Frog jumping simulating device

Abstract

A frog jumping imitating device comprises a rack, a front supporting mechanism, a rear jumping mechanism and a power mechanism, and the front supporting mechanism comprises a front leg big arm, a front leg small arm and a front sole; the backward jumping mechanism comprises a thighbone simulating rod piece, a tibiofibula simulating rod piece, a thighbone simulating matching rod piece, a tibiofibula simulating matching rod piece and a tarsal bone simulating rod piece which are hinged to one another, the upper ends of the two thighbone simulating rod pieces are connected through a pull rod, a jumping tension spring is assembled on the pull rod, and the lower end of the tarsal bone simulating rod piece is hinged to a rear sole. A joint tension spring is connected between the lower part of the thighbone-imitating rod piece and the upper part of the thighbone-imitating matching rod piece; the power mechanism comprises a gear motor, an incomplete gear, a matching gear and a belt pulley, and the belt pulley is connected with an inhaul cable which is connected with the pull rod. According to the device, intermittent rotation is provided for the belt pulley through intermittent meshing between the incomplete gear and the matched gear, the backward jumping mechanism is stretched to complete jumping in cooperation with the jumping tension spring, the good obstacle crossing capacity is achieved, operation is stable, transmission force is large, and mechanical abrasion is small.

Description

Technical Field

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

[0002] Bionic robots imitate the movement of certain organisms and use corresponding moving mechanisms. Among them, wheeled robots have the highest efficiency, but relatively poor adaptability; while footed robots have the strongest adaptability, but the lowest efficiency and poor ability to cross obstacles, so they are greatly restricted by terrain. Jumping robots have good crossing ability and can cross objects that are several to dozens of times larger than their own bodies. In addition, they take less time to react and have strong jumping ability, which greatly improves the robot's adaptability and greatly enhances its ability to cope with complex environments.

[0003] The driving devices of the existing jumping robots are mostly based on cam compression springs, which are easy to wear, difficult to lubricate, and have low transmission force. Summary of the invention

[0004] The technical problem to be solved by the utility model is to provide a frog-imitation jumping device to increase the transmission force of a bouncing robot and reduce mechanical wear.

[0005] The utility model provides a frog-like jumping device, comprising a frame, a front supporting mechanism, a rear jumping mechanism and a power mechanism, wherein:

[0006] The frame includes a horizontal plate and a vertical plate vertically connected thereto, a front connecting shaft is provided at the front of the horizontal plate, a middle connecting shaft is provided at the middle of the horizontal plate, a rear connecting shaft is provided at the connection between the horizontal plate and the vertical plate, and an upper connecting shaft is provided on the vertical plate;

[0007] The front support mechanism comprises a group of front leg arms mounted on both ends of the front connecting shaft, the lower end of each front leg arm is mounted with a front leg forearm, and the lower end of the front leg forearm is mounted with a front sole;

[0008] The rear jumping mechanism comprises a group of imitation femoral rods, the middle parts of the imitation femoral rods are respectively equipped at the two ends of the middle connecting shaft, the upper ends of the two imitation femoral rods are connected by a pull rod, the pull rod is equipped with a jump tension spring, the other end of the jump tension spring is connected to the front connecting shaft, the lower end of each imitation femoral rod is respectively equipped with an imitation tibia and fibula rod in a transversely rotatable manner, the middle part of the imitation tibia and fibula rod is vertically hinged to the imitation femoral matching rod, the middle part of the imitation femoral matching rod is laterally hinged to the imitation tibia and fibula matching rod, the other end of the imitation tibia and fibula matching rod is vertically hinged to the imitation tarsal rod, the middle part of the imitation tarsal rod is hinged to the rear end of the imitation tibia and fibula rod, the lower end of the imitation tarsal rod is hinged to the rear sole, the upper end of the imitation femoral matching rod is rotatably equipped at the two ends of the rear connecting shaft, and a joint tension spring is connected between the lower part of the imitation femoral rod and the upper part of the imitation femoral matching rod;

[0009] The power mechanism includes a reduction motor, the power output end of the reduction motor is equipped with an incomplete gear, the upper connecting shaft is provided with a matching gear and a group of pulleys, the incomplete gear is meshed with the matching gear, the pulley is connected to a cable, and the other end of the cable is connected to the pull rod.

[0010] Preferably, both ends of the middle connecting shaft and the rear connecting shaft are respectively equipped with a perforated cylinder and a limiting ring, and the imitation femoral rod and the imitation femoral matching rod are respectively equipped between the perforated cylinder and the limiting ring.

[0011] Preferably, the hinged connection adopts a fixing pin, and fixing sleeves are installed at both ends of the fixing pin.

[0012] Preferably, the reduction motor is installed on the upper side of the frame.

[0013] Preferably, a connecting ring is provided on the pulley, and the cable is connected to the connecting ring.

[0014] Each joint is connected with fixed pins and rubber rings, and the overall material of the rear sole is rubber to increase friction with the ground.

[0015] The beneficial effects of the utility model: the frog-like jumping device of the utility model provides intermittent rotation to the pulley through intermittent meshing between the incomplete gear and the matching gear, and cooperates with the jumping tension spring to stretch the rear jumping mechanism to complete the bouncing. The structure has a good ability to cross obstacles, and has stable operation, large transmission force, and small mechanical wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the frog jumping device of the utility model;

[0017] Figure 2 It is a right view of the frog jumping device of the utility model;

[0018] Figure 3 It is a top view of the frog-imitation jumping device of the utility model in a jumping state;

[0019] Figure 4 It is a top view of the frog-like jumping device of the utility model in the grounding state;

[0020] Figure 5 for Figure 1 A perspective view of the middle frame;

[0021] Figure 6 for Figure 1 Assembly drawing of middle frame and rear jump mechanism;

[0022] Figure 7 for Figure 1 A three-dimensional diagram of the power mechanism.

[0023] In the figure:

[0024] Frame 1, horizontal plate 11, vertical plate 12, front connecting shaft 13, middle connecting shaft 14, rear connecting shaft 15, upper connecting shaft 16, cylinder with hole 17, and limiting ring 18;

[0025] Front support mechanism 2, front leg upper arm 21, front leg lower arm 22, front foot sole 23;

[0026] Rear jumping mechanism 3, imitation femoral rod 31, pull rod 32, jumping tension spring 33, imitation tibia and fibula rod 34, imitation femoral matching rod 35, imitation tibia and fibula matching rod 36, imitation tarsal rod 37, rear sole 38, joint tension spring 39, fixing pin 310, fixing sleeve 311;

[0027] Power mechanism 4, reduction motor 41, incomplete gear 42, matching gear 43, pulley 44, cable 45, connecting ring 46. DETAILED DESCRIPTION

[0028] In order to make the technical solution of the present utility model easier to understand, the technical solution of the present utility model is now clearly and completely described in the form of specific embodiments in combination with the accompanying drawings.

[0029] Embodiment 1:

[0030] like Figure 1 As shown, the frog jumping device of this embodiment includes a frame 1, a front support mechanism 2, a rear jumping mechanism 3 and a power mechanism 4, wherein:

[0031] The frame 1 includes a horizontal plate 11 and a vertical plate 12 vertically connected thereto, a front connecting shaft 13 is provided at the front of the horizontal plate 11, a middle connecting shaft 14 is provided at the middle of the horizontal plate 11, a rear connecting shaft 15 is provided at the connection between the horizontal plate 11 and the vertical plate 12, and an upper connecting shaft 16 is provided on the vertical plate 12;

[0032] The front support mechanism 2 includes a group of front leg arms 21 mounted on both ends of the front connecting shaft 13, the lower end of each front leg arm 21 is equipped with a front leg arm 22, and the lower end of the front leg arm 22 is equipped with a front foot 23;

[0033] The rear jump mechanism 3 includes a group of simulated femoral rods 31, the middle parts of the simulated femoral rods 31 are respectively mounted on the two ends of the middle connecting shaft 14, the upper ends of the two simulated femoral rods 31 are connected by a pull rod 32, and a jump tension spring 33 is mounted on the pull rod 32, and the other end of the jump tension spring 33 is connected to the front connecting shaft 13, and the lower end of each simulated femoral rod 31 is respectively and laterally rotatably mounted with a simulated tibia and fibula rod 34, and the middle part of the simulated tibia and fibula rod 34 is vertically hingedly connected to the simulated femoral matching rod 35, and the simulated The middle part of the femoral matching rod 35 is laterally hinged to the simulated tibia and fibula matching rod 36, and the other end of the simulated tibia and fibula matching rod 36 is vertically hinged to the simulated tarsal rod 37. The middle part of the simulated tarsal rod 37 is hinged to the rear end of the simulated tibia and fibula matching rod 34, and the lower end of the simulated tarsal rod 37 is hinged to the rear sole 38. The upper end of the simulated femoral matching rod 35 can be rotatably mounted on the two ends of the rear connecting shaft 15, and the lower part of the simulated femoral matching rod 31 and the upper part of the simulated femoral matching rod 35 are connected to the joint tension spring 39;

[0034] The power mechanism 4 includes a reduction motor 41, the power output end of the reduction motor 41 is equipped with an incomplete gear 42, the upper connecting shaft 16 is provided with a matching gear 43 and a group of pulleys 44, the incomplete gear 42 is meshed with the matching gear 43, the pulley 44 is connected to a cable 45, and the other end of the cable 45 is connected to the pull rod 32.

[0035] Embodiment 2:

[0036] like Figure 2 As shown, the frog jumping device of this embodiment includes a frame 1, a front support mechanism 2, a rear jumping mechanism 3 and a power mechanism 4, wherein:

[0037] The frame 1 includes a horizontal plate 11 and a vertical plate 12 vertically connected thereto, a front connecting shaft 13 is provided at the front of the horizontal plate 11, a middle connecting shaft 14 is provided at the middle of the horizontal plate 11, a rear connecting shaft 15 is provided at the connection between the horizontal plate 11 and the vertical plate 12, and an upper connecting shaft 16 is provided on the vertical plate 12;

[0038] The front support mechanism 2 includes a group of front leg arms 21 mounted on both ends of the front connecting shaft 13, the lower end of each front leg arm 21 is equipped with a front leg arm 22, and the lower end of the front leg arm 22 is equipped with a front foot 23;

[0039] The rear jump mechanism 3 includes a group of simulated femoral rods 31, the middle parts of the simulated femoral rods 31 are respectively mounted on the two ends of the middle connecting shaft 14, the upper ends of the two simulated femoral rods 31 are connected by a pull rod 32, and a jump tension spring 33 is mounted on the pull rod 32, and the other end of the jump tension spring 33 is connected to the front connecting shaft 13, and the lower end of each simulated femoral rod 31 is respectively and laterally rotatably mounted with a simulated tibia and fibula rod 34, and the middle part of the simulated tibia and fibula rod 34 is vertically hingedly connected to the simulated femoral matching rod 35, and the simulated The middle part of the femoral matching rod 35 is laterally hinged to the simulated tibia and fibula matching rod 36, and the other end of the simulated tibia and fibula matching rod 36 is vertically hinged to the simulated tarsal rod 37. The middle part of the simulated tarsal rod 37 is hinged to the rear end of the simulated tibia and fibula matching rod 34, and the lower end of the simulated tarsal rod 37 is hinged to the rear sole 38. The upper end of the simulated femoral matching rod 35 can be rotatably mounted on the two ends of the rear connecting shaft 15, and the lower part of the simulated femoral matching rod 31 and the upper part of the simulated femoral matching rod 35 are connected to the joint tension spring 39;

[0040] The power mechanism 4 includes a reduction motor 41, the power output end of the reduction motor 41 is equipped with an incomplete gear 42, the upper connecting shaft 16 is provided with a matching gear 43 and a group of pulleys 44, the incomplete gear 42 is meshed with the matching gear 43, the pulley 44 is connected to a cable 45, and the other end of the cable 45 is connected to the pull rod 32.

[0041] The two ends of the middle connecting shaft 14 and the rear connecting shaft 15 are respectively equipped with a perforated cylinder 17 and a limiting ring 18, and the imitation femoral rod 31 and the imitation femoral matching rod 35 are respectively equipped between the perforated cylinder 17 and the limiting ring 18.

[0042] The hinged connection adopts a fixing pin 310 , and fixing sleeves 311 are mounted on both ends of the fixing pin 310 .

[0043] The reduction motor 41 is installed on the upper side of the frame 1 .

[0044] The pulley 44 is provided with a connecting ring 46 , and the cable 45 is connected to the connecting ring 46 .

[0045] Working principle of the utility model: When the frog-like jumping device of the utility model is working, the reduction motor 41 drives the incomplete gear 42 to rotate, and drives the matching gear 43 to rotate through meshing, thereby driving the pulley 44 to rotate, the pulley 44 rewinds the cable 45, and the jumping tension spring 33 connected to the cable 45 is stretched, the femoral rod 31 rotates clockwise around the perforated cylinder 17 of the frame 1, and the tibia and fibula 34 connected thereto rotates counterclockwise around the connection point, and the femoral matching rod 35 rotates clockwise around the connection point between it and the frame 1 The tibia and fibula matching rod 36 translates obliquely downward, and the corresponding tarsal bone matching rod 37 rotates clockwise around the connection point with the tibia and fibula 34. The hind foot 38 fully contacts the ground, realizing the folding action of the leg bones of the frog when jumping. After the incomplete gear 42 reaches the maximum engagement limit, the matching gear 43 no longer engages with the incomplete gear 42, and the jumping spring 33 recovers its deformation in a short time, and each rod returns to its original position and folds open to realize the jumping action.

[0046] It should be noted that the embodiments described herein are only partial embodiments of the present invention, rather than all implementations of the present invention, and the embodiments are only exemplary, and their role is only to provide a more intuitive and clear way to understand the content of the present invention, rather than to limit the technical solutions described in the present invention. Without departing from the concept of the present invention, all other implementation methods that ordinary technicians in the field can think of without creative work, and other simple replacements and various changes to the technical solutions of the present invention, all belong to the protection scope of the present invention.

Claims

1. A frog jumping device, characterized in that: It comprises a frame (1), a front support mechanism (2), a rear jumping mechanism (3) and a power mechanism (4), wherein: The frame (1) comprises a transverse plate (11) and a vertical plate (12) vertically connected thereto, a front connecting shaft (13) is provided at the front of the transverse plate (11), a middle connecting shaft (14) is provided at the middle of the transverse plate (11), a rear connecting shaft (15) is provided at the connection between the transverse plate (11) and the vertical plate (12), and an upper connecting shaft (16) is provided on the vertical plate (12); The front support mechanism (2) comprises a group of front leg arms (21) mounted on both ends of the front connecting shaft (13), the lower end of each front leg arm (21) being mounted with a front leg arm (22), and the lower end of the front leg arm (22) being mounted with a front sole (23); The rear jump mechanism (3) comprises a group of simulated femoral rods (31), the middle parts of the simulated femoral rods (31) are respectively mounted on the two ends of the middle connecting shaft (14), the upper ends of the two simulated femoral rods (31) are connected by a pull rod (32), a jump tension spring (33) is mounted on the pull rod (32), the other end of the jump tension spring (33) is connected to the front connecting shaft (13), the lower end of each simulated femoral rod (31) is respectively mounted with a simulated tibia and fibula rod (34) in a lateral and rotatable manner, the middle part of the simulated tibia and fibula rod (34) is vertically hingedly connected to the simulated femoral matching rod (35), The middle part of the simulated femur matching rod (35) is laterally hingedly connected to the simulated tibia and fibula matching rod (36), the other end of the simulated tibia and fibula matching rod (36) is vertically hingedly connected to the simulated tarsal rod (37), the middle part of the simulated tarsal rod (37) is hingedly connected to the rear end of the simulated tibia and fibula matching rod (34), the lower end of the simulated tarsal rod (37) is hingedly connected to the rear sole (38), the upper end of the simulated femur matching rod (35) is rotatably mounted on the two ends of the rear connecting shaft (15), and a joint tension spring (39) is connected between the lower part of the simulated femur matching rod (31) and the upper part of the simulated femur matching rod (35); The power mechanism (4) comprises a reduction motor (41), the power output end of the reduction motor (41) is equipped with an incomplete gear (42), the upper connecting shaft (16) is provided with a matching gear (43) and a group of pulleys (44), the incomplete gear (42) is meshed with the matching gear (43), the pulley (44) is connected to a cable (45), and the other end of the cable (45) is connected to the pull rod (32).

2. The frog jumping device according to claim 1, characterized in that: The two ends of the middle connecting shaft (14) and the rear connecting shaft (15) are respectively equipped with a perforated cylinder (17) and a limiting ring (18), and the imitation femoral rod (31) and the imitation femoral matching rod (35) are respectively equipped between the perforated cylinder (17) and the limiting ring (18).

3. The frog jumping device according to claim 1, characterized in that: The hinged connection adopts a fixing pin (310), and fixing sleeves (311) are mounted on both ends of the fixing pin (310).

4. The frog jumping device according to claim 1, characterized in that: The reduction motor (41) is installed on the upper side of the frame (1).

5. The frog jumping device according to claim 1, characterized in that: The belt pulley (44) is provided with a connecting ring (46), and the cable (45) is connected to the connecting ring (46).

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