Linear-driven bionic frog robot

Abstract

The utility model discloses a line-driven bionic frog robot which comprises a body and further comprises a jumping mechanism, and relates to the technical field of bionic robots. According to the line-driven bionic frog robot, the stability of the robot during jumping can be improved through the first shank and the second shank, during use, the incomplete gear driving mechanism is started to pull the first shank and the second shank to move so that the spring can be lengthened, and meanwhile the first shank and the second shank can drive the first gear leg and the second gear leg to move; when the incomplete gear driving mechanism is loosened, the first shank and the second shank can be driven to reset and release elastic force through the tension of the spring, jumping is achieved through the sole, and the connecting mode of the first gear leg, the second gear leg, the first shank and the second shank enables the robot to have only one degree of freedom and the movement direction to be constant. The stability of elastic force release of the jumping mechanism is guaranteed, meanwhile, the body is prevented from turning over, stable jumping without turning in the air in a stable take-off posture is achieved, and the stability of the device during jumping is improved.

Description

Technical Field

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

[0002] As the times change, humans have higher and higher requirements for exploring unknown environments, and the requirements for robots to be able to work in these extreme environments are also getting higher and higher. When robots encounter high obstacles during the exploration process, jumping robots have huge advantages over other robots. The frog's jump mainly relies on the contraction of the hind leg muscles to generate power. When the frog is ready to jump, it will contract the hind leg muscles and store energy in the tendons and ligaments. When the frog is ready to jump, it will release the stored energy, causing the hind legs to stretch rapidly, generating a strong thrust, pushing the body off the ground and into the air. This way of exerting force enables the frog to produce high-speed movement in a short period of time and has excellent jumping ability. The frog's jumping ability and dynamic stability allow it to adapt to different terrain environments. Because of its good jumping ability and its excellent ability to adapt to terrain, it can be used in environmental detection, exploration and rescue and other fields.

[0003] Referring to a bionic frog jumping robot disclosed in a patent application with authorization announcement number CN221188835U, the beneficial effect of the utility model is that due to the adoption of the above technical scheme, the bionic robot can climb over high obstacles, has high jumping ability, and can climb over obstacles autonomously.

[0004] However, the above technology compresses the spring by relative movement between the first hind leg rod and the second hind leg rod. When the pressure sensed by the pressure sensor reaches a preset threshold, the spring releases the stored elastic potential energy to achieve jumping. However, the existing device is relatively unstable during the jumping process and is easy to flip in the air, and its practicality is average. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a wire-driven bionic frog robot, which solves the problems that the prior wire-driven bionic frog robot is relatively unstable during jumping, easily flips in the air, and has general practicality.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a line-driven bionic frog robot, including a body, and also including:

[0007] A jumping mechanism is arranged on the outside of the body and is used to store elastic force to achieve jumping. The jumping mechanism includes a circular boss 1 and a circular boss 2 fixedly mounted on the rear ends of the left and right sides of the body. A gear leg 1 is movably mounted on one side of the circular boss 2. A calf 1 is movably hinged on the bottom surface of the gear leg 1. A connecting assembly is provided to support the position of the device and achieve jumping.

[0008] The incomplete gear driving mechanism is arranged inside the body and is used to drive the winding device to rotate to provide power for energy storage. The incomplete gear driving mechanism includes winding devices movably mounted on the front and rear sides of the body.

[0009] Preferably, the connecting assembly includes front legs movably mounted on the bottom surfaces of the front ends of the left and right sides of the body for supporting the front part of the device, one side of the front legs is provided with a slot for adjusting the length of the front legs, one side of the circular boss one is movably mounted with a gear leg two, the rear end of the gear leg two is movably hinged with a calf two, the bottom end of the calf two is movably hinged with the sole of the rear part of the supporting device, and a spring for releasing elastic force is fixedly mounted at the hinge between the gear leg one and the calf one.

[0010] Preferably, the rear end of calf one is movably hinged to the front end of calf two, the end of gear leg one away from the meshing point of calf one is meshed with the meshing end of gear leg two away from the meshing end of calf two, and the rear end of the spring is fixedly installed at the meshing point of gear leg two and the spring.

[0011] Preferably, the front legs are installed by means of bolts that movably penetrate the interior of the slot and are threadedly connected to threaded holes on the left and right sides of the body.

[0012] Preferably, the incomplete gear drive mechanism also includes a wire rope tied to the outside of the reel, a circular hole 1 is fixedly provided on the left and right sides of the body and is tangent to the perpendicular bisector of the line connecting the center of the circular boss 1 and the center of the circular boss 2, a shaft 1 for limiting the position of the wire rope is movably installed inside the circular hole 1, a circular hole 2, a circular hole 3 and a circular hole 4 are provided on the left side of the body, a mask is provided on the front side of the body, a battery and a control chip for controlling the operation of the device are fixedly installed on the top surface of the body, a primary gear is movably installed inside the body, and the circular hole A shaft two is movably installed inside the body through a bearing to improve the stability of the first-stage gear during rotation, a shaft three is movably installed inside the body, a second-stage gear is fixedly installed on the outside of the shaft three, a motor seat is fixedly installed in the middle of the right side of the body, a motor body for driving the first-stage gear to rotate is fixedly installed on the right side of the motor seat, a third-stage gear shaft for driving the reel to rotate is movably installed inside the body, a third-stage gear fixing block is fixedly installed between the body and the mask, and one end of the rope is passed around the upper part of the shaft one and tied to the rear end of the calf one.

[0013] Preferably, shaft one forms an interference fit with circular hole one, the right end of shaft two passes through the interior of circular hole two and is fixedly installed on the left side of the primary gear, the output end of the motor body movably passes through the interior of the body and is fixedly installed on one side of the primary gear, the left and right ends of the three-stage gear shaft both movably pass through the interior of the three-stage gear fixing block and the body and are fixedly installed on the opposite sides of the reel, the outer side of the first-stage gear is meshed with the outer side of the second-stage gear, and the outer side of the second-stage gear is meshed with the outer side of the three-stage gear shaft.

[0014] The utility model provides a line-driven bionic frog robot. Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. The line-driven bionic frog robot can improve the stability of the device when jumping by setting the calf one and the calf two. When in use, the incomplete gear driving mechanism is started to pull the calf one and the calf two to move and stretch the spring. At the same time, the calf one and the calf two will also drive the gear leg one and the gear leg two to move. When the incomplete gear driving mechanism is released, the tension of the spring will drive the calf one and the calf two to reset and release the elastic force to achieve jumping through the sole of the foot. The connection method of the gear leg one, the gear leg two, the calf one and the calf two will make it have only one degree of freedom and a constant direction of movement. While ensuring the stability of the elastic force released by the jumping mechanism, the body is prevented from flipping, so that the take-off posture is stable and the jump in the air is stable without flipping, thereby improving the stability of the device when jumping.

[0016] 2. The wire-driven bionic frog robot can generate pulling force and convert it into subsequent elastic force for bouncing through the set first-level gear and reel. When in use, starting the motor body can drive the first-level gear to rotate through the second-level gear to rotate the third-level gear shaft. Then the third-level gear shaft will drive the reel to pull the rope, and the pulling direction of the rope is adjusted by axis one to convert the pulling force into elastic force. When the second-level gear rotates to the incomplete gear part, the reel will loosen the rope to release the restriction on the adjustment mechanism for bouncing. On the one hand, it can avoid the loss of useful work caused by the inconsistency between the pulling direction and the movement direction of the hind leg jumping mechanism, and on the other hand, it can prevent the invalid pulling force component from damaging the hind leg jumping mechanism, and it has good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional appearance schematic diagram of the utility model;

[0018] Figure 2 It is a partial three-dimensional appearance schematic diagram of the utility model;

[0019] Figure 3 It is a three-dimensional appearance diagram of the body parts of the utility model;

[0020] Figure 4 This is a schematic diagram of the three-dimensional appearance of the front legs of the utility model;

[0021] Figure 5 It is a three-dimensional appearance schematic diagram of the incomplete gear drive mechanism of the utility model;

[0022] Figure 6 This is a three-dimensional schematic diagram of the jumping mechanism of the utility model;

[0023] Figure 7 It is a side view schematic diagram of the utility model.

[0024] In the figure: 1-body, 2-mask, 3-front leg, 4-motor seat, 5-gear leg one, 6-calf one, 7-sole, 8-calf two, 9-spring, 10-gear leg two, 11-motor body, 12-axis one, 13-rope, 14-battery and control chip, 15-winder, 16-three-stage gear fixing block, 17-secondary gear, 18-first-stage gear, 19-axis two, 20-axis three, 21-three-stage gear axis, 22-circular hole one, 23-circular boss one, 24-circular boss two, 25-circular hole two, 26-circular hole three, 27-circular hole four, 28-slot. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. 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 embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1-Figure 6 , the utility model provides two technical solutions:

[0027] The first embodiment: a line-driven bionic frog robot, comprising a body 1, and further comprising:

[0028] The jumping mechanism is arranged on the outside of the body 1 for storing elastic force to achieve jumping. The jumping mechanism includes a circular boss 1 23 and a circular boss 2 24 fixedly mounted on the rear ends of the left and right sides of the body 1. A gear leg 1 5 is movably mounted on one side of the circular boss 24. A lower leg 1 6 is movably hinged on the bottom surface of the gear leg 1 5. A connecting assembly is provided to support the position of the device and achieve jumping.

[0029] An incomplete gear drive mechanism is arranged inside the body 1 to drive the reel 15 to rotate and provide power to realize energy storage. The incomplete gear drive mechanism includes a reel 15 movably installed on the front and rear sides of the body 1. The connecting component includes a front leg 3 that is movably installed on the bottom surface of the front end on the left and right sides of the body 1 to support the front of the device. A card slot 28 for adjusting the length of the front leg 3 is opened on one side of the front leg 3, and the card slot 28 is composed of arc grooves and is linearly distributed on one side of the front leg 3, so that the take-off angle of the bionic frog can be adjusted, and its angle can be adjusted according to the needs of jumping. A gear leg 2 10 is movably installed on one side of the circular boss 1, and the rear end of the gear leg 2 10 is movably hinged with the calf 2 8, and the bottom end of the calf 2 8 is movably hinged with the sole 7 of the rear part of the supporting device. A spring 9 for releasing elastic force is fixedly installed at the hinge between the gear leg 1 5 and the calf 1 6, and the rear end of the calf 6 is movably hinged to the front end of the calf 2 8. The gear leg 1 5 is away from the meshing point of the calf 6. One end is meshed with the meshing end of gear leg 2 10 away from shank 2 8, and the rear end of spring 9 is fixedly installed at the meshing point of gear leg 2 10 and spring 9, and the incomplete gear driving mechanism pulls shank 1 6 and shank 2 8 to move to stretch spring 9, and at the same time shank 1 6 and shank 2 8 will also drive gear leg 1 5 and gear leg 2 10 to move. When the incomplete gear driving mechanism is released, the pulling force of spring 9 will drive shank 1 6 and shank 2 8 to reset and jump through the sole 7. The connection method of gear leg 1 5, gear leg 2 10, shank 1 6 and shank 2 8 will make it have only one degree of freedom and a constant direction of movement, while ensuring the stability of the elastic force released by the jumping mechanism, preventing the body 1 from flipping, achieving a stable take-off posture and a smooth and non-flipping jumping process in the air. The front leg 3 is threadedly connected and installed with the threaded holes on the left and right sides of the body 1 through the bolt that moves through the slot 28, and the bolt can adjust the length of the front leg 3 through the slot 28.

[0030] By setting the calf 1 6 and calf 2 8, the stability of the device when jumping can be improved. When in use, the incomplete gear driving mechanism is started to pull the calf 1 6 and calf 2 8 to move and stretch the spring 9. At the same time, the calf 1 6 and calf 2 8 will also drive the gear leg 1 5 and gear leg 2 10 to move. When the incomplete gear driving mechanism is released, the pulling force of the spring 9 will drive the calf 1 6 and calf 2 8 to reset and release the elastic force to achieve jumping through the sole 7. The connection method of gear leg 1 5, gear leg 2 10, calf 1 6 and calf 2 8 will make it have only one degree of freedom and a constant direction of movement. While ensuring the stability of the elastic force released by the jumping mechanism, the body 1 is prevented from flipping, so that the take-off posture is stable and the jump in the air is smooth and without flipping, thereby improving the stability of the device when jumping.

[0031] The second embodiment is mainly different from the first embodiment in that: the incomplete gear drive mechanism also includes a wire rope 13 tied to the outside of the reel 15, a circular hole 12 is fixedly provided on the left and right sides of the body 1 and is tangent to the perpendicular bisector of the line connecting the center of the circular boss 1 23 and the center of the circular boss 2 24, and a shaft 12 for limiting the position of the wire rope 13 is movably installed inside the circular hole 12, a circular hole 25, a circular hole 3 26 and a circular hole 4 27 are provided on the left side of the body 1, a mask 2 is provided on the front side of the body 1, a battery and a control chip 14 for controlling the operation of the device are fixedly installed on the top surface of the body 1, and the body 1 is movably installed with a primary gear 18, and a shaft 2 19 for improving the stability of the primary gear 18 during rotation is movably installed inside the circular hole 25 through a bearing, and a shaft 3 20 is movably installed inside the body 1, and a secondary gear 17 is fixedly installed on the outer side of the shaft 3 20, and there is a gap in the tooth block on the outer side of the secondary gear 17, and a motor seat 4 is fixedly installed in the middle of the right side of the body 1, and a motor body 11 for driving the primary gear 18 to rotate is fixedly installed on the right side of the motor seat 4, and a third gear shaft 21 for driving the reel 15 to rotate is movably installed inside the body 1, and the body 1 and the mask 2 are fixedly installed. A three-stage gear fixing block 16 is installed, one end of the rope 13 is passed around the upper part of the shaft 12 and tied to the rear end of the calf 16, and the rope 13 can adjust the direction of the pulling force of the rope 13 by passing around the shaft 12. The adjusted pulling direction can completely convert the pulling force into elastic force, which can avoid the loss of useful work caused by the inconsistency between the pulling direction and the movement direction of the jumping mechanism on the one hand, and prevent the damage of the jumping mechanism to the invalid pulling force component on the other hand. The shaft 12 forms an interference fit with the circular hole 122, and the right end of the shaft 2 19 passes through the interior of the circular hole 25 and is fixedly installed on the left side of the first-stage gear 18. The output end of the motor body 11 is movable The first gear 18 is movable through the interior of the body 1 and is fixedly installed on one side of the primary gear 18. The left and right ends of the tertiary gear shaft 21 are movable through the interior of the tertiary gear fixing block 16 and the body 1 and are fixedly installed on the opposite sides of the reel 15. The outer side of the first gear 18 is meshed with the outer side of the second gear 17. The outer side of the second gear 17 is meshed with the outer side of the tertiary gear shaft 21. Starting the motor body 11 can drive the first gear 18 to rotate through the second gear 17 to rotate the tertiary gear shaft 21. At this time, the tertiary gear shaft 21 drives the reel 15 to wind the line to pull the hinge point of the shank one 6 and the shank two 8 to store displacement energy.

[0032] The first-stage gear 18 and the wire reel 15 can generate pulling force which is converted into subsequent elastic force for bouncing. When in use, starting the motor body 11 can drive the first-stage gear 18 to rotate through the second-stage gear 17 to rotate the third-stage gear shaft 21, and then the third-stage gear shaft 21 will drive the wire reel 15 to pull the wire rope 13, and the pulling direction of the wire rope 13 is adjusted by the shaft 12 to convert the pulling force into elastic force. When the second-stage gear 17 rotates to the incomplete gear part, the wire reel 15 will loosen the wire rope 13 to release the restriction on the adjusting mechanism for bouncing. On the one hand, it can avoid the loss of useful work caused by the inconsistency between the pulling direction and the movement direction of the hind leg jumping mechanism, and on the other hand, it can prevent the invalid pulling force component from damaging the hind leg jumping mechanism, and it has good practicality.

[0033] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.

[0034] When in use, the battery and control chip 14 control the motor body 11 to start, and then the output shaft of the motor body 11 will drive the first-stage gear 18 to rotate, and then the first-stage gear 18 drives the second-stage gear 17 to rotate to rotate the third-stage gear shaft 21. At this time, the third-stage gear shaft 21 drives the reel 15 to wind the line to pull the hinge point of the calf 1 6 and the calf 2 8 to move and store energy, driving the spring 9 to stretch. At the same time, the calf 1 6 and the calf 2 8 will also drive the gear leg 1 5 and the gear leg 2 10 to move. When the motor body 11 rotates a certain number of times, the bionic frog reaches the required take-off angle. When the second-stage gear 17 rotates to the incomplete gear part, the reel 15 will loosen the rope 13 to release the tension on the calf 1 6 and the calf 2 8. At this time, the spring 9 contracts to release energy, driving the jumping mechanism to stretch and thus achieve jumping.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include"-"comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process-method-article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process-method-article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A line-driven bionic frog robot, comprising a body (1), characterized in that: Also includes: A jumping mechanism is arranged on the outside of the body (1) for storing elastic force to achieve jumping, the jumping mechanism comprising a circular boss 1 (23) and a circular boss 2 (24) fixedly mounted on the rear ends of the left and right sides of the body (1), a gear leg 1 (5) being movably mounted on one side of the circular boss 2 (24), a lower leg 1 (6) being movably hinged on the bottom surface of the gear leg 1 (5), and a connecting assembly for supporting the position of the device and achieving jumping; An incomplete gear drive mechanism is arranged inside the body (1) and is used to drive the wire reel (15) to rotate and provide power to store energy. The incomplete gear drive mechanism comprises a wire reel (15) movably mounted on the front and rear sides of the body (1).

2. The line-driven bionic frog robot according to claim 1, characterized in that: The connecting assembly comprises a front leg (3) movably mounted on the bottom surface of the front end of the left and right sides of the body (1) for supporting the front part of the device, a slot (28) for adjusting the length of the front leg (3) is provided on one side of the front leg (3), a gear leg (10) is movably mounted on one side of the circular boss (23), a calf (8) is movably hinged at the rear end of the gear leg (10), a sole (7) of the rear part of the supporting device is movably hinged at the bottom end of the calf (8), and a spring (9) for releasing elastic force is fixedly mounted at the hinge between the gear leg (5) and the calf (6).

3. The line-driven bionic frog robot according to claim 2, characterized in that: The rear end of the shank one (6) is movably hinged to the front end of the shank two (8); an end of the gear leg one (5) away from the meshing point of the shank one (6) is meshed with the meshing end of the gear leg two (10) away from the meshing point of the shank two (8); and the rear end of the spring (9) is fixedly mounted at the meshing point of the gear leg two (10) and the spring (9).

4. The line-driven bionic frog robot according to claim 2, characterized in that: The front legs (3) are installed by means of bolts that movably penetrate the interior of the slots (28) and are threadedly connected to threaded holes on the left and right sides of the body (1).

5. The line-driven bionic frog robot according to claim 1, characterized in that: The incomplete gear drive mechanism further comprises a wire rope (13) tied to the outside of the wire reel (15); a first circular hole (22) is fixedly provided on the left and right sides of the body (1) and is tangent to the perpendicular bisector of the line connecting the center of the first circular boss (23) and the center of the second circular boss (24); a shaft (12) for limiting the position of the wire rope (13) is movably installed inside the first circular hole (22); a second circular hole (25), a third circular hole (26) and a fourth circular hole (27) are provided on the left side of the body (1); a mask (2) is provided on the front side of the body (1); a battery and a control chip (14) for controlling the operation of the device are fixedly installed on the top surface of the body (1); a first-stage gear (18) is movably installed inside the body (1); the second circular hole (25) A second shaft (19) is movably mounted inside the body (1) through a bearing for improving the stability of the first gear (18) during rotation; a third shaft (20) is movably mounted inside the body (1); a second gear (17) is fixedly mounted on the outside of the third shaft (20); a motor seat (4) is fixedly mounted in the middle of the right side of the body (1); a motor body (11) is fixedly mounted on the right side of the motor seat (4) for driving the first gear (18) to rotate; a third gear shaft (21) is movably mounted inside the body (1) for driving the winding device (15) to rotate; a third gear fixing block (16) is fixedly mounted between the body (1) and the mask (2); one end of the line rope (13) is passed around the upper part of the first shaft (12) and tied to the rear end of the calf (6).

6. The line-driven bionic frog robot according to claim 5, characterized in that: The shaft 1 (12) forms an interference fit with the circular hole 1 (22); the right end of the shaft 2 (19) passes through the interior of the circular hole 2 (25) and is fixedly mounted on the left side of the primary gear (18); the output end of the motor body (11) movably passes through the interior of the body (1) and is fixedly mounted on one side of the primary gear (18); the left and right ends of the third-stage gear shaft (21) movably pass through the interior of the third-stage gear fixing block (16) and the body (1) and are fixedly mounted on opposite sides of the winding device (15); the outer side of the first-stage gear (18) is meshed with the outer side of the second-stage gear (17); and the outer side of the second-stage gear (17) is meshed with the outer side of the third-stage gear shaft (21).

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