A bionic frog robot

Abstract

The utility model discloses a bionic frog robot, comprising: a body, a control component, a front leg mechanism, a hind leg mechanism, a gear mechanism, and a driving member; the hind leg mechanism comprises hind leg components symmetrically arranged on both sides of the rear end of the body, the hind leg components comprising a first thigh connecting rod, a second thigh connecting rod, a first middle leg connecting rod, a second middle leg connecting rod, a calf connecting rod, and a hind foot, the second middle leg connecting rod is located below the first middle leg connecting rod, and a torsion spring is respectively arranged at the connection position of the first thigh connecting rod, the second thigh connecting rod and the first middle leg connecting rod. The hind leg mechanism of the utility model forms a four-bar linkage of a double parallelogram, so that the legs of the bionic frog can be contracted and extended at will, and the torsion spring at the connection position of the first thigh connecting rod, the second thigh connecting rod and the first middle leg connecting rod can perform power storage and release operations, and compared with the traditional single-spring ordinary double-bar linkage, it has the advantages of high stability and high transmission ratio.

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] Traditionally, most ecological monitoring and environmental management are carried out through manual labor, which is not only inefficient but also has a poor working environment. In addition, for ecological monitoring, traditional methods often require a lot of human resources and may interfere with the natural environment. With the rapid development of automation technology, the application of robots in agriculture and ecological monitoring has gradually increased. Existing technologies are often difficult to adapt to the complex and changeable farmland terrain and sensitive ecological environment, and traditional ground machinery is often unable to effectively cross obstacles or operate stably on uneven ground due to the limitations of its motion mechanism.

[0003] The Chinese patent number is 201010194799.4, and the name is "A frog-style jumping robot". In this scheme, a motor is used as a power element, and devices such as an overrunning clutch and a toothed belt are used as a transmission mechanism. The slider can move on the guide rail under the drive of the motor through the transmission device, and the robot's legs are extended and contracted under the drive of the slider to complete the jumping action. If the above-mentioned frog-style jumping robot is applied to the field of ecological monitoring such as agriculture, although it can effectively cross obstacles and stably jump on the ground to adapt to the complex and changeable ecological environment such as farmland terrain; the robot's legs imitate the frog's hind legs very well, and its feet are also equipped with elastic elements, but after it takes off, it only uses the foot elastic element and the hip joint spring for buffering, and the buffering effect is poor, and the hip joint spring needs to be stretched a long distance to be released, which affects the jumping efficiency. Utility Model Content

[0004] The utility model aims to provide a bionic frog robot to solve the problem that the existing frog robot has poor buffering effect and the spring of the hip joint needs to be stretched a long distance before being released, thereby affecting the take-off efficiency.

[0005] The technical solution of the utility model to solve the above technical problems is as follows:

[0006] A bionic frog robot comprises: a body, a control assembly arranged on one side of the body, a front leg mechanism arranged at the front end of the body, a hind leg mechanism rotatably arranged at the rear end of the body, a gear mechanism arranged in the body and used to drive the hind leg mechanism to extend and retract, and a driving member arranged on the other side of the body and used to drive the gear mechanism to rotate, wherein the driving member is communicatively connected with the control assembly;

[0007] The hind leg mechanism includes hind leg components symmetrically arranged on both sides of the rear end of the body, the hind leg components include a first thigh link connected to the output shaft of the gear mechanism, a second thigh link rotatably connected to the rear end side wall of the body and parallel to the first thigh link, a first middle leg link rotatably connected to the first thigh link and the second thigh link respectively, a second middle leg link parallel to the first middle leg link and rotatably connected to the end of the first thigh link, a calf link rotatably connected between the first middle leg link and the second middle leg link, and a hind foot arranged at the end of the calf link, the second middle leg link is located below the first middle leg link, and torsion springs are respectively arranged at the connecting positions of the first thigh link, the second thigh link and the first middle leg link.

[0008] Furthermore, connecting rods are respectively connected between the ends of the two first middle-leg connecting rods close to the calf connecting rod and between the two ends of the two second middle-leg connecting rods.

[0009] Furthermore, the above-mentioned front leg mechanism includes front leg components symmetrically arranged on both sides of the front end of the body;

[0010] The front leg assembly comprises a front leg connecting rod connected to the front end side wall of the body, and a front foot sole arranged at the end of the front leg connecting rod, and the front foot sole is arranged horizontally.

[0011] Furthermore, the two front soles are arranged opposite to each other and are respectively located on the sides where the two front leg connecting rods are close to each other.

[0012] Furthermore, through grooves are respectively formed on the first thigh connecting rod, the second thigh connecting rod, the first middle leg connecting rod and the front leg connecting rod.

[0013] Furthermore, the body includes two symmetrical side panels, two fixing rods respectively connected between the front and rear ends of the two side panels, and a cover plate arranged on the top of the two side panels, the control component is arranged on the front end side wall of one side panel, the driving member is arranged on the outer side of the other side panel, the second thigh connecting rod is rotatably connected to the rear end outer wall of the side panel, and the front leg connecting rod is connected to the front end outer wall of the side panel.

[0014] Furthermore, the gear mechanism includes a driving gear located on the inner side of the front end of the side plate, a connecting shaft connected between the two side plates, a D shaft rotatably fitted between the two side plates and parallel to the connecting shaft, a gear set 1 rotatably arranged on the connecting shaft and meshing with the driving gear, a driving gear set rotatably arranged on the connecting shaft, a gear set 2 rotatably arranged on the D shaft and meshing with the gear set 1 and the driving gear set respectively, and a driven gear arranged on the D shaft and meshing with the driving gear set, the output shaft of the driving member passes through the side plate and is connected to the driving gear, and the first thigh connecting rod is matched and connected to the D shaft.

[0015] Furthermore, the gear that meshes with the driven gear of the driving gear set is a half gear.

[0016] Furthermore, the front leg connecting rod corresponds to the fixing rod at the front end, and the front leg connecting rod is connected to the end of the fixing rod through a screw.

[0017] The utility model has the following beneficial effects:

[0018] 1. The bionic frog robot of the utility model is provided with a hind leg mechanism, a driving member drives the gear mechanism to rotate, and then the gear mechanism drives the hind leg mechanism to extend and retract, so that the hind leg mechanism exerts force; a first thigh connecting rod, a second thigh connecting rod, a first middle leg connecting rod, a second middle leg connecting rod, a calf connecting rod, and a hind foot, and a torsion spring is provided at the connection position of the first thigh connecting rod, the second thigh connecting rod and the first middle leg connecting rod, and a command is issued to the driving member through a control component, and the driving member drives the gear mechanism to rotate, so that the hind leg mechanism contracts, and the torsion spring is compressed, and a force storage operation is performed; after the force storage operation is completed, the gear of the driving gear set meshing with the driven gear is a half gear, and when the driven gear meshes with the smooth section position of the half gear, the driven gear does not mesh with the driving gear set, and the driven gear can be driven to rotate in the opposite direction under the action of the torsion spring elastic force, and at this time, the leg structure of the hind leg mechanism will be released from the compressed state and extended, so as to achieve elastic jumping; after completing a jump, the driven gear continues to mesh with the half gear of the driving gear set, and a new round of force storage begins.

[0019] 2. The utility model cooperates with the gear mechanism and the hind leg mechanism to form a double parallelogram four-bar linkage, so that the legs of the bionic frog can be contracted and extended at will. The torsion springs at the connection positions of the first thigh link, the second thigh link and the first middle leg link can perform force storage and release operations. Compared with the traditional single-spring ordinary double-bar linkage, it has the advantages of high stability and high transmission ratio.

[0020] 3. The utility model amplifies the output torque of the driving member, reduces the rotation speed, and greatly enhances the stability of the jumping process through the design of the gear mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the bionic frog robot in the stretched jumping state;

[0022] Figure 2 It is a schematic diagram of the structure of the front leg mechanism, the hind leg mechanism and the body;

[0023] Figure 3 Schematic diagram of the top view of the gear mechanism;

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the gear mechanism;

[0025] Figure 5This is a schematic diagram of the structure of the bionic frog robot in the contracted state.

[0026] In the figure: 1. body; 11. side panel; 12. fixing rod; 13. cover plate; 2. control component; 21. PCB board; 22. battery; 3. front leg mechanism; 31. front leg connecting rod; 32. front sole of foot; 4. rear leg mechanism; 41. first thigh connecting rod; 42. second thigh connecting rod; 43. first middle leg connecting rod; 44. second middle leg connecting rod; 45. calf connecting rod; 46. rear sole of foot; 47. connecting rod; 5. gear mechanism; 51. driving gear; 52. connecting shaft; 53. D shaft; 54. gear set one; 55. driving gear set; 56. gear set two; 57. driven gear; 6. driving member. DETAILED DESCRIPTION

[0027] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0028] like Figures 1 to 5 As shown, in an embodiment of the utility model, a bionic frog robot is provided, comprising: a body 1, a control component 2 arranged on one side of the body 1, a front leg mechanism 3 arranged at the front end of the body 1, a hind leg mechanism 4 rotatably arranged at the rear end of the body 1, a gear mechanism 5 arranged in the body 1 and used to drive the hind leg mechanism 4 to extend and retract, and a driving member 6 arranged on the other side of the body 1 and used to drive the gear mechanism 5 to rotate, and the driving member 6 is communicatively connected with the control component 2; wherein the body 1 comprises two symmetrical side plates 11, two fixing rods 12 respectively connected between the front and rear ends of the two side plates 11, and a driving member 6 arranged on the other side of the body 1 and used to drive the gear mechanism 5 to rotate. The cover plate 13 is arranged on the top of the two side plates 11, and two protrusions are symmetrically arranged on the top of the cover plate 13; the control component 2 is arranged on the front side wall of one side plate 11, and the control component 2 includes a PCB board 21 and a battery 22, the PCB is fixed on the inner side of one side plate 11, and the battery 22 is fixed on the outer side of the same side plate 11 and is electrically connected to the PCB board 21, and the side where the two side plates 11 are close to each other is the inner side, and the opposite side is the outer side, and the driving member 6 is arranged on the outer side of the other side plate 11, and the driving member 6 adopts a steering gear, which is electrically connected to the battery 22, and is fixed to the outer side of the front end of the other side plate 11 by bolts. Through the cooperation of the gear mechanism 5 and the hind leg mechanism 4, the legs of the bionic frog can be arbitrarily contracted and extended.

[0029] Specifically, the front leg mechanism 3 includes front leg components symmetrically arranged on both sides of the front end of the body 1; the front leg components include a front leg connecting rod 31 connected to the front end side wall of the body 1, the front leg connecting rod 31 is connected to the front end outer wall of the side plate 11, and a front foot 32 arranged at the end of the front leg connecting rod 31, and the front foot 32 is arranged horizontally. In this embodiment, the two front foot soles 32 are arranged oppositely and are respectively located on the side where the two front leg connecting rods 31 are close to each other; in other embodiments of the utility model, the front foot soles 32 can be fixed at the bottom of the front leg connecting rod 31, or can be fixed on the side where the two front leg connecting rods 31 are far away from each other. In addition, the front leg connecting rod 31 in this embodiment corresponds to the front end fixed rod 12, and the front leg connecting rod 31 is connected to the end of the fixed rod 12 by a screw; the front ends of the two side plates 11 are provided with through holes that are matched and connected with the fixed rod 12, and the screws pass through the front leg connecting rod 31 and the through holes and are locked with the end of the fixed rod 12, so as to fix the front leg connecting rod 31 on the side plate 11.

[0030] The rear leg mechanism 4 includes rear leg components symmetrically arranged on both sides of the rear end of the body 1, and the rear leg components include a first thigh connecting rod 41 connected to the output shaft of the gear mechanism 5, the first thigh connecting rod 41 is located on the rear end outside of the side plate 11, a second thigh connecting rod 42 rotatably connected to the rear end side wall of the body 1 and parallel to the first thigh connecting rod 41, the second thigh connecting rod 42 is rotatably connected to the rear end outer wall of the side plate 11, and a first middle leg connecting rod rotatably connected to the first thigh connecting rod 41 and the second thigh connecting rod 42 respectively. 43, a second middle leg link 44 parallel to the first middle leg link 43 and rotatably connected to the end of the first thigh link 41, the second middle leg link 44 is located below the first middle leg link 43, a calf link 45 rotatably connected between the first middle leg link 43 and the second middle leg link 44, and a rear sole 46 arranged at the end of the calf link 45, the rear sole 46 is arranged obliquely downward, and a torsion spring is respectively arranged at the connection position between the first thigh link 41, the second thigh link 42 and the first middle leg link 43. In this embodiment, the second thigh link 42 and the rear end outer wall of the side plate 11, the first thigh link 41 and the first middle leg link 43, the second thigh link 42 and the first middle leg link 43, the first thigh link 41 and the second middle leg link 44, and the first middle leg link 43 and the second middle leg link 44 and the calf link 45 are all rotated by the shaft hole matching, and in other embodiments, the rotation matching can also be achieved by hinges, etc. The design of the hind leg mechanism 4 forms a double parallelogram linkage mechanism, which allows the legs of the bionic frog to contract and stretch at will. Through the torsion springs at the connection positions of the first thigh link 41, the second thigh link 42 and the first middle leg link 43, force storage and release operations can be performed.

[0031] In this embodiment, in order to ensure the consistency of the movements of the two rear leg links, connecting rods 47 are respectively connected between the ends of the two first middle leg links 43 close to the calf link 45 and between the two ends of the two second middle leg links 44.

[0032] In order to reduce the weight of the front leg mechanism 3 and the rear leg mechanism 4, through grooves are respectively provided on the first thigh link 41, the second thigh link 42, the first middle leg link 43 and the front leg link 31.

[0033] like Figure 3 and Figure 4 As shown, the gear mechanism 5 includes a driving gear 51 located on the inner side of the front end of the side plate 11, the output shaft of the driving member 6 passes through the side plate 11 and is connected to the driving gear 51, a connecting shaft 52 connected between the two side plates 11, the connecting shaft 52 is fixed between the two side plates 11, a D shaft 53 rotatably fitted between the two side plates 11 and parallel to the connecting shaft 52, an axial hole rotatably fitted with the D shaft 53 is opened on the side plate 11, and the cross-section of the D shaft 53 is a D-shaped structure, the connecting shaft 52 is located at one end close to the front leg mechanism 3, the D shaft 53 is located at one end close to the rear leg mechanism 4, and both ends of the D shaft 53 extend out of the two side plates 11, the first thigh connecting rod 41 is connected with the D shaft 53, and the first thigh connecting rod 41 is fixed to the end of the D shaft 53; it also includes a gear group 1 54 rotatably set on the connecting shaft 52 and meshing with the driving gear 51, and a driving gear group 55 rotatably set on the connecting shaft 52 , a gear set 2 56 which is rotatably arranged on the D shaft 53 and meshes with the gear set 1 54 and the driving gear set 55 respectively, and a driven gear 57 which is arranged on the D shaft 53 and meshes with the driving gear set 55, the driven gear 57 is fixedly connected to the D shaft 53; the gear set 1 54, the gear set 2 56 and the driving gear set 55 are all fixedly connected and coaxially arranged double gear structures, and one of them is a large gear and the other is a small gear, the number of teeth of the large gear is 32, and the number of teeth of the small gear is 16, the large gear of the gear set 1 54 is meshed with the driving gear 51, the large gear of the gear set 2 56 is meshed with the small gear of the gear set 1 54, the small gear of the gear set 2 56 is meshed with the large gear of the driving gear set 55, and the small gear of the driving gear set 55 is meshed with the driven gear 57. Such an arrangement can effectively amplify the output torque of the servo, reduce the rotation speed, and greatly enhance the stability of the jumping process. Furthermore, the gear that meshes with the driven gear 57 and the driving gear set 55 is a half gear, that is, the pinion of the driving gear set 55 is a half gear.

[0034] When in use, the force accumulation operation is performed first: the control component 2 controls the driving member 6 to drive the active gear 51 to rotate, the active gear 51 drives the gear set 1 54 to rotate, the gear set 1 54 drives the gear set 2 56 to rotate, the gear set 2 56 drives the driving gear set 55 to rotate, and finally drives the driven gear 57 to rotate, the driven gear 57 drives the first thigh link 41 to rotate through the D axis 53, the first thigh link 41 drives the second thigh link 42 and the calf link 45 to rotate in conjunction through the first middle leg link 43, and compresses the rear leg mechanism 4, at which time the torsion spring is compressed and force is accumulated;

[0035] Release operation: the gear mechanism 5 continues to rotate after the power accumulation operation. When the driven gear 57 rotates and meshes with the smooth surface of the half gear of the driving gear set 55, the driven gear 57 does not mesh with the driving gear set 55, and the driving gear set 55 continues to rotate. Under the elastic force of the torsion spring, the first thigh link 41 and the second thigh link 42 can be driven to rotate in the opposite direction and reset, and the torsion spring releases the torque, so that the rear leg mechanism 4 extends and realizes the jumping action;

[0036] Reset: After the bionic frog robot completes a jump, the driven gear 57 meshes with the half gear on the driving gear set 55, and the driven gear 57 continues to drive the hind leg mechanism 4 to rotate and store power.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic frog robot, characterized in that: include: A body (1), a control component (2) arranged on one side of the body (1), a front leg mechanism (3) arranged at the front end of the body (1), a hind leg mechanism (4) rotatably arranged at the rear end of the body (1), a gear mechanism (5) arranged in the body (1) and used to drive the hind leg mechanism (4) to extend and retract, and a driving member (6) arranged on the other side of the body (1) and used to drive the gear mechanism (5) to rotate, wherein the driving member (6) is connected to the control component (2) for communication; The rear leg mechanism (4) comprises rear leg components symmetrically arranged on both sides of the rear end of the body (1), the rear leg components comprising a first thigh connecting rod (41) connected to the output shaft of the gear mechanism (5), a second thigh connecting rod (42) rotatably connected to the rear end side wall of the body (1) and parallel to the first thigh connecting rod (41), a first middle leg connecting rod (43) rotatably connected to the first thigh connecting rod (41) and the second thigh connecting rod (42), and a second middle leg connecting rod (43) parallel to the first middle leg connecting rod (43). A second middle leg link (44) rotatably connected to the end of the first thigh link (41), a calf link (45) rotatably connected between the first middle leg link (43) and the second middle leg link (44), and a rear foot (46) arranged at the end of the calf link (45), the second middle leg link (44) is located below the first middle leg link (43), and torsion springs are respectively arranged at the connection positions of the first thigh link (41), the second thigh link (42) and the first middle leg link (43).

2. The bionic frog robot according to claim 1, characterized in that: A connecting rod (47) is respectively connected between the ends of the two first middle-leg connecting rods (43) close to the calf connecting rod (45) and between the two ends of the two second middle-leg connecting rods (44).

3. The bionic frog robot according to claim 1, characterized in that: The front leg mechanism (3) comprises front leg components symmetrically arranged on both sides of the front end of the body (1); The front leg assembly comprises a front leg connecting rod (31) connected to the front end side wall of the body (1), and a front foot sole (32) arranged at the end of the front leg connecting rod (31), and the front foot sole (32) is arranged horizontally.

4. The bionic frog robot according to claim 3, characterized in that: The two front soles (32) are arranged opposite to each other and are respectively located on the sides of the two front leg connecting rods (31) that are close to each other.

5. The bionic frog robot according to claim 3, characterized in that: Through slots are respectively formed on the first thigh connecting rod (41), the second thigh connecting rod (42), the first middle leg connecting rod (43) and the front leg connecting rod (31).

6. The bionic frog robot according to any one of claims 3 to 5, characterized in that: The body (1) comprises two symmetrical side panels (11), two fixing rods (12) respectively connected between the front and rear ends of the two side panels (11), and a cover plate (13) arranged on the top of the two side panels (11); the control component (2) is arranged on the front side wall of one of the side panels (11); the driving member (6) is arranged on the outer side of the other side panel (11); the second thigh connecting rod (42) is rotatably connected to the rear end outer wall of the side panel (11); and the front leg connecting rod (31) is connected to the front end outer wall of the side panel (11).

7. The bionic frog robot according to claim 6, characterized in that: The gear mechanism (5) comprises a driving gear (51) located at the inner side of the front end of the side plate (11), a connecting shaft (52) connected between the two side plates (11), a D shaft (53) rotatably fitted between the two side plates (11) and parallel to the connecting shaft (52), a gear set (54) rotatably arranged on the connecting shaft (52) and meshing with the driving gear (51), a driving gear set (55) rotatably arranged on the connecting shaft (52), a gear set (56) rotatably arranged on the D shaft (53) and meshing with the gear set (54) and the driving gear set (55) respectively, and a driven gear (57) arranged on the D shaft (53) and meshing with the driving gear set (55). The output shaft of the driving member (6) passes through the side plate (11) and is connected to the driving gear (51), and the first thigh connecting rod (41) is rotatably connected to the D shaft (53).

8. The bionic frog robot according to claim 7, characterized in that: The gears meshing between the driving gear set (55) and the driven gear (57) are half gears.

9. The bionic frog robot according to claim 6, characterized in that: The front leg connecting rod (31) corresponds to the fixing rod (12) at the front end, and the front leg connecting rod (31) is connected to the end of the fixing rod (12) via a screw.

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