Bionic frog robot

Abstract

The bionic frog robot comprises a main body which is of a shell-shaped structure with a downward opening, the left side and the right side of the front end of the main body are hinged to moving forelimbs respectively, the two sides of the rear end of the main body are hinged to moving hind limb assemblies, and the two moving hind limb assemblies are connected through a synchronous rod; the movement hind limb assembly is hinged to the main body, and a torsional spring is arranged at the joint of the movement hind limb assembly; the power transmission assembly comprises a power element, a main gear, a first reduction gear, a second reduction gear, an incomplete driving gear and a driven gear, and the torsion spring is compressed to store energy after rotating along with the hinge between the moving posterior limb assembly and the main body and is released when the incomplete gear and the driven gear are not meshed. According to the bionic frog robot, power transmission is completed through the gear sets, energy storage is achieved through the torsional springs arranged at the joints, and therefore the bionic frog robot can jump higher, and the bionic frog robot has higher bouncing performance.

Description

Technical Field

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

[0002] With the continuous development of science and technology, people are increasingly interested in bionics research. Bionics refers to solving real-world problems by simulating the structure, function and behavior of organisms in nature. In the field of bionics, frogs, as an animal with unique characteristics and advantages, are often used as research subjects.

[0003] Bionic frog robots are gradually being used in detection and rescue activities in wild environments. The wild environment is complex and full of obstacles, which places high requirements on the jumping height and jumping distance of bionic frog robots. However, the jumping structures of some existing bionic frog robots are difficult to meet the requirements of field applications.

[0004] For example, the Chinese utility model patent with the patent number: 201820046936.1 discloses a transmission structure of a bionic frog robot, which specifically discloses that a motor can be installed at the motor hole, and the movement of the motor rod drives the moving limb to swing up and down, left and right, so that the moving single piece moves accordingly, and the connecting limb swings forward and backward accordingly; when the moving limb moves to the highest point, the moving single piece gradually becomes a retracted state, the second plate moves to the right to a vertical state, the fourth plate moves to the left to a vertical state, and the first plate and the third plate tilt toward the second plate, and the moving single piece is in an arc shape. When it reaches the highest point, the root of the front leg touches the ground, and the toe of the hind leg touches the ground, showing a jumping trend. The bionic frog robot disclosed in the patent has the same length of the moving forelimb and the moving hind limb, and the frog's jumping height is limited, making it difficult to cross obstacles of a certain height and to achieve a certain distance of jumping. Utility Model Content

[0005] Therefore, it is necessary to provide a bionic frog robot to solve the problem of poor jumping performance of existing bionic frogs.

[0006] To achieve the above object, the inventor provides a bionic frog robot, comprising:

[0007] The main body is a shell-like structure with an opening facing downwards, the front end and left and right sides of the main body are respectively hinged with movement forelimbs, the rear end of the main body is hinged with movement hind limb components, the two movement hind limb components are connected by a synchronization rod, the movement hind limb components are hinged with the main body, and the joints of the movement hind limb components are provided with torsion springs;

[0008] A power transmission assembly, comprising a power element, a main gear, a first reduction gear, a second reduction gear, an incomplete drive gear and a driven gear, wherein the power element is fixed to the main body, the output shaft of the power element is in driving connection with the main gear, the first reduction gear and the incomplete drive gear are connected to the main body via a first connecting shaft, the second reduction gear and the driven gear are connected to the main body via a second connecting shaft, and the second connecting shaft is hinged to the upper end of the moving hind limb assembly, the main gear is meshed with the large gear of the first reduction gear, the small gear of the first reduction gear is meshed with the large gear of the second reduction gear, the small gear of the second reduction gear is meshed with the large gear of the incomplete drive gear, and the incomplete gear of the incomplete drive gear is meshed with the driven gear;

[0009] The torsion spring is compressed and stores energy after the hinged rotation between the moving hind limb component and the main body, and is released when the incomplete gear is not in meshing state with the driven gear.

[0010] Furthermore, the sports hind limb assembly includes a first rod, a second rod, a third rod, a fourth rod and a fifth rod, one end of the first rod is connected to the second connecting axis, the other end of the first rod is hinged to the ends of the third rod and the fourth rod, one end of the second rod is hinged to the middle of the third rod, the third rod and the fourth rod are arranged in parallel, and the ends of the third rod and the fourth rod away from the first rod are hinged to the fifth rod.

[0011] Furthermore, the first rod body and the second rod body are arranged in parallel.

[0012] Furthermore, the torsion spring is clamped at the hinge between the third rod body and the first rod body, and at the hinge between the third rod body and the second rod body.

[0013] Furthermore, the through hole on the first rod body for connecting with the third rod body, the through hole on the second rod body for connecting with the third rod body, and the through hole on the third rod body for connecting with the first rod body and the second rod body are all whistle-shaped structures.

[0014] Furthermore, there are two third rods, and the two third rods are clamped on both sides of the first rod, the second rod, and the fifth rod.

[0015] Furthermore, there are two fourth rods, and the two fourth rods are clamped on both sides of the first rod, the second rod, and the fifth rod.

[0016] Furthermore, the power element is a reduction motor.

[0017] Furthermore, the first reduction gear and the second reduction gear are the same in shape and size.

[0018] Different from the prior art, the above technical solution has the following advantages: the bionic frog robot completes power transmission through a gear set and stores energy through torsion springs arranged at the joints, so that it can jump higher, and the two moving hind limb components connected by a synchronization rod form a more stable bouncing structure, so that the bionic frog robot has higher bouncing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main body of a bionic frog robot in this embodiment;

[0020] Figure 2 A three-dimensional diagram of a bionic frog robot according to the present embodiment;

[0021] Figure 3 is another stereoscopic image of a bionic frog robot according to the present embodiment;

[0022] Figure 4 This is a side view of a bionic frog robot according to this embodiment;

[0023] Figure 5 This is a schematic diagram of a power transmission component of a bionic frog robot according to this embodiment.

[0024] Description of reference numerals:

[0025] 1. Subject;

[0026] 11. First connecting shaft;

[0027] 12. Second connecting shaft;

[0028] 2. Movement of the forelimbs;

[0029] 3. Movement of hind limb components;

[0030] 31. Synchronous rod;

[0031] 32. Torsion spring;

[0032] 41. Power components;

[0033] 42. Main gear;

[0034] 43. First reduction gear;

[0035] 431, the large gear of the first reduction gear;

[0036] 432, the pinion of the first reduction gear;

[0037] 44. Second reduction gear;

[0038] 441, large gear of the second reduction gear;

[0039] 442, the pinion of the second reduction gear;

[0040] 45. Incomplete drive gear;

[0041] 451. Large gear that does not fully drive the gear;

[0042] 452. Incomplete gears;

[0043] 46. ​​Driven gear;

[0044] 51. a first rod body;

[0045] 52. second rod body;

[0046] 53. The third rod;

[0047] 54. fourth rod body;

[0048] 55. The fifth rod. DETAILED DESCRIPTION

[0049] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0050] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0051] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0052] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0053] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0054] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0055] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0056] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0057] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0058] See also Figures 1 to 5 , a bionic frog robot, comprising:

[0059] The main body 1 is a shell-like structure with an opening facing downwards, wherein the front left and right sides of the main body 1 are respectively hinged with a moving forelimb 2, and the rear end of the main body 1 is hinged with a moving hind limb assembly 3. The two moving hind limb assemblies 3 are connected by a synchronization rod 31, and the moving hind limb assembly 3 is hinged with the main body 1, and a torsion spring 32 is provided at the joint of the moving hind limb assembly 3;

[0060] A power transmission assembly, comprising a power element 41, a main gear 42, a first reduction gear 43, a second reduction gear 44, an incomplete drive gear 45 and a driven gear 46, wherein the power element 41 is fixed to the main body 1, and the output shaft of the power element 41 is transmission-connected with the main gear 42, the first reduction gear 43 and the incomplete drive gear 45 are connected to the main body 1 through a first connecting shaft 11, the second reduction gear 44 and the driven gear 46 are connected to the main body 1 through a second connecting shaft 12, and the second connecting shaft 12 is hinged to the upper end of the moving hind limb assembly 3, the main gear 42 is meshed with the large gear 431 of the first reduction gear, the small gear 432 of the first reduction gear is meshed with the large gear 441 of the second reduction gear, the small gear 442 of the second reduction gear is meshed with the large gear 451 of the incomplete drive gear, and the incomplete gear 452 of the incomplete drive gear 45 is meshed with the driven gear 46;

[0061] The torsion spring 32 is compressed and stores energy after the hinged rotation between the moving hind limb component 3 and the main body 1, and is released when the incomplete gear 452 and the driven gear 46 are not in meshing state.

[0062] The two moving hind limb components 3 are connected by a synchronization rod 31, so that the two moving hind limb components 3 can synchronously complete the squatting and jumping movements. The bionic frog robot can maintain a stable structure during the take-off process and the landing process, that is, two moving hind limb components 3 and at least one moving forelimb 2 are in contact with the ground to form a stable triangular state, thereby avoiding flipping during the take-off process or the landing process.

[0063] The torsion spring 32 arranged in the joint of the moving hind limb assembly 3 can store energy during the squatting process of the bionic frog robot, thereby improving its jumping performance.

[0064] The first reduction gear 43 includes a large gear 431 of the first reduction gear and a small gear 432 of the first reduction gear. The large gear 431 of the first reduction gear has a larger tooth tip circle diameter and a larger number of teeth than the small gear 432 of the first reduction gear. The large gear 431 of the first reduction gear and the small gear 432 of the first reduction gear are coaxially arranged, and the rotation speeds of the two are the same. Similarly, the second reduction gear 44 includes a large gear 441 of the second reduction gear and a small gear 442 of the second reduction gear. The large gear 441 of the second reduction gear has a larger tooth tip circle diameter and a larger number of teeth than the small gear 442 of the second reduction gear. The large gear 441 of the second reduction gear and the small gear 442 of the second reduction gear are coaxially arranged, and the rotation speeds of the two are the same. The first reduction gear 43 and the second reduction gear 44 have the same shape and size. The gear ratio between the large gear 431 of the first reduction gear and the small gear 432 of the first reduction gear is the same as the gear ratio between the large gear 441 of the second reduction gear and the small gear 442 of the second reduction gear.

[0065] In order to reduce the friction between the first connecting shaft 11 and the second connecting shaft 12 and the main body 1 , bearings are sleeved between the first connecting shaft 11 and the main body 1 , and between the second connecting shaft 12 and the main body 1 .

[0066] When the bionic frog robot is in use, the power element 41 drives the main gear 42 to rotate, the main gear 42 meshes and rotates with the first reduction gear 43, the first reduction gear 43 meshes and rotates with the second reduction gear 44 after speed reduction, and transmits power from the first connecting shaft 11 to the second connecting shaft 12, the small gear 442 of the second reduction gear meshes with the large gear 451 of the incomplete driving gear, and since the first reduction gear 43 and the second reduction gear 44 are exactly the same in size and reduction ratio, the rotation speed of the incomplete driving gear 45 can be kept the same as the rotation speed of the first reduction gear 43, and then the incomplete gear 452 of the incomplete driving gear 45 meshes with the driven gear 46, so that the driven gear 46 rotates. The power element 41 is a reduction motor. When the reduction motor rotates forward, the incomplete gear 452 meshes with the driven gear 46, and the driven gear 46 drives the first connecting rod to rotate through the second connecting shaft 12. The fifth connecting rod is against the ground. Under the self-gravity of the bionic frog robot, the torsion spring 32 at its joint is compressed and stores energy, and then the motor reverses to rotate the incomplete gear 452, releasing the pressure at the joint and making the bionic frog robot bounce.

[0067] The bionic frog robot completes power transmission through a gear set and stores energy through a torsion spring 32 arranged at the joint, so that it can jump higher, and the two moving hind limb components 3 connected by a synchronization rod 31 form a more stable bouncing structure, so that the bionic frog robot has a higher bouncing performance.

[0068] In some embodiments, the sports hind limb assembly 3 includes a first rod 51, a second rod 52, a third rod 53, a fourth rod 54 and a fifth rod 55, one end of the first rod 51 is connected to the second connecting shaft 12, the other end of the first rod 51 is hinged to the ends of the third rod 53 and the fourth rod 54, one end of the second rod 52 is hinged to the middle of the third rod 53, the third rod 53 and the fourth rod 54 are arranged in parallel, and the ends of the third rod 53 and the fourth rod 54 away from the first rod 51 are both hinged to the fifth rod 55. With the rotation of the second connecting shaft 12, power will be transmitted to the first rod 51, driving the third rod 53, the fourth rod 54, the second rod 52 and the fifth rod 55 to rotate around the hinge points, completing the action of storing energy and releasing the bounce.

[0069] In some embodiments, the first rod 51 and the second rod 52 are arranged in parallel, so that the connection between the sports hind limb assembly 3 and the main body 1 is more stable.

[0070] In some embodiments, the torsion spring 32 is clamped at the hinge between the third rod 53 and the first rod 51, and at the hinge between the third rod 53 and the second rod 52. When the angle between the third rod 53 and the first rod 51 and the second rod 52 changes, the torsion spring 32 will begin to compress and store energy, providing more energy for subsequent bouncing.

[0071] In some embodiments, the through hole on the first rod body for connecting with the third rod body, the through hole on the second rod body for connecting with the third rod body, and the through hole on the third rod body for connecting with the first rod body and the second rod body are all whistle-shaped structures. The torsion spring 32 is stuck in the whistle-shaped structure. Specifically, one wrist of the torsion spring 32 extends into the whistle-shaped through hole on the first rod body, and the other wrist of the torsion spring 32 extends into the whistle-shaped through hole on the third rod body 53. The wrist of the torsion spring 32 can be stuck in the whistle-shaped through hole to prevent the torsion spring 32 from being detached during the bouncing process of the bionic frog robot.

[0072] In some embodiments, there are two third rods 53, and the two third rods 53 are clamped on both sides of the first rod 51, the second rod 52, and the fifth rod 55. The two third rods 53 make the structure of the sports hind limb assembly 3 more stable.

[0073] In some embodiments, there are two fourth rods 54, and the two fourth rods 54 are disposed on both sides of the first rod 51, the second rod 52, and the fifth rod 55. The two fourth rods 54 make the structure of the sports hind limb assembly 3 more stable.

[0074] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A bionic frog robot, characterized in that: include: The main body is a shell-like structure with an opening facing downwards, the front end and left and right sides of the main body are respectively hinged with movement forelimbs, the rear end of the main body is hinged with movement hind limb components, the two movement hind limb components are connected by a synchronization rod, the movement hind limb components are hinged with the main body, and the joints of the movement hind limb components are provided with torsion springs; A power transmission assembly, comprising a power element, a main gear, a first reduction gear, a second reduction gear, an incomplete drive gear and a driven gear, wherein the power element is fixed to the main body, the output shaft of the power element is in driving connection with the main gear, the first reduction gear and the incomplete drive gear are connected to the main body via a first connecting shaft, the second reduction gear and the driven gear are connected to the main body via a second connecting shaft, and the second connecting shaft is hinged to the upper end of the moving hind limb assembly, the main gear is meshed with the large gear of the first reduction gear, the small gear of the first reduction gear is meshed with the large gear of the second reduction gear, the small gear of the second reduction gear is meshed with the large gear of the incomplete drive gear, and the incomplete gear of the incomplete drive gear is meshed with the driven gear; The torsion spring is compressed and stores energy after the hinged rotation between the moving hind limb component and the main body, and is released when the incomplete gear is not in meshing state with the driven gear.

2. The bionic frog robot according to claim 1, characterized in that: The sports hind limb assembly includes a first rod, a second rod, a third rod, a fourth rod and a fifth rod, one end of the first rod is connected to the second connecting shaft, the other end of the first rod is hinged to the ends of the third rod and the fourth rod, one end of the second rod is hinged to the middle of the third rod, the third rod and the fourth rod are arranged in parallel, and the ends of the third rod and the fourth rod away from the first rod are hinged to the fifth rod.

3. The bionic frog robot according to claim 2, characterized in that: The first rod body and the second rod body are arranged in parallel.

4. The bionic frog robot according to claim 2, characterized in that: The torsion spring is clamped at the hinge between the third rod body and the first rod body, and at the hinge between the third rod body and the second rod body.

5. The bionic frog robot according to claim 2, characterized in that: The through hole on the first rod body for connecting with the third rod body, the through hole on the second rod body for connecting with the third rod body, and the through hole on the third rod body for connecting with the first rod body and the second rod body are all whistle-shaped structures.

6. The bionic frog robot according to claim 2, characterized in that: The number of the third rods is two, and the two third rods are clamped on both sides of the first rod, the second rod, and the fifth rod.

7. The bionic frog robot according to claim 2, characterized in that: The number of the fourth rods is two, and the two fourth rods are clamped on both sides of the first rod, the second rod, and the fifth rod.

8. The bionic frog robot according to claim 1, characterized in that: The power element is a reduction motor.

9. The bionic frog robot according to claim 1, characterized in that: The first reduction gear and the second reduction gear have the same shape and size.

10. The bionic frog robot according to claim 1, characterized in that: The number of the synchronization rods is more than two.

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