Cam energy storage mechanism and bionic device

Abstract

The utility model discloses a cam energy storage mechanism and a bionic device. The cam energy storage mechanism comprises a telescopic energy storage assembly, a cam disc, a swing rod, a connecting column and a connecting frame. The bionic animal leg energy storage device has the advantages that the cam disc moves at the extending stroke movement angle to drive the second telescopic rod to compress the first spring, and therefore leg energy storage of a bionic animal is achieved; the legs of the bionic animal are quickly released through the return stroke angular motion of the cam disc, so that the posture jump of the bionic animal is realized, and the curve of the cam disc is relatively gentle when the cam disc is in an extending stroke motion angle; when the cam disc is in a return motion angle, the curve of the cam is very steep, triggering type bouncing can be achieved, and the bouncing effect is good; in addition, the rear feet are connected with the machine body through springs, the machine body can store energy and drive the legs to be compressed at the same time, a buffering and damping effect is achieved when the bionic animal jumps to land, the overall elastic potential energy and the stable landing posture of the bionic animal are greatly improved, and the ground attaching force and the ground grabbing area can be effectively increased through the area of the flipper.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic devices, in particular to a cam energy storage mechanism and a bionic device. Background Art

[0002] Soft jumping robots have broad research prospects in the field of robotics. Compared with traditional rigid robots, soft robots require higher adaptability to complex environments, higher bionic potential, higher lightweight potential and higher safety of human-machine interaction. Nowadays, with the advancement of science and technology, the research on bionic jumping robots is gradually developing in the direction of material and structure integration, miniaturization and micro-miniaturization. Frog-shaped bionic robots have high movement flexibility and obstacle-crossing ability, and can cope with various complex and unknown working environments. In interstellar exploration, it can easily jump over obstacles to provide support for the exploration of unknown planets; in military reconnaissance, it can quietly approach the target, obtain intelligence and reduce personnel risks; in life rescue, it can quickly cross ruins or dangerous areas to provide assistance for rescue work. However, the current frog-shaped bionic robots have complex structures and poor driving ability and jumping effects. Utility Model Content

[0003] The purpose of the utility model is to provide a cam energy storage mechanism and a bionic device in order to solve the above problems, as described below.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] The utility model provides a cam energy storage mechanism and a bionic device, which include a telescopic energy storage component, a cam plate, a rocker rod, a connecting column and a connecting frame. The cam plate is driven, and the cam plate sequentially transmits power to the telescopic energy storage component through the rocker rod, the connecting column and the connecting frame, so that the telescopic energy storage component can be telescopic.

[0006] Preferably, the cam disc is provided with a cam groove and a connecting hole; the connecting hole is used to install the output end of the driving member, and the rocker arm is provided with a limiting column, and the limiting column moves along the inner wall of the cam groove.

[0007] Preferably, the cam disc is further provided with reinforcing ribs, and a plurality of the reinforcing ribs are provided and distributed on the outside of the cam groove.

[0008] Preferably, the telescopic energy storage assembly includes a first spring, a first telescopic rod, and a second telescopic rod; the first spring passes through the first telescopic rod, and the first spring is compressed in a space formed by the first telescopic rod and the second telescopic rod, and the first telescopic rod can move along the axial direction of the second telescopic rod.

[0009] Preferably, the cam plate, the rocker arm, the connecting column, the connecting frame and the second telescopic rod are detachably connected in sequence.

[0010] Preferably, it further includes a front leg assembly, a rear leg assembly, a fuselage and a driving member; there are two front leg assemblies and two rear leg assemblies, the front leg assembly is installed at the front end of the fuselage, the rear leg assembly is detachably installed on the second telescopic rod, the driving member is installed below the fuselage, and the output end of the driving member cooperates with the connecting hole of the cam disk; the cam disk is rotatably installed on the cam disk mounting part of the fuselage.

[0011] Preferably, the rear leg assembly includes a rear leg and a second spring, the rear leg is rotatably mounted on a second telescopic rod, one end of the second spring is mounted on a second spring mounting column of the fuselage, and the other end of the second spring is mounted on the rear leg.

[0012] Preferably, it also includes flippers, which are installed on the bottom of the hind foot.

[0013] Preferably, it further comprises a limit frame, which is detachably mounted on the fuselage via a mounting column, and is used to limit the swing arm.

[0014] Preferably, it further comprises a control mainboard and a battery, wherein the control mainboard, the battery and the driving component are all installed in the cavity of the fuselage, and the battery and the driving component are electrically connected, and the control mainboard and the driving component are electrically connected.

[0015] Preferably, the front leg assembly is provided with flippers.

[0016] The beneficial effects are as follows: the utility model drives the second telescopic rod to compress the first spring through the movement of the cam plate at the push-stroke motion angle, so as to realize energy storage in the legs of the bionic animal; the rapid release of the legs of the bionic animal is realized through the return angle movement of the cam plate, thereby realizing the jumping posture of the bionic animal. When the cam plate is at the push-stroke motion angle, the curve of the cam plate is relatively gentle; when the cam plate is at the return motion angle, the curve of the cam is very steep, which can realize triggered bouncing and has a good jumping effect; in addition, the rear feet are connected to the fuselage with springs, which allows the fuselage to store energy while driving the leg compression and plays a buffering and shock-absorbing effect when the bionic animal jumps and lands, which greatly improves the overall elastic potential energy and stable landing posture of the bionic animal, and the area of ​​the flippers can effectively increase the ground contact force and grip area. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only 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.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of another viewing angle of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the utility model without the cam plate and the rocker arm:

[0021] Figure 4 This is a schematic diagram of the structure of the cam plate and the rocker arm of the utility model:

[0022] Figure 5 It is a structural schematic diagram of the fuselage of the utility model.

[0023] The following are the descriptions of the reference numerals:

[0024] 1. Front leg assembly; 2. Rear leg assembly; 3. Fuselage; 301. Second spring mounting column; 302. Cam disc mounting portion; 303. Mounting column; 304. Cavity; 4. Driving member; 5. Telescopic energy storage assembly; 501. First spring; 502. First telescopic rod; 503. Second telescopic rod; 6. Cam disc; 601. Connecting hole; 602. Reinforcing rib; 603. Cam groove; 7. Second spring; 8. Rocker arm; 801. Limiting column; 9. Connecting column; 10. Connecting frame; 11. Limiting frame. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0026] See also Figure 1-Figure 5 As shown, the utility model provides a cam energy storage mechanism and a bionic device: comprising a telescopic energy storage component 5, a cam plate 6, a rocker rod 8, a connecting column 9 and a connecting frame 10; the cam plate 6 is driven, and the cam plate 6 transmits power to the telescopic energy storage component 5 through the rocker rod 8, the connecting column 9 and the connecting frame 10 in turn, so that the telescopic energy storage component 5 can be telescopic.

[0027] Preferably, the cam plate 6 is provided with a cam groove 603 and a connecting hole 601; the connecting hole 601 is used to install the output end of the driving member 4, and the swing rod 8 is provided with a limiting column 801, and the limiting column 801 moves along the inner wall of the cam groove 603. The limiting column 801 is tightly fitted with the inner wall of the cam groove 603. The driving member 4 can be a driving motor or other driving member.

[0028] Preferably, the cam plate 6 is further provided with a reinforcing rib 602 , and a plurality of the reinforcing ribs 602 are provided and distributed outside the cam groove 603 , so as to increase the strength of the cam plate 6 .

[0029] Preferably, the telescopic energy storage assembly 5 includes a first spring 501, a first telescopic rod 502, and a second telescopic rod 503; the first spring 501 passes through the first telescopic rod 502, and the first spring 501 is compressed in a space formed by the first telescopic rod 502 and the second telescopic rod 503, and the first telescopic rod 502 can move along the axial direction of the second telescopic rod 503. By compressing the first spring 501 in the space formed by the first telescopic rod 502 and the second telescopic rod 503, power can be provided for bouncing.

[0030] Preferably, the cam plate 6, the swing rod 8, the connecting column 9, the connecting frame 10 and the second telescopic rod 503 are detachably connected in sequence. The swing rod 8, the connecting column 9, the connecting frame 10 and the second telescopic rod 503 are all connected through a detachable connecting piece.

[0031] Preferably, it also includes a front leg assembly 1, a rear leg assembly 2, a fuselage 3 and a driving member 4; the front leg assembly 1 and the rear leg assembly 2 are both two, the front leg assembly 1 is installed at the front end of the fuselage 3, the rear leg assembly 2 is detachably installed on the second telescopic rod 503, the driving member 4 is installed below the fuselage 3, and the output end of the driving member 4 cooperates with the connecting hole 601 of the cam disc 6; the cam disc 6 can be rotatably installed on the cam disc mounting part 302 of the fuselage 3.

[0032] Preferably, the rear leg assembly 2 includes a rear leg and a second spring 7, the rear leg is rotatably mounted on the second telescopic rod 503, one end of the second spring 7 is mounted on the second spring mounting column 303 of the fuselage 3, and the other end of the second spring 7 is mounted on the rear leg.

[0033] Preferably, it also includes flippers, which are installed on the bottom of the hind foot.

[0034] Preferably, a limit frame 11 is further included, and the limit frame 11 is detachably mounted on the fuselage 3 through the mounting column 303 . The limit frame 11 is used to limit the rocker arm 8 to prevent the rocker arm 8 from detaching from the cam plate 6 .

[0035] Preferably, it further includes a control mainboard and a battery, wherein the control mainboard, the battery and the driving component 4 are all installed in the cavity 304 of the body 3, and the battery and the driving component 4 are electrically connected, and the control mainboard and the driving component 4 are electrically connected.

[0036] Preferably, the front leg assembly 1 is provided with flippers.

[0037] Apply the above scheme as follows:

[0038] Install each component in order. When operating, the wireless signal of the controller and the control mainboard is connected to complete the signal transmission. When it is determined that walking is required, the controller controls the driving member 4 to drive. The driving member 4 can drive the cam plate 6 to rotate and then drive the swing rod 8 to move. Through the connection of the cam plate 6, the swing rod 8, the connecting column 9, the connecting frame 10 and the second telescopic rod 503, the movement of the cam plate 6 at the push motion angle drives the second telescopic rod 503 to compress the first spring 501 to realize the energy storage of the legs of the bionic animal; the return angle movement of the cam plate 6 realizes the rapid release of the legs of the bionic animal, thereby realizing the posture jumping of the bionic animal. When the cam plate 6 is at the push motion angle, the curve of the cam plate 6 is relatively gentle; when the cam plate 6 is at the return motion angle, the curve of the cam is very steep, which can realize the trigger-type bounce, and the jumping effect is good. First, the bionic animal is in a normal state at the beginning. The spring is in the original length state, neither compressed nor stretched. Then when the bionic animal enters the energy storage state, the cam plate 6 keeps rotating, causing the hind leg to rise continuously, and the distance between the pin of the hind leg and the second spring mounting column 303 of the fuselage 3 is constantly shortened. However, the weight of the bionic animal's foot is not enough to compress the second spring 7, so the hind leg is pushed open by the spring and begins to curl up. When it reaches the release state, the first spring 501 returns to its original length in a short time from the compressed state, so that the hind leg is also bounced open by the first spring 501, and then the distance between the pin on the hind leg and the second spring mounting column 303 on the fuselage 3 is quickly increased until it exceeds the original length of the second spring 7, forcing the second spring 7 to lengthen, thereby pulling the hind leg to straighten, and realizing the bouncing of the hind leg.

[0039] The beneficial effects are as follows: the utility model drives the second telescopic rod 503 to compress the first spring 501 through the movement of the cam disc 6 at the push-stroke motion angle, so as to realize the energy storage of the legs of the bionic animal; the return angle movement of the cam disc 6 realizes the rapid release of the legs of the bionic animal, thereby realizing the jumping posture of the bionic animal. When the cam disc 6 is at the push-stroke motion angle, the curve of the cam disc 6 is relatively gentle; when the cam disc 6 is at the return motion angle, the curve of the cam is very steep, which can realize the triggered bounce, and the jumping effect is good; in addition, the rear foot is connected to the fuselage 3 with a spring, so that the fuselage stores energy while driving the leg compression and plays a buffering and shock-absorbing effect when the bionic animal jumps and lands, which greatly improves the overall elastic potential energy and the stable landing posture of the bionic animal, and the area of ​​the flipper can effectively increase the ground contact force and the grip area. The above-mentioned return motion angle and return angle movement are the same as the existing similar structural principles, so this application is not stated one by one in this article.

[0040] 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 changes or substitutions within the technical scope disclosed by the utility model, which 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. A cam energy storage mechanism, characterized in that: It includes a telescopic energy storage component, a cam plate, a rocker rod, a connecting column and a connecting frame; the cam plate is driven, and the cam plate transmits power to the telescopic energy storage component through the rocker rod, the connecting column and the connecting frame in sequence, so that the telescopic energy storage component can be telescopic.

2. The cam energy storage mechanism according to claim 1, characterized in that: The cam disc is provided with a cam groove and a connecting hole; the connecting hole is used to install the output end of the driving member, and the rocker arm is provided with a limiting column, and the limiting column moves along the inner wall of the cam groove.

3. The cam energy storage mechanism according to claim 2, characterized in that: The cam plate is also provided with reinforcing ribs, and a plurality of the reinforcing ribs are provided and distributed on the outside of the cam groove.

4. The cam energy storage mechanism according to claim 3, characterized in that: The telescopic energy storage assembly includes a first spring, a first telescopic rod, and a second telescopic rod; the first spring passes through the first telescopic rod, and the first spring is compressed in a space formed by the first telescopic rod and the second telescopic rod, and the first telescopic rod can move along the axial direction of the second telescopic rod.

5. The cam energy storage mechanism according to claim 4, characterized in that: The cam plate, the rocker arm, the connecting column, the connecting frame and the second telescopic rod are detachably connected in sequence.

6. A bionic device, comprising the cam energy storage mechanism according to claim 1, characterized in that: It also includes a front leg assembly, a rear leg assembly, a fuselage and a driving member; there are two front leg assemblies and two rear leg assemblies, the front leg assembly is installed at the front end of the fuselage, the rear leg assembly is detachably installed on the second telescopic rod, the driving member is installed below the fuselage, and the output end of the driving member cooperates with the connecting hole of the cam disk; the cam disk is rotatably installed on the cam disk mounting part of the fuselage.

7. The bionic device according to claim 6, characterized in that: The rear leg assembly includes a rear leg and a second spring. The rear leg is rotatably mounted on a second telescopic rod. One end of the second spring is mounted on a second spring mounting column of the fuselage, and the other end of the second spring is mounted on the rear leg.

8. The bionic device according to claim 7, characterized in that: Also included are fins mounted on the bottom of the rear foot.

9. The bionic device according to claim 8, characterized in that: It also includes a limiting frame, which is detachably mounted on the fuselage through a mounting column, and is used to limit the swing rod.

10. The bionic device according to claim 6, characterized in that: It also includes a control mainboard and a battery. The control mainboard, the battery and the driving component are all installed in the cavity of the fuselage, and the battery and the driving component are electrically connected. The control mainboard and the driving component are electrically connected.

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