motor (5) is fixed with a spiral cam (6); the outer side of the spiral cam (6) is provided with an arc surface; the inner end of the top frame (1) is fixed with a center slide bar (7); the outer side of the center slide bar (7) is slidably connected with the mounting plate (8); both ends of the mounting plate (8) are fixed with a square hook; the mounting plate (8) is slidably connected with the arc surface; the first connecting spring (9) is fixed on one side of the mounting plate (8); the first connecting spring (9) is sleeved on the outer side of the center slide bar (7); the end of the first connecting spring (9) away from the mounting plate (8) is fixed to the top frame (1).

3. A novel bionic jumping robot according to claim 2, characterized in that: The transmission assembly comprises a second connecting spring (10), a guide slot (11), a force transmission rod (12), a first connecting arm (13) and an L-shaped support rod (15); a second connecting spring (10) is fixed to a side of the mounting plate (8) away from the first connecting spring (9); the second connecting spring (10) is sleeved on the outer side of the central sliding rod (7); an end of the second connecting spring (10) away from the mounting plate (8) is fixed to the central sliding rod (7); both sides of the top frame (1) are provided with guide slots (11); the inner sides of the guide slots (11) are equipped with A force transmission rod (12) is provided, one end of which is fixed with a cylindrical hook, the cylindrical hook is slidably connected to the guide groove (11), the cylindrical hook corresponds to the position of the square hook, the other end of the force transmission rod (12) is rotatably connected to a first connecting arm (13), the first connecting arm (13) is assembled and connected to the rear leg (4), and the bottom of both sides of the top frame (1) is fixed with an L-shaped support rod (15), one end of the L-shaped support rod (15) is fixed to the mounting shell (2), and the first connecting arm (13) is rotatably connected to the L-shaped support rod (15).

4. A novel bionic jumping robot according to claim 3, characterized in that: The first connecting arm (13) is rotatably connected to the second connecting arm (14) on both sides of one end away from the force transmission rod (12), one end of the second connecting arm (14) is rotatably connected to the rear leg (4), the bottom of the L-shaped support rod (15) is rotatably connected to the first force applying arm (16), the bottom of the first force applying arm (16) is rotatably connected to the second force applying arm (17), and one end of the second force applying arm (17) is rotatably connected to the rear leg (4).

5. The novel bionic jumping robot according to claim 1 is characterized in that: The bottoms of the rear legs (4) are all provided with anti-slip protrusions.

6. The novel bionic jumping robot according to claim 2 is characterized in that: A microcontroller is fixed to the bottom of one of the mounting shells (2), and the microcontroller is electrically connected to the motor (5) via a wire.

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