Bouncing mechanism and frog robot

Abstract

The utility model relates to the technical field of simulation robot instruments, in particular to a bouncing mechanism and a frog robot. One end of the cross rod is bent to form a connecting part; the end, away from the transverse rod, of the connecting part is hinged to an obliquely-arranged first connecting rod. A second connecting rod is hinged to the connecting part close to the cross rod; vertically arranged lifting rods are arranged at the ends, away from the connecting part, of the first connecting rod and the second connecting rod; the lower end of the lifting rod is hinged with the second connecting rod; a spring is arranged at the lifting rod and used for pushing the end, away from the connecting part, of the first connecting rod to move in the axial direction of the lifting rod. The stability and controllability of the bouncing mechanism are enhanced through the mounting seat, the driving mechanism and other components, and efficient and accurate jumping is achieved. The bouncing mechanism can be applied to mechanical equipment such as a frog robot, more complete bouncing action is achieved, and controllable adjustment of bouncing height and distance is achieved by adjusting the size of each assembly and the stroke of the spring.

Description

Technical Field

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

[0002] At present, the jumping mechanism is widely used in various mechanical equipment and robots to achieve specific jumping functions. Traditional jumping mechanisms usually use a simple spring and connecting rod structure to achieve jumping action by compressing and releasing the spring. However, this design is often limited by the spring performance, connecting rod structure and overall mechanical design, resulting in a short jumping height and distance.

[0003] Existing frog robots usually use a relatively simple bouncing mechanism, which realizes the conversion from rotational motion to linear motion through the meshing of incomplete gears and racks. However, energy may be lost during the conversion process, resulting in low energy conversion efficiency, which will affect the robot's jumping height. In addition, since the rack and incomplete gear need to engage and disengage frequently, this mechanical operation may cause tooth surface wear, which in turn affects the robot's service life and performance stability. Utility Model Content

[0004] In view of the defects existing in the prior art, the utility model provides a bouncing mechanism, which can solve the problems of insufficient jumping height and distance, and insufficient strength of the bouncing mechanism in the prior art.

[0005] In order to solve the above technical problems, the utility model is solved by the following technical solutions:

[0006] A bouncing mechanism comprises a cross bar, one end of which is bent to form a connecting portion; a first connecting rod is hingedly arranged at one end of the connecting portion away from the cross bar; a second connecting rod is hingedly arranged at the connecting portion near the cross bar; a vertically arranged lifting rod is arranged at one end of the first and second connecting rods away from the connecting portion; the lower end of the lifting rod is hinged to the second connecting rod; a spring is arranged at the lifting rod, and the spring is used to push the end of the first connecting rod away from the connecting portion to move axially along the lifting rod.

[0007] The middle cross bar of the utility model serves as a basic structure and provides a stable support and connection point. The bending design of the connection part enables the first connecting rod and the second connecting rod to be hinged at different angles, thereby providing a variety of movement trajectories for the bouncing action.

[0008] The lifting rod and the spring in the utility model are used in conjunction with the first connecting rod to complete the jumping action by compressing the spring. The first connecting rod is used to adjust the elevation angle during the bounce, and the elasticity of the spring and the horizontal setting of the second connecting rod are used to buffer the vibration caused by the jump.

[0009] The first connecting rod and the second connecting rod matched therewith in the utility model are hinged to realize the control of the movement of the frog, and the jumping mechanism can be placed in the same direction through the hinge, thereby improving the stability of the jumping mechanism.

[0010] Preferably, a mounting seat is provided at the outer side wall of the lifting rod away from the cross bar, and a round rod for cooperating with the lifting rod is provided at one end of the mounting seat close to the lifting rod.

[0011] In the utility model, the installation seat is arranged, especially on the outer side wall of the lifting rod, to provide a stable support and an installation point with additional functions for the bouncing mechanism. The design of the round rod enables the installation seat to fit closely with the lifting rod, thereby enhancing the stability of the structure and the reliability of the overall mechanism.

[0012] Preferably, limiting parts for limiting the movement of the lifting rod along the length direction of the round rod are provided on both sides of the mounting seat.

[0013] In the utility model, by setting the limiting part, the movement of the lifting rod along the round rod direction can be limited, ensuring the stability and accuracy of the bouncing mechanism during the bouncing process, enhancing the stability of the mechanism, preventing unnecessary movement, causing bouncing errors and the bouncing mechanism detaching from the round rod.

[0014] Preferably, the mounting seat is also provided with a driving mechanism for cooperating with the lifting rod to push the mounting seat to eject.

[0015] In the utility model, by setting the driving mechanism, the action frequency and strength of the bouncing can be accurately controlled, so as to drive the lifting rod to achieve more stable and farther bouncing.

[0016] Preferably, the driving mechanism includes a motor and cams arranged on both sides of the motor for cooperating with the lifting rods respectively, and the cams are semicircular in shape.

[0017] In the utility model, through the setting of the motor and the cam, the motor provides a stable and controllable power source, and the design of the cam cleverly converts the rotational motion of the motor into the linear motion of the lifting rod, thereby driving the bouncing mechanism to jump efficiently. The cam adopts a semicircular shape so that the lifting rod can be accurately positioned on the cam, so as to fit tightly. The cam is used to drive the spring to ensure synchronous release with small error, and the cam strength is large, which can meet the needs of high-intensity bouncing.

[0018] Preferably, a groove surface is provided at one end of the cam close to the connecting part, an inwardly recessed groove is provided at the end of the groove surface away from the cross bar, and a screw is provided on the side wall of the end of the lifting rod away from the cross bar for cooperating with the groove to push the lifting rod up, and the screw can slide on the groove surface.

[0019] In the utility model, the groove surface and the groove are arranged, and the groove surface and the groove are used in cooperation to provide accurate guidance and positioning for the lifting rod, thereby ensuring the stability and accuracy of the bouncing mechanism during the jumping process.

[0020] Preferably, an installation cavity for accommodating the spring is provided inside the lifting rod, and a first window and a second window are provided on the inner wall of the installation cavity and are distributed circumferentially through the lifting rod, and the round rod passes through the first window; one end of the first connecting rod away from the connecting part passes through the second window, extends into the installation cavity and is rotatably connected to the round rod.

[0021] In the utility model, an accommodating space is provided for the spring through the setting of the installation cavity, and a rotational connection between the round rod and the first connecting rod is realized through the setting of the first window and the second window, and the connecting part between the round rod and the first connecting rod is fixed in the installation cavity. When the spring is compressed or extended, it can move axially along the lifting rod, thereby improving the stability of the bouncing mechanism and the adjustable elastic force to achieve the controllability of the bouncing height.

[0022] Preferably, a bent contact portion is provided at one end of the cross bar away from the connecting portion, the contact portion and the cross bar are integrally formed, and the width of the contact portion is greater than the width of the cross bar.

[0023] In the utility model, the contact area between the cross bar and the external area is increased by setting the contact part. When the spring is compressed, the contact area between the contact part and the ground is gradually increased, thereby improving the stability and durability of the bouncing device during use.

[0024] Preferably, a fixing groove for fixing the second connecting rod is provided at the bottom of the hinged joint between the lower end of the lifting rod and the second connecting rod.

[0025] In the utility model, a fixing groove is provided at the lower end of the lifting rod for fixing the second connecting rod, thereby enhancing the structural stability of the bouncing device during the bouncing process and preventing poor bouncing effect or device damage due to structural looseness.

[0026] The utility model also provides a frog robot, which includes a bouncing mechanism. By combining the frog robot with the bouncing structure, a more complete bouncing action can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the bouncing mechanism in Example 1.

[0028] Figure 2 Schematic diagram of the frog robot in Example 1.

[0029] Figure 3 Schematic diagram of the lifting rod in Example 1.

[0030] Figure 4Schematic diagram of the semicircular cam in Example 1.

[0031] Figure 5 Schematic diagram of the cross bar in Example 1.

[0032] Figure 6 Schematic diagram of the first connecting rod in Example 1.

[0033] Figure 7 This is a schematic diagram of the mounting base in Example 1. DETAILED DESCRIPTION

[0034] In order to further understand the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are only used to explain the utility model but not to limit it.

[0035] Example 1

[0036] like Figure 1-7 The present embodiment provides a bouncing mechanism, which is characterized by comprising a cross bar 100, one end of which is bent to form a connecting portion 110; an end of the connecting portion 110 away from the cross bar 100 is hinged with an inclined first connecting rod 120; a second connecting rod 130 is hinged with the connecting portion 110 near the cross bar 100; a vertically arranged lifting rod 140 is provided at the end of the first connecting rod 120 and the second connecting rod 130 away from the connecting portion 110; the lower end of the lifting rod 140 is hinged with the second connecting rod 130; a spring 141 is provided at the lifting rod 140, and the spring 141 is used to push the end of the first connecting rod 120 away from the connecting portion 110 to move axially along the lifting rod 140.

[0037] In this embodiment, the cross bar 100 is used as the basic structure to provide a stable support and connection point. The bending design of the connecting part 110 enables the first connecting rod 120 and the second connecting rod 130 to be hinged at different angles, providing a variety of motion trajectories for the bouncing action.

[0038] By using the lifting rod 140 and the spring 141 in this embodiment in conjunction with the first connecting rod 120, the jumping action is completed by compressing the spring 141. The first connecting rod 120 is used to adjust the elevation angle during the bounce, and the elasticity of the spring 141 and the horizontal setting of the second connecting rod 130 are used to buffer the vibration caused by the jump.

[0039] By means of the tilted first connecting rod 120 and the second connecting rod 130 matched therewith in this embodiment, the movement of the frog is controlled by hinged connection, and the bouncing mechanism can be placed in the same direction by hinged connection, thereby improving the stability of the bouncing mechanism.

[0040] In this embodiment, a mounting seat 150 is provided at the outer side wall of the lifting rod 140 away from the cross bar 100 , and a round rod 151 for cooperating with the lifting rod 140 is provided at one end of the mounting seat 150 close to the lifting rod 140 .

[0041] Through the arrangement of the mounting seat 150 in this embodiment, especially on the outer wall of the lifting rod 140, a stable support and an installation point with additional functions are provided for the bouncing mechanism; the design of the round rod 151 enables the mounting seat 150 to fit closely with the lifting rod 140, thereby enhancing the stability of the structure and the reliability of the overall mechanism.

[0042] In this embodiment, limiting portions 152 for limiting the movement of the lifting rod 140 along the length direction of the round rod 151 are provided on both sides of the mounting seat 150 .

[0043] By setting the limiting part 152 in this embodiment, the movement of the lifting rod 140 along the direction of the round rod 151 can be limited, ensuring the stability and accuracy of the bouncing mechanism during the bouncing process, enhancing the stability of the mechanism, and preventing unnecessary movement, causing bouncing errors and the bouncing mechanism detaching from the round rod 151.

[0044] In this embodiment, the mounting seat 150 is further provided with a driving mechanism 160 for cooperating with the lifting rod 140 to push the mounting seat 150 to eject.

[0045] By setting the driving mechanism 160 in this embodiment, the frequency and strength of the bouncing can be accurately controlled, so as to drive the lifting rod 140 to achieve a more stable and farther bouncing.

[0046] In this embodiment, the driving mechanism 160 includes a motor 161 and cams 162 disposed on both sides of the motor 161 for respectively cooperating with the lifting rod 140 , and the shape of the cams is semicircular.

[0047] Through the arrangement of the motor 161 and the cam 162 in this embodiment, the motor 161 provides a stable and controllable power source, and the design of the cam 162 cleverly converts the rotational motion of the motor 161 into the linear motion of the lifting rod 140, thereby driving the bouncing mechanism to jump efficiently. The cam 162 adopts a semicircular shape so that the lifting rod 140 can be accurately positioned on the cam 162, so as to fit tightly. The cam 162 is used to drive the spring 141 to ensure synchronous release with small errors, and the cam 162 is strong enough to meet high-intensity bouncing.

[0048] In this embodiment, a groove surface 162a is provided at one end of the cam 162 close to the connecting portion 110, and an inwardly recessed groove 162b is provided at the end of the groove surface 162a away from the cross bar 100. A screw 142 is provided at the side wall of the end of the lifting rod 140 away from the cross bar 100 for cooperating with the groove 162b to push the lifting rod 140 to rise, and the screw 142 can slide on the groove surface 162a.

[0049] Through the setting of the groove surface 162a and the groove 162b in this embodiment, the groove surface 162a and the groove 162b are used together to provide precise guidance and positioning for the lifting rod 140. The screw 142 is fixed in the groove. At this time, the maximum elastic potential energy is achieved, thereby increasing the bouncing ability and ensuring the stability and accuracy of the bouncing mechanism during the jumping process.

[0050] In this embodiment, an installation cavity 143 for accommodating a spring 141 is provided inside the lifting rod 140, and a first window 144 and a second window 145 are provided on the inner wall of the installation cavity 143 and are distributed circumferentially through the lifting rod 140, and the round rod 151 passes through the first window 144; one end of the first connecting rod 120 away from the connecting part 110 passes through the second window 145, extends into the installation cavity 143, and is rotatably connected to the round rod 151.

[0051] Through the setting of the mounting cavity 143 in this embodiment, an accommodating space is provided for the spring 141. Through the setting of the first window 144 and the second window 145, the rotational connection between the round rod 151 and the first connecting rod 120 is realized, and the connecting part between the round rod 151 and the first connecting rod 120 is fixed in the mounting cavity 143. When the spring is compressed or extended, it can move axially along the lifting rod 140, thereby improving the stability of the bouncing mechanism and the adjustable elastic force to achieve the controllability of the bouncing height.

[0052] In this embodiment, a bent contact portion 170 is provided at one end of the cross bar 100 away from the connecting portion 110 . The contact portion 170 and the cross bar 100 are integrally formed, and the width of the contact portion 170 is greater than the width of the cross bar 100 .

[0053] By setting the contact portion 170 in this embodiment, the contact area between the cross bar 100 and the external area is increased. When the spring 141 is compressed, the contact area between the contact portion 170 and the ground gradually increases, thereby improving the stability and durability of the bouncing mechanism during use.

[0054] In this embodiment, a fixing groove 146 for fixing the second connecting rod 130 is provided at the bottom of the hinged joint between the lower end of the lifting rod 140 and the second connecting rod 130 .

[0055] In this embodiment, a fixing groove 146 is provided at the lower end of the lifting rod 140 to fix the second connecting rod 130, thereby enhancing the structural stability of the bouncing mechanism during the bouncing process and preventing poor bouncing effect or device damage due to structural looseness.

[0056] In this embodiment, a frog robot is provided, and the frog robot includes a bouncing mechanism.

[0057] By combining the frog robot in this embodiment with the setting of the bouncing mechanism, a more complete bouncing action can be achieved.

[0058] When the jumping mechanism and the frog robot of this embodiment are used, the frog robot is placed on the ground, the motor 161 is started, and the cam 162 starts to rotate. As the cam 162 rotates, the lifting rod 140 moves upward on the groove surface 142a due to the screw 142, and the cam 162 drives the lifting rod to compress the spring, and the lifting rod 140 is pushed upward to compress the spring 141. When the cam 162 reaches the highest point, the screw 142 is just stuck in the groove 162b of the cam 162. At this time, the ends of the first connecting rod 120 and the second connecting rod 130 hinged to the connecting part 110 are tilted upward, and the gap between the first connecting rod 120 and the second connecting rod 130 is reduced. Since the end of the first connecting rod 120 away from the connecting part 110 is rotatably connected with the round rod 151 in the installation cavity 143, at this time, due to the presence of the first window 144 and the second window 145, the round rod 151 and the first connecting rod 120 move axially along the lifting rod 140 in the installation cavity 143, the contact area between the outer side of the curved contact part 170 and the ground is increased, and the spring 141 stores the maximum elastic potential energy. At this time, the cam 162 continues to rotate, causing the lifting rod 140 to drop rapidly, releasing the elastic potential energy in the spring 141, thereby generating a bouncing action. The symmetrical assembly of the cam and the rod group can achieve synchronous release of instantaneous jumping; because of the existence of the limiting part 152, the bouncing mechanism can be prevented from deviating from the predetermined bouncing track, preventing unnecessary movement, and improving the stability and accuracy during the bouncing process. And by changing the size of the cross bar 100, the lifting rod 140, the first connecting rod 120, and the second connecting rod 130 in the bouncing mechanism and the stroke of the spring 141, the corresponding bouncing height and distance of the frog robot can be adjusted to achieve the desired bouncing effect.

[0059] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on one or several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0060] In short, the above is only a preferred embodiment of the present utility model, and all equivalent changes and modifications made according to the scope of the patent application of the present utility model should fall within the scope of the present utility model patent.

Claims

1. A bouncing mechanism, characterized in that: The invention comprises a cross bar (100), one end of which is bent to form a connecting portion (110); an end of the connecting portion (110) away from the cross bar (100) is hingedly connected to a first connecting rod (120) which is arranged obliquely; a second connecting rod (130) is hingedly connected to the connecting portion (110) near the cross bar (100); a vertically arranged lifting rod (140) is provided at one end of the first connecting rod (120) and the second connecting rod (130) away from the connecting portion (110); the lower end of the lifting rod (140) is hingedly connected to the second connecting rod (130); a spring (141) is provided at the lifting rod (140), and the spring (141) is used to push the end of the first connecting rod (120) away from the connecting portion (110) to move axially along the lifting rod (140).

2. A bouncing mechanism according to claim 1, characterized in that: A mounting seat (150) is provided at an outer side wall of the lifting rod (140) away from the cross bar (100), and a round rod (151) for cooperating with the lifting rod (140) is provided at one end of the mounting seat (150) close to the lifting rod (140).

3. A bouncing mechanism according to claim 2, characterized in that: Restriction parts (152) for restricting the movement of the lifting rod (140) along the length direction of the round rod (151) are provided on both sides of the mounting seat (150).

4. A bouncing mechanism according to claim 3, characterized in that: The mounting seat (150) is also provided with a driving mechanism (160) for cooperating with the lifting rod (140) to push the mounting seat (150) to eject; The driving mechanism (160) comprises a motor (161) and cams (162) arranged on both sides of the motor (161) and respectively used to cooperate with the lifting rod (140), and the cams are semicircular in shape.

5. A bouncing mechanism according to claim 4, characterized in that: A groove surface (162a) is provided at one end of the cam (162) close to the connecting portion (110), and an inwardly recessed groove (162b) is provided at one end of the groove surface (162a) away from the cross bar (100). A screw (142) for cooperating with the groove (162b) to push the lifting rod (140) upward is provided on the side wall of one end of the lifting rod (140) away from the cross bar (100), and the screw (142) can slide on the groove surface (162a).

6. A bouncing mechanism according to claim 2, characterized in that: An installation cavity (143) for accommodating a spring (141) is provided inside the lifting rod (140); a first window (144) and a second window (145) are provided on the inner wall of the installation cavity (143) and are distributed circumferentially and penetrate the lifting rod (140); the round rod (151) passes through the first window (144); an end of the first connecting rod (120) away from the connecting portion (110) passes through the second window (145), extends into the installation cavity (143), and is rotatably connected to the round rod (151).

7. A bouncing mechanism according to claim 1, characterized in that: A curved contact portion (170) is provided at one end of the cross bar (100) away from the connecting portion (110); the contact portion (170) and the cross bar (100) are integrally formed; and the width of the contact portion (170) is greater than the width of the cross bar (100).

8. The bouncing mechanism according to claim 1, characterized in that: A fixing groove (146) for fixing the second connecting rod (130) is provided at the bottom of the hinged joint between the lower end of the lifting rod (140) and the second connecting rod (130).

9. A frog robot, comprising a jumping mechanism as described in any one of claims 1-8.

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