Bionic frog jumping robot

Abstract

The utility model relates to a robot, in particular to a bionic frog jumping robot. The bionic frog jumping robot comprises a trunk support mechanism provided with a main frame body, a driving mechanism and a crank connecting rod mechanism are arranged on the main frame body, a front leg mechanism and a rear leg mechanism are arranged on the front portion and the rear portion of the main frame body respectively, and the driving mechanism drives the crank connecting rod mechanism through rotation. The leg rod is driven to do reciprocating motion of outward unfolding and inward folding, so that the upper connecting part and the lower connecting part realize reciprocating jumping motion of getting close to each other or getting away from each other; the bionic frog jumping robot solves the problems that an existing bionic frog jumping robot is low in power transmission efficiency and unstable in jumping and landing.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to a bionic frog jumping robot. Background Art

[0002] Biomimetic zoology is a branch of bionics research that seeks to draw inspiration from organisms in nature and apply it to the research and design of robotics. By mimicking the structure, function, and behavior of organisms, researchers are able to develop robotic systems with greater adaptability and flexibility.

[0003] As an excellent jumping animal, the frog has outstanding jumping ability and efficient movement. The structure of the frog's hind legs and muscle system enable it to jump and move quickly and flexibly in complex environments while maintaining balance. This excellent movement performance has inspired researchers to use bionic principles to design robots with similar jumping characteristics.

[0004] The prior art CN202703737U discloses a frog-like jumping robot, which improves the utilization rate of the robot's driving elements, optimizes the leg mechanical structure, improves the robot's bionics, enhances the robot's jumping ability, improves the flexibility of the robot's mechanical structure, and enhances the posture stability during the jumping process through the reasonable setting of the forelimb and hindlimb driving mechanisms and the forelimb and hindlimb actuators.

[0005] However, the existing problem is that the existing bionic frog jumping robot adopts a complex power transmission system, which has the problem of low power transmission efficiency. At the same time, it is easy to have an unstable posture or lose balance when landing during the jumping process. Utility Model Content

[0006] In order to overcome the existing technical solutions, the utility model provides a bionic frog jumping robot to solve the problems of low power transmission efficiency and unstable jumping and landing of the existing bionic frog jumping robot.

[0007] The utility model solves the technical problem by adopting the following technical solution: a bionic frog jumping robot comprises a trunk support mechanism provided with a main frame, a driving mechanism and a crank connecting rod mechanism are provided on the main frame, a front leg mechanism and a rear leg mechanism are provided at the front and rear of the main frame respectively, and the rear leg mechanism comprises an upper connecting part, a lower connecting part, a leg rod and a tension spring provided between the leg rods;

[0008] The driving mechanism comprises a motor, a first gear and a second gear; the output shaft of the motor is connected to the first gear, the first gear is meshed with the second gear, a connecting shaft is provided in the middle of the second gear, both ends of the connecting shaft pass through the upper connecting part and are transmission-connected to the crank-connecting rod mechanism;

[0009] The crank-connecting rod mechanism comprises a crank, a transmission member and a connecting rod, wherein the connecting rod comprises a first connecting rod and a second connecting rod; the middle axis of the crank is transmission-connected to the connecting shaft, the crank arm of the crank is transmission-connected to one end of the first connecting rod through the transmission member, the other end of the first connecting rod is hinged to the second connecting rod, and the other end of the second connecting rod is hinged to the lower connecting portion;

[0010] The driving mechanism drives the crank-connecting rod mechanism by rotation, thereby driving the leg rod to perform reciprocating motion of abduction and adduction, so that the upper connecting part and the lower connecting part can achieve a linear reciprocating jumping motion of approaching or moving away from each other.

[0011] As a preferred technical solution of the utility model, the leg rod includes two thigh rods and two calf rods, one end of each thigh rod is connected to the upper connecting part through a pin shaft, and the other end is hinged to one end of the calf rod, and the other end of each calf rod is hinged to the lower connecting part, and the thigh rod and the calf rod form a four-bar mechanism that can be abducted and adducted.

[0012] As a preferred technical solution of the utility model, the tension springs are respectively arranged between the two thigh rods and the two calf rods, and the elastic expansion and contraction direction of the tension springs is consistent with the abduction and adduction movement direction of the leg rods.

[0013] As a preferred technical solution of the utility model, the hind leg mechanism also includes a hind sole in contact with the ground, and the hind sole is hinged to the bottom of the lower connecting part. When the lower connecting part jumps toward or away from the upper connecting part, the hind sole is driven to move synchronously.

[0014] As a preferred technical solution of the utility model, the front leg mechanism includes a large arm, a small arm and a front sole, one end of the large arm is connected to the main frame through a pin shaft, and the other end is connected to the small arm through a rotating shaft, and the other end of the small arm is connected to the front sole.

[0015] As a preferred technical solution of the utility model, a shock-absorbing spring is arranged between the large arm and the small arm, and the shock-absorbing spring is used to buffer the impact and vibration generated between the large arm and the small arm during the movement process.

[0016] As a preferred technical solution of the utility model, the motor is a reduction motor; the first gear and the second gear are meshed and connected to form a reduction gear set; the reduction gear set reduces the output shaft speed of the motor and increases the output shaft torque.

[0017] As a preferred technical solution of the utility model, a connecting block is provided on the inner side of the upper connecting part, the bottom of the connecting block is fixedly connected to the main frame, and the upper part of the connecting block is provided with a through hole for the connecting shaft to pass through.

[0018] As a preferred technical solution of the utility model, the rear leg mechanism is also provided with a guide rod, which is arranged on the inner side of the leg rod, one end of which is fixedly connected to the lower connecting part, and the other end of which passes through the connecting block in the vertical direction.

[0019] As a preferred technical solution of the utility model, a ball joint is provided at the connecting end of the small arm rod and the forefoot, and the small arm rod forms a spherical connection with the forefoot through the ball joint.

[0020] Compared with the prior art, the beneficial effects of the utility model are:

[0021] 1. The utility model completes the establishment of a bionic frog robot model by arranging a trunk support mechanism, a front leg mechanism, a hind leg mechanism, a driving structure and a crank-connecting rod mechanism, and the bionic frog jumping robot has a high power transmission efficiency. Firstly, the motor realizes high-efficiency power conversion and transmission through the cooperation of gears and crank-connecting rod mechanisms, and can effectively convert the rotational motion of the motor into the reciprocating linear motion of the legs; secondly, the abduction and adduction movements of the leg rods in the hind leg mechanism, in conjunction with the tension springs consistent with the movement direction, not only enhance the naturalness and smoothness of the movement, but also further improve the power utilization efficiency through the energy storage and release of the elastic elements.

[0022] 2. The utility model utilizes the flexibility of biological bodies to avoid injury and provide power when impacted, while having sufficient rigidity to complete movement. A shock-absorbing spring is arranged between the upper arm and the lower arm. The shock-absorbing spring can absorb and buffer these impact forces, reduce the vibration and instability of the robot body, make the movement of the robot more stable and controllable, and improve the stability of the robot; that is, the front legs adopt a flexible mechanism with redundancy, which can reduce the impact generated during movement and improve the overall stability.

[0023] The specific technical solutions and beneficial effects of the present invention will be described in detail in the following specific embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] Figure 1 It is a schematic diagram of the overall structure of the bionic frog jumping robot of the utility model;

[0026] Figure 2 It is a structural schematic diagram of the side surface of the bionic frog jumping robot of the utility model;

[0027] Figure 3 It is a structural schematic diagram of the hind leg mechanism of the bionic frog jumping robot of the utility model;

[0028] Figure 4 The utility model is a schematic diagram of the side structure of the hind leg mechanism and the crank connecting rod mechanism of the bionic frog jumping robot.

[0029] Numbers in the figure

[0030] 1. Main frame; 2. Crank-connecting rod mechanism; 3. Front leg mechanism; 4. Rear leg mechanism; 5. Upper connecting part; 6. Lower connecting part; 7. Leg rod; 8. Tension spring; 9. Motor; 10. First gear; 11. Second gear; 12. Connecting shaft; 13. Crank; 14. Transmission member; 15. First connecting rod; 16. Second connecting rod; 17. Thigh rod; 18. Calf rod; 19. Rear sole; 20. Upper arm rod; 21. Lower arm rod; 22. Front sole; 23. Shock-absorbing spring; 24. Connecting block; 25. Guide rod. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application is further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. It should be noted that when an element is referred to as "fixed on" or "set on" another element, it can be directly on another element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to another element or indirectly connected to the other element. It should be understood that the orientation or position relationship indicated by the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0032] The bionic frog jumping robot of the utility model is as follows Figure 1-4 As shown, the bionic frog jumping robot comprises a trunk support mechanism provided with a main frame 1, the main frame 1 is provided with a driving mechanism and a crank connecting rod mechanism 2, the front and rear parts of the main frame 1 are respectively provided with a front leg mechanism 3 and a rear leg mechanism 4, the rear leg mechanism 4 comprises an upper connecting part 5, a lower connecting part 6, a leg rod 7 and a tension spring 8 arranged between the leg rod 7;

[0033] The driving mechanism includes a motor 9, a first gear 10 and a second gear 11; the output shaft of the motor 9 is connected to the first gear 10, the first gear 10 is meshed with the second gear 11, and a connecting shaft 12 is provided in the middle of the second gear 11, and both ends of the connecting shaft 12 pass through the upper connecting part 5 and are transmission-connected to the crank-connecting rod mechanism 2; the crank-connecting rod mechanism 2 includes a crank 13, a transmission member 14 and a connecting rod, and the connecting rod includes a first connecting rod 15 and a second connecting rod 16; the central axis of the crank 13 is transmission-connected to the connecting shaft 12, and the crank arm of the crank 13 is transmission-connected to one end of the first connecting rod 15 through the transmission member 14, and the other end of the first connecting rod 15 is hinged to the second connecting rod 16, and the other end of the second connecting rod 16 is hinged to the lower connecting part 6;

[0034] The driving mechanism drives the crank-connecting rod mechanism 2 by rotation, thereby driving the leg rod 7 to perform reciprocating motion of abduction and adduction, so that the upper connecting part 5 and the lower connecting part 6 can achieve reciprocating jumping motion of approaching or moving away from each other.

[0035] The utility model completes the establishment of a bionic frog robot model by arranging a trunk support mechanism, a front leg mechanism 3, a hind leg mechanism 4, a driving structure and a crank-connecting rod mechanism 2, and utilizes a motor 9 in the driving mechanism to drive a gear to pull a crank 13 connecting rod, thereby transmitting a leg rod 7 in the hind leg mechanism 4 to perform repeated outward and inward movements, and cooperates with a tension spring 8 whose elastic expansion and contraction direction is consistent with the outward and inward movement direction of the leg rod 7, so that the hind leg mechanism 4 can realize reciprocating jumping movements to simulate the jumping movement characteristics of a frog.

[0036] The bionic frog jumping robot of the utility model has a high power transmission efficiency. The motor 9 realizes high-efficiency power conversion and transmission through the cooperation of gears and the crank-connecting rod mechanism 2, and effectively converts the rotational motion of the motor 9 into the reciprocating linear motion of the legs; and the abduction and adduction movements of the leg rod 7 in the hind leg mechanism 4, in conjunction with the tension spring 8 consistent with the movement direction, not only enhances the naturalness and smoothness of the movement, but also further improves the power utilization efficiency through the energy storage and release of the elastic element.

[0037] Furthermore, the leg rod 7 includes two thigh rods 17 and two calf rods 18, one end of each thigh rod 17 is connected to the upper connecting part 5 through a pin, and the other end is hinged to one end of the calf rod 18, and the other end of each calf rod 18 is hinged to the lower connecting part 6, and the thigh rod 17 and the calf rod 18 form a four-bar mechanism that can be abducted and adducted.

[0038] In a preferred embodiment, the two thigh bars 17 and the two calf bars 18 form a four-bar frame structure to constitute a stable steady-state mechanism. The abduction and adduction of the leg bars 7 are achieved by changing the increase and decrease of the diagonal between the thigh bars 17 and the calf bars 18. The structural design of the leg bars 7 simulates the structure and movement principle of the real frog's hind legs, enhances its bionics and natural and smooth movement performance, and the movement characteristics of the four-bar mechanism are adopted to ensure the continuity and smoothness of the movement.

[0039] Specifically, in the hind leg mechanism 4, the power driven by the motor 9 is transmitted to the thigh rod 17 and the calf rod 18 through the gear and crank-connecting rod mechanism 2. This arrangement minimizes the loss of power during the transmission process, ensuring that the energy utilization of the robot is maximized when performing jumping or other complex actions. In addition, under different terrain and environmental conditions, the bionic frog jumping robot needs to have good stability and adaptability to effectively complete the task. The leg rod 7 adopts a four-bar mechanism setting to provide stable support and motion control, so that the robot can maintain good balance and stability even on uneven or complex terrain, thereby improving its ability to adapt to different environments.

[0040] Furthermore, the tension springs 8 are respectively arranged between the two thigh rods 17 and the two calf rods 18 , and the elastic expansion and contraction direction of the tension springs 8 is consistent with the abduction and adduction movement direction of the leg rods 7 .

[0041] Before the frog-like robot takes off, in order to achieve a state where the legs are tightened when landing, the leg-retracting action must be completed in a relatively short time. Therefore, during the movement of the bionic frog robot, a tension spring 8 is arranged between the leg rods 7. When the motor 9 drives the gears to quickly move the crank-connecting rod mechanism 2, it can make a rapid leg-retracting action under no-load state. At the same time, the elasticity of the tension spring 8 can simulate the elastic characteristics of biological muscles, so that the movement of the robot is closer to the movement mode of the biological organism; when the leg rod 7 is abducted or adducted, the tension spring 8 can store and release energy, provide additional driving force and supporting force for the robot, make the movement more stable and coherent, and improve the movement efficiency of the robot; in a preferred embodiment, the elastic expansion and contraction direction of the tension spring 8 is consistent with the direction of the abduction and adduction movement of the leg rod 7, so that the four-bar mechanism of the leg rod 7 can cooperate with the elastic force of the tension spring 8 when abducting and adducting, so as to realize the reciprocating movement of the hind leg mechanism 4.

[0042] At the same time, the provision of the tension spring 8 also enhances the stability and adaptability of the robot in complex environments. When the robot encounters uneven terrain or external interference, the elasticity of the tension spring 8 plays a buffering and regulating role, helping the robot to maintain balance and stability.

[0043] Furthermore, the rear leg mechanism 4 also includes a rear sole 19 in contact with the ground, and the rear sole 19 is hinged to the bottom of the lower connecting part 6. When the lower connecting part 6 jumps toward or away from the upper connecting part 5, it drives the rear sole 19 to move synchronously.

[0044] Specifically, the rear sole 19, as the part in contact with the ground, has the function of supporting and gripping the ground during the movement of the robot; when the robot performs a jumping action, the contact between the rear sole 19 and the ground can provide additional support and friction, which helps to maintain the balance and stability of the robot, reduce sliding and shaking, and ensure that the robot can jump stably.

[0045] Furthermore, the front leg mechanism 3 includes a large arm 20, a small arm 21 and a front sole 22, one end of the large arm 20 is connected to the main frame 1 through a pin shaft, and the other end is connected to the small arm 21 through a rotating shaft, and the other end of the small arm 21 is connected to the front sole 22, and a shock-absorbing spring 23 is arranged between the large arm 20 and the small arm 21, and the shock-absorbing spring 23 is used to buffer the impact and vibration generated between the large arm 20 and the small arm 21 during the movement process.

[0046] Specifically, when the bionic frog robot performs various actions, such as jumping, running or turning, a large force and vibration will be generated between the upper arm 20 and the lower arm 21. The flexibility of the organism can be used to avoid damage and provide power when it is impacted, and it has sufficient rigidity to complete the movement. A shock-absorbing spring 23 is arranged between the upper arm 20 and the lower arm 21. The shock-absorbing spring 23 can absorb and buffer these impact forces, reduce the vibration and instability of the robot body, make the movement of the robot more stable and controllable, and improve the stability of the robot; that is, the front leg adopts a flexible mechanism with redundancy, which can reduce the impact generated during movement and improve the overall stability, and ensure that the forefoot 22 and the ground still have a large contact area when the knee joint is abducted, thereby increasing flexibility; at the same time, the flexible front leg mechanism 3 removes the shoulder joint constraint and reduces the probability of collision and tipping.

[0047] Furthermore, the motor 9 is a reduction motor; the first gear 10 and the second gear 11 are meshed and connected to form a reduction gear set; the reduction gear set reduces the output shaft speed of the motor 9 and increases the output shaft torque. The use of the reduction gear set and the reduction motor enables the robot to perform various actions more stably and efficiently during the movement process, thereby improving the power output and motion control accuracy of the robot. Through the action of the reduction gear set, the robot moves more smoothly and can withstand a larger load, while reducing the energy consumption of the motor 9.

[0048] Further, a connecting block 24 is provided on the inner side of the upper connecting portion 5, the bottom of the connecting block 24 is fixedly connected to the main frame 1, and a through hole for the connecting shaft 12 to penetrate is provided on the upper part of the connecting block 24. The rear leg mechanism 4 is also provided with a guide rod 25, which is arranged on the inner side of the leg rod 7, one end of the guide rod 25 is fixedly connected to the lower connecting portion 6, and the other end is arranged to penetrate the connecting block 24 in the vertical direction;

[0049] In the design of the bionic frog robot, a connection block 24 is provided inside the upper connection part 5, the bottom of the connection block 24 is fixedly connected to the main frame 1, and a through hole is provided on the upper part of the connection block 24 for connecting the shaft rod 12 to penetrate. The hind leg mechanism 4 is also provided with a guide rod 25, which is located inside the leg rod 7, one end of which is fixedly connected to the lower connection part 6, and the other end of which penetrates the connection block 24 in the vertical direction. The setting of the guide rod 25 provides a guiding effect, guides and stabilizes the motion trajectory of the hind leg mechanism 4, makes the robot's movement more accurate, and improves the robot's movement efficiency and motion coordination.

[0050] Furthermore, a ball joint is provided at the connecting end of the small arm rod 21 and the forefoot 22, and the small arm rod 21 forms a spherical connection with the forefoot 22 through the ball joint. The spherical connection allows the forefoot 22 to rotate and tilt in multiple directions, so that the robot can more naturally and flexibly imitate the movement of a frog, such as jumping, turning, stable landing, etc.; at the same time, it provides a wider range of freedom of movement, so that the robot can better adapt to different terrains and environments and perform more complex and diverse tasks.

[0051] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. The bionic frog jumping robot is characterized by: It comprises a trunk support mechanism provided with a main frame, the main frame is provided with a driving mechanism and a crank connecting rod mechanism, the front and rear parts of the main frame are provided with a front leg mechanism and a rear leg mechanism respectively, the rear leg mechanism comprises an upper connecting part, a lower connecting part, a leg rod and a tension spring provided between the leg rods; The driving mechanism comprises a motor, a first gear and a second gear; the output shaft of the motor is connected to the first gear, the first gear is meshed with the second gear, a connecting shaft is provided in the middle of the second gear, both ends of the connecting shaft pass through the upper connecting part and are transmission-connected to the crank-connecting rod mechanism; The crank-connecting rod mechanism comprises a crank, a transmission member and a connecting rod, wherein the connecting rod comprises a first connecting rod and a second connecting rod; the middle axis of the crank is transmission-connected to the connecting shaft, the crank arm of the crank is transmission-connected to one end of the first connecting rod through the transmission member, the other end of the first connecting rod is hinged to the second connecting rod, and the other end of the second connecting rod is hinged to the lower connecting portion; The driving mechanism drives the crank-connecting rod mechanism by rotation, thereby driving the leg rod to perform reciprocating motion of abduction and adduction, so that the upper connecting part and the lower connecting part can achieve a linear reciprocating jumping motion of approaching or moving away from each other.

2. The bionic frog jumping robot according to claim 1, characterized in that: The leg rods include two thigh rods and two calf rods, one end of each thigh rod is connected to the upper connecting part through a pin shaft, and the other end is hinged to one end of the calf rod, and the other end of each calf rod is hinged to the lower connecting part. The thigh rods and calf rods form a four-bar mechanism that can be abducted and adducted.

3. The bionic frog jumping robot according to claim 2, characterized in that: The tension springs are respectively arranged between the two thigh rods and the two calf rods, and the elastic expansion and contraction direction of the tension springs is consistent with the abduction and adduction movement direction of the leg rods.

4. The bionic frog jumping robot according to claim 3, characterized in that: The hind leg mechanism also includes a hind sole in contact with the ground, and the hind sole is hinged to the bottom of the lower connecting part. When the lower connecting part jumps toward or away from the upper connecting part, the hind sole is driven to move synchronously.

5. The bionic frog jumping robot according to claim 1, characterized in that: The front leg mechanism comprises a large arm, a small arm and a front sole, wherein one end of the large arm is connected to the main frame through a pin, and the other end is connected to the small arm through a rotating shaft, and the other end of the small arm is connected to the front sole.

6. The bionic frog jumping robot according to claim 5, characterized in that: A shock absorbing spring is arranged between the large arm and the small arm, and the shock absorbing spring is used to buffer the impact and vibration generated between the large arm and the small arm during the movement process.

7. The bionic frog jumping robot according to claim 1, characterized in that: The motor is a reduction motor; the first gear and the second gear are meshed and connected to form a reduction gear set; the reduction gear set reduces the output shaft speed of the motor and increases the output shaft torque.

8. The bionic frog jumping robot according to claim 1, characterized in that: A connecting block is provided on the inner side of the upper connecting part, the bottom of the connecting block is fixedly connected to the main frame, and the upper part of the connecting block is provided with a through hole for the connecting shaft to pass through.

9. The bionic frog jumping robot according to claim 8, characterized in that: The rear leg mechanism is also provided with a guide rod, which is arranged on the inner side of the leg rod. One end of the guide rod is fixedly connected to the lower connecting part, and the other end of the guide rod passes through the connecting block in the vertical direction.

10. The bionic frog jumping robot according to claim 5, characterized in that: A ball joint is provided at the connecting end of the small arm rod and the front sole of the foot, and the small arm rod is connected to the front sole of the foot through the ball joint to form a spherical pair.

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