Bionic frog

Abstract

The utility model belongs to the technical field of bionic robots, and particularly discloses a bionic frog which comprises a frog body, a forelimb mechanism and a hind limb mechanism. The frog body comprises a chassis and a frog body, the frog body is rotatably arranged on the chassis through a tail connecting shaft and a rotation driving mechanism, and a take-off driving mechanism is arranged on the frog body; the front limb mechanisms are symmetrically arranged on the lower side of the front end of the chassis; the hind limb mechanisms are symmetrically arranged on the lower side of the rear end of the chassis; through the design of the frog body, the forelimb mechanism, the hind limb mechanism, the rotation driving mechanism and the take-off driving mechanism, the frog is high in take-off efficiency and good in take-off stability in use, and resistance borne in the take-off process can be reduced; meanwhile, the rear limbs adopt double-structure pressure buffering springs, so that power transmission can be realized to the greatest extent, and energy loss is reduced; the front limbs adopt shock absorbers and rollers, so that friction between the front limbs and the ground is reduced during compression and force storage, frogs are prevented from rollover, and energy loss is reduced; the device has the characteristics of high take-off efficiency, good take-off stability and small energy loss in the take-off process.

Description

Technical Field

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

[0002] At present, the scope of use of robots is getting wider and wider. With the expansion of its application field, the places where robots are used are also constantly enriched, and there are higher requirements for their range of movement. Faced with harsh environments and complex terrains, robots are required to have strong autonomous movement capabilities, survival capabilities and high movement flexibility. Wheeled or tracked robots and bionic crawling or walking robots are the main objects of research on autonomous mobile robots. However, wheeled or tracked robots are only suitable for working on relatively flat ground, and their movement performance on uneven ground is greatly weakened; in addition, walking or crawling robots have many degrees of freedom, complex control, slow movement and other disadvantages, and they also cannot meet the needs of obstacle crossing. In many practical applications of robots, they are required to have the ability to jump over obstacles or ditches. However, multi-wheel drive and crawling robots cannot meet this requirement. Therefore, it is urgent to develop a bouncing robot that can cross building stairs, gravel and even forests and deserts, thereby greatly improving the range of activities of the robot. Compared with other types of mobile robots, bouncing robots can easily jump over obstacles or ditches that are several times or even dozens of times larger than themselves, and are more suitable for complex and unpredictable environments. In addition, the suddenness and explosiveness of the bouncing motion helps the robot avoid danger, and it also has good application prospects in archaeological exploration and military reconnaissance.

[0003] Frogs, as members of the Anura family of the Amphibia class, are widely distributed in various regions of my country and are well-known amphibians. There are many things we can learn from frogs in terms of mechanical aspects such as bones. By designing a bionic frog machine, we can use the robot's jumping function to enhance its ability to adapt to terrain and move autonomously, and can effectively overcome the obstacle jumping problem of the above-mentioned existing robots. After searching, patents about bionic frog robots have been disclosed. For example, patent publication number CN101850794B discloses a frog-style jumping robot. This scheme uses a motor as a power element, and overrunning clutches and toothed belts as transmission mechanisms. The slider can move on the guide rail under the drive of the motor through the transmission device, and the robot's legs are extended and contracted under the drive of the slider to complete the jumping movement. However, after the structure takes off, it only uses the foot elastic element and the hip joint spring for buffering, and the buffering effect is not very good. In addition, the hip joint spring needs to be stretched a long distance to be released, which affects the jumping efficiency.

[0004] In view of the above problems, it is urgent to design a bionic frog with a simple structure to solve the problems existing in the above-mentioned prior art. Utility Model Content

[0005] In view of the above-mentioned problems, the utility model aims to provide a bionic frog. Through the design of the frog body, forelimb mechanism, hind limb mechanism, rotation drive mechanism and jumping drive mechanism, the frog has high jumping efficiency and good jumping stability when in use, can reduce the resistance encountered during the jumping process, and adopts a double-structure pressure-relief spring to maximize power transmission and reduce energy loss; the forelimbs are designed with shock absorbers and roller structures to reduce the friction between the forelimbs and the ground during compression and power storage, prevent the frog from tipping over and reduce energy loss; the frog has the characteristics of high jumping efficiency, good jumping stability and small energy loss during the jumping process.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A bionic frog comprises a frog body, a forelimb mechanism and a hindlimb mechanism; the frog body is used to connect the forelimb mechanism with the hindlimb mechanism, and comprises a chassis and a frog body; the frog body is rotatably arranged on the chassis through a tail coupling and a rotation drive mechanism, and an airway is formed between the chassis and the frog body; the rotation drive mechanism is arranged at the frog head end of the chassis, and a jump drive mechanism is arranged on the frog body; the forelimb mechanism is arranged at the lower side of the front end of the chassis, and is used to play a supporting and shock absorbing role; the hindlimb mechanism is arranged at the rear end of the chassis, and is used in conjunction with the jump drive mechanism to provide the bionic frog with jumping ability.

[0008] Preferably, a hinge seat is provided at the rear end of the chassis, and the hinge seat is used in conjunction with a hinge groove provided on the lower side of the rear end of the frog body. When in use, the hinge seat is inserted into the hinge groove and connected using the rear connecting shaft, thereby realizing the connection between the chassis and the frog body, and forming an air passage between the chassis and the frog body, thereby ensuring that the frog maintains a stable posture during jumping.

[0009] Preferably, the rotation drive mechanism includes motor 2 and a push rod; motor 2 is fixedly mounted at the front end of the chassis, and a drive disk is provided at the driving end of motor 2, the push rod is provided on the drive disk, and is used in conjunction with a push rod provided at the front end of the frog body, that is, when motor 2 is actuated, the push rod is driven to rotate by the drive disk, and the inclination degree of the frog body is adjusted by utilizing the action of the push rod pressing against the push rod.

[0010] Preferably, the forelimb mechanism is symmetrically arranged on the lower side of the front end of the chassis, including a support component, a spring 1 and a roller; the support component is a telescopic rod fixedly mounted on the lower side of the chassis; the spring 1 is mounted on the telescopic joint of the support component through silicone, and is used in conjunction with the support component to form a shock absorber device, which plays a buffering role when the support component is extended and retracted; the roller is mounted on the other end of the support component to reduce energy damage and mechanism wear caused by excessive friction between the forelimbs and the ground during the power storage process and the take-off process.

[0011] Preferably, the hind limb mechanism includes a tail fixing part, a straight rod and a foot plate; the tail fixing part is movably mounted on the chassis through a spring, is hingedly connected to the straight rod, and a rack is provided on the tail fixing part, the rack is used in conjunction with a take-off drive mechanism, and when in use, the tail fixing part is driven to move left and right by the take-off drive mechanism, thereby driving the straight rod to move; the upper end of the straight rod is hingedly connected to a connecting seat fixedly arranged on the chassis, thereby fixing the upper end of the straight rod; the foot plate is installed at the end of the straight rod through a torsion spring, and plays the role of a foot support, so as to facilitate full utilization of the torsion spring energy in jumping and enhance the stability of jumping.

[0012] Preferably, the tail fixing piece is an integrally formed "I"-shaped structure, including a connecting block and a connecting plate; the connecting plate is arranged between the two connecting blocks, and is used to connect the two connecting blocks; a hinged connecting rod is arranged at one end of the connecting block, and the hinged connecting rod is hingedly connected to the straight rod to realize the connection between the tail fixing piece and the straight rod; a guide rod is arranged at the other end of the connecting block, and the two sets of springs are arranged on the guide rod, and the front end of the guide rod is used in conjunction with the guide hole arranged on the chassis, so as to guide the movement of the guide rod through the guide hole when in use; the rack is arranged on any connecting block.

[0013] Preferably, the jumping drive mechanism includes a motor 1 and a gear, wherein the motor 1 is fixedly mounted on the frog body, the gear is arranged at the driving end of the motor 1 and meshes with the rack, and when in use, the motor 1 drives the gear to rotate, and the meshing action between the gear and the rack drives the frog to complete the energy storage and jumping process; when in use, during the energy storage process, the motor 1 rotates the gear to drive the rack to move horizontally forward, thereby playing the role of compressing the spring 2 to realize energy storage before jumping; in the bouncing stage, when the spring 2 is compressed to a certain extent, the control panel controls the spring 2 to lift the frog body and the steering gear, releases the constraints of the gear and the rack, releases the spring 2, and then pushes the straight rod, and transmits the force to the ground through the connecting rod mechanism to realize the frog jumping.

[0014] The beneficial effects of the utility model are as follows: the utility model discloses a bionic frog. Compared with the prior art, the improvements of the utility model are:

[0015] The utility model designs a bionic frog, comprising a frog body, a forelimb mechanism and a hindlimb mechanism. The frog body comprises a chassis and a frog body, a rotation drive mechanism is arranged at the frog head end of the chassis, and a take-off drive mechanism is arranged on the frog body. The hindlimb mechanism is arranged at the rear end of the chassis and is used in conjunction with the take-off drive mechanism. When in use:

[0016] 1. Through the structural setting of the frog body and the rotation drive mechanism, the inclination of the frog body can be adjusted by the rotation drive mechanism, so as to imitate the different postures of the frog when taking off or not taking off. At the same time, an air passage is formed between the chassis and the frog body, which ensures that the frog maintains a stable posture during the jumping process, reduces the wind resistance of the frog during the jumping process, and reduces the energy loss of the frog during the jumping process;

[0017] 2. Through the setting of the forelimb mechanism, the shock absorber device composed of the support component and the spring can be used for buffering during the frog's power accumulation process and the jump process. Through the setting of the shock absorber and the roller, the friction between the forelimb and the ground can be reduced during compression and power accumulation, preventing the frog from rolling over and reducing energy loss;

[0018] 3. Through the setting of the hind limb mechanism, the hind limb mechanism adopts a double-structured pressure-reducing spring 2, which can realize power transmission to the greatest extent, reduce energy loss, ensure the frog's jumping efficiency and jumping effect, and has the advantages of high jumping efficiency, good jumping stability, and small energy loss during the jumping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a schematic diagram of the structure of the bionic frog of the utility model.

[0020] Figure 2 The utility model is a structural schematic diagram of the bionic frog from the main viewing angle.

[0021] Figure 3 The figure is a schematic diagram of the structure of the bionic frog of the utility model from a side view angle.

[0022] Figure 4 It is a structural schematic diagram of the chassis of the utility model.

[0023] Figure 5 It is a structural schematic diagram of the hind limb mechanism of the utility model.

[0024] Figure 6 It is a structural schematic diagram of the tail fixing member of the utility model.

[0025] Figure 7 It is a partial enlarged view of the bionic frog A of the utility model.

[0026] Among them: 1. frog body, 11. chassis, 111. articulated seat, 112. guide hole, 12. frog body, 13. top rod; 2. forelimb mechanism, 21. support component, 22. spring 1, 23. roller; 3. hind limb mechanism, 31. tail fixing part, 311. connecting block, 312. articulated connecting rod, 313. guide rod, 314. connecting plate, 32. straight rod, 33. foot plate, 34. spring 2, 35. connecting seat, 36. rack; 4. take-off drive mechanism, 41. motor 1, 42. gear; 5. rotation drive mechanism, 51. motor 2, 52. push rod, 53. drive disk. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0028] Example 1: Refer to the attached Figure 1-7 A bionic frog is shown, comprising a frog body 1, a forelimb mechanism 2 and a hindlimb mechanism 3; wherein the frog body 1 is used to connect the forelimb mechanism 2 with the hindlimb mechanism 3, and comprises a chassis 11 and a frog body 12, wherein the frog body 12 is rotatably arranged on the chassis 11 through a tail coupling and a rotation drive mechanism 5, and an airway is formed between the chassis 11 and the frog body 12, the rotation drive mechanism 5 is arranged at the frog head end of the chassis 11, and a jump drive mechanism 4 is arranged on the frog body 12; the forelimb mechanism 2 is arranged at the lower side of the front end of the chassis 11, and is used to play a supporting and shock absorbing role; the hindlimb mechanism 3 is arranged at the rear end of the chassis 11, and is used in conjunction with the jump drive mechanism 4 to provide the bionic frog with jumping ability.

[0029] As a preferred embodiment, Figure 4 As shown, in order to connect the chassis 11 with the frog body 12 when in use, a hinge seat 111 is provided at the rear end of the chassis 11, and the hinge seat 111 is used in conjunction with a hinge groove provided at the lower side of the rear end of the frog body 12. When in use, the hinge seat 111 is inserted into the hinge groove and connected by the rear connecting shaft, thereby realizing the connection between the chassis 11 and the frog body 12, and forming an air passage between the chassis 11 and the frog body 12, thereby ensuring that the frog maintains a stable posture during the jumping process.

[0030] As a preferred embodiment, Figure 2As shown, in order to use the rotating drive mechanism 5 to adjust the inclination of the frog body 12 during use so as to reduce the wind resistance of the frog during the jump, the rotating drive mechanism 5 is designed to include a motor 2 51 and a push rod 52; the motor 2 51 is fixedly installed at the front end of the chassis 11, and a driving disk 53 is provided at the driving end of the motor 2 51, and the push rod 52 is provided on the driving disk 53, and is used in conjunction with the push rod 13 provided at the front end of the frog body 12, that is, when the motor 2 51 is in motion, the push rod 52 is driven to rotate by the driving disk 53, and the inclination of the frog body 12 is adjusted by the action of the push rod 52 pressing against the push rod 13.

[0031] Example 2: Refer to the attached Figure 7 In order to play a supporting and shock-absorbing role when in use, the forelimb mechanism 2 is designed to be symmetrically arranged on the lower side of the front end of the chassis 11, including a support component 21, a spring 22 and a roller 23; the support component 21 is fixedly installed on the lower side of the chassis 11, and is a telescopic rod structure; the spring 22 is movably sleeved on the support component 21, and forms a shock absorber device with the support component 21. Specifically, the spring 22 is installed on the telescopic joint of the support component 21 through silicone, and is used in conjunction with the support component 21 to form a shock absorber device, which plays a buffering role when the support component 21 is extended and retracted; at the same time, due to the use of silicone for fixing, it is convenient to replace springs 22 of different lengths, realize the adjustment of the frog's orientation, and facilitate the next step of physical measurement, so as to obtain the optimal tilt orientation; the roller 23 is installed at the other end of the support component 21 to reduce energy damage and mechanism wear caused by excessive friction between the forelimbs and the ground during the power storage process and the take-off process.

[0032] Example 3: Refer to the attached Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 In order to provide the bionic frog with jumping ability when in use, the hind limb mechanism 3 is designed to include a tail fixing member 31, a straight rod 32 and a foot plate 33; the tail fixing member 31 is movably mounted on the chassis 11 through a spring 2 34, and is hingedly connected to the straight rod 32, and a rack 36 is arranged on the tail fixing member 31, and the rack 36 is used in conjunction with the take-off driving mechanism 4. When in use, the take-off driving mechanism 4 drives the tail fixing member 31 to move left and right, and then drives the straight rod 32 to move; the straight rod 32 is a plate-like structure, and its upper end is hingedly connected to a connecting seat 35 fixedly arranged on the chassis 11, so as to fix the upper end of the straight rod 32; the foot plate 33 is mounted at the end of the straight rod 32 through a torsion spring, and plays the role of a foot support, so as to facilitate full utilization of the torsion spring energy in jumping and enhance the stability of jumping.

[0033] As a preferred embodiment, Figure 6As shown, the tail fixing member 31 is designed to be an integrally formed "I"-shaped structure, including a connecting block 311 and a connecting plate 314; the connecting blocks 311 are symmetrically arranged on both sides of the connecting plate 314, and are used to connect the two connecting blocks 311, and a rack 36 is installed on any connecting block 311; a hinged connecting rod 312 is arranged at one end of the connecting block 311, and the hinged connecting rod 312 is hingedly connected to the straight rod 32 to realize the connection between the tail fixing member 31 and the straight rod 32; a guide rod 313 is arranged at the other end of the connecting block 311, and the spring 34 is sleeved on the guide rod 313, and the front end of the guide rod 313 is used in conjunction with the guide hole 112 set on the chassis 11, and is used to guide the movement of the guide rod 313 through the guide hole 112 when in use; the rack 36 is arranged on any connecting block 311.

[0034] As a preferred embodiment, Figure 2 As shown, in order to facilitate the movement of the hind limb mechanism 3, the jumping drive mechanism 4 is designed to include a motor 41 and a gear 42. The motor 41 is fixedly installed on the frog body 12, and the gear 42 is arranged at the driving end of the motor 41 and meshes with the rack 36. When in use, the motor 41 drives the gear 42 to rotate, and the meshing action between the gear 42 and the rack 36 drives the frog to complete the energy storage and jumping process; when in use, during the energy storage process, the motor 41 rotates the gear 42 to drive the rack 36 to move forward horizontally, thereby playing the role of compressing the spring 2 34 to achieve energy storage before jumping; in the jumping stage, when the spring 2 34 is compressed to a certain extent, the spring 2 34 is controlled by the control panel to lift the frog body 12 and the steering gear, release the constraints of the gear 42 and the rack 36, release the spring 2 34, and then push the straight rod 32, and transmit the force to the ground through the connecting rod mechanism to achieve the frog jumping.

[0035] The use process and principle of the bionic frog described in Examples 1 to 3 of the utility model include: during the frog's jumping and energy storage process, the motor 1 41 rotates the gear 42 to drive the rack 36 to move horizontally forward, thereby playing the role of compressing the spring 2 34 to achieve energy storage before jumping; in the frog's jumping stage, when the spring 2 34 is compressed to a certain extent, the control panel controls the spring 2 34 to lift the frog body 12 and the steering gear, releases the constraints of the gear 42 and the rack 36, releases the spring 2 34, and then pushes the straight rod 32, and transmits the force to the ground through the connecting rod mechanism to achieve the frog's jumping;

[0036] During the frog's power accumulation and take-off process, the shock absorber device composed of the support component 21 and the spring 22 can play a buffering role to ensure the frog's stability during the take-off process.

[0037] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A bionic frog, characterized in that: include A frog body (1) comprises a chassis (11) and a frog body (12), wherein the frog body (12) is rotatably arranged on the chassis (11) via a tail connecting shaft and a rotation driving mechanism (5), and a take-off driving mechanism (4) is arranged on the frog body (12); A forelimb mechanism (2) is symmetrically arranged on the lower side of the front end of the chassis (11); The hind limb mechanism (3) is symmetrically arranged on the lower side of the rear end of the chassis (11).

2. A bionic frog as claimed in claim 1, characterized in that: The rear end of the chassis (11) is provided with an articulated seat (111), the articulated seat (111) is adapted to an articulated groove provided at the lower side of the rear of the frog body (12), and the articulated seat (111) and the articulated groove are adapted to the rear connecting shaft.

3. A bionic frog as claimed in claim 1, characterized in that: The rotation drive mechanism (5) comprises Motor 2 (51) is fixedly arranged at the front end of the chassis (11), and a drive disk (53) is arranged at the drive end of motor 2 (51); The push rod (52) is fixedly arranged on the driving disk (53) and is matched with the push rod (13) arranged at the front end of the frog body (12).

4. A bionic frog as claimed in claim 1, characterized in that: The forelimb mechanism (2) comprises A supporting component (21) is arranged on the lower side of the chassis (11) and is a telescopic rod structure; A spring (22) is movably mounted on the support component (21) and forms a shock absorber device together with the support component (21); The roller (23) is arranged at the other end of the supporting component (21).

5. A bionic frog as claimed in claim 1, characterized in that: The hind limb mechanism (3) comprises The tail fixing member (31) is movably arranged on the chassis (11) through a second spring (34), and is hingedly connected to the straight rod (32). A rack (36) is arranged on the tail fixing member (31) to match the take-off drive mechanism (4); The straight rod (32) is a plate-shaped structure, and its upper end is hingedly connected to a connecting seat (35) fixedly arranged on the chassis (11); The foot plate (33) is mounted on the end of the straight rod (32) through a torsion spring.

6. A bionic frog as claimed in claim 5, characterized in that: The tail fixing member (31) is an integrally formed "I"-shaped structure, comprising A connecting block (311) is symmetrically arranged on both sides of the connecting plate (314), a rack (36) is installed on any connecting block (311), and a hinged connecting rod (312) is arranged at one end of the connecting block (311) and is hingedly connected to the straight rod (32), and a guide rod (313) is arranged at the other end of the connecting block (311), the second spring (34) is sleeved on the guide rod (313), and the front end of the guide rod (313) is adapted to a guide hole (112) arranged on the chassis (11); The connecting plate (314) is arranged between the two connecting blocks (311) and is connected to the connecting blocks (311).

7. A bionic frog as claimed in claim 5, characterized in that: The jump-off driving mechanism (4) comprises Motor 1 (41), fixedly mounted on the frog body (12); The gear (42) is arranged at the driving end of the motor 1 (41) and meshes with the rack (36).

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