Bionic frog

Abstract

The utility model discloses a bionic frog which can be used for detecting or searching. An upper cover body and a lower cover body are buckled to form a frog image. The bouncing device is arranged on the plate body, the hanging rod and the cross rod enable the rod pieces to be integrated, and front and rear shafts of the rod pieces are inserted into through holes of the front legs and the connecting rod legs respectively. The tension spring is connected to the fixing column and the hanging rod, the cross rod is matched with the shifting plate on the rotating shaft of the steering engine, and the rod piece moves backwards under the action of the shifting plate and moves forwards rapidly under the action of the tension spring, so that jumping is achieved through the actions of the front legs and the connecting rod legs. A front through hole matched with a front leg, a middle through hole for reserving a shifting plate rotating space and a rear through hole for reserving a rear shaft moving space are formed in the plate body. Rotating webs are installed on the front legs or the connecting rod legs to provide water swimming acting force. The front legs and the connecting rod legs are combined, the action of bionic frogs is achieved under the action of the tension springs and the shifting plates, and the upper cover body and the lower cover body are not prone to being found in a non-close-distance mode due to profiling of the upper cover body and the lower cover body.

Description

Technical Field

[0001] The utility model is applied to the field of robots and relates to bionic technology, in particular to a bionic frog which can be used for detection, searching and the like. Background Art

[0002] In recent years, robot research and manufacturing have become key industries for development, and bionics has always been a research hotspot in the field of robots. It can replace humans for detection and search in environments that are not suitable for humans. As amphibians, frogs can jump and swim, becoming a major species of bionic objects. For example, CN118560597A is a bionic frog jumping robot, CN117901972A is a bionic frog bouncing device, CN118457761A is a bionic frog bouncing robot, CN118343223A is a bionic frog robot, etc., which focuses on the jumping of bionic frogs, but ignores the swimming function of frogs. There are also CN114572371B a frog-like underwater detection robot, CN101817398A a frog-like underwater propulsion mechanism based on a connecting rod mechanism, CN118047018A a bionic frog robot for water quality detection, etc., which use hind flippers or hind soles to strengthen the swimming function, but ignore the jumping function. To solve the above problems, CN118457113A discloses an amphibious bionic frog. The bionic frog robot is placed on the ground when in use. The hind leg rod can be driven to reciprocate along the main axis by controlling the driving mechanism. During the rotation of the hind leg rod, the linkage mechanism converts the rotation of the hind leg rod into driving the hind foot to perform a kicking action to simulate the frog's jump. The mounting shaft can be rotated 90° so that the hind leg rod can drive the front leg rod to follow the movement of the hind leg rod and move synchronously during the rotation, thereby realizing the simulation of the frog's underwater movement. The bionic frog has both land jumping and water walking bionic simulation. CN114559778B discloses an amphibious frog-shaped bionic robot with foot-type-pectoral fin hybrid drive. The left and right pectoral fins can be flexibly swung to achieve ascent and dive in the water. The leg structure adopts a multi-link mechanism that imitates the frog's skeletal muscles. The movable flippers can be flexibly flipped around the ankle joint, which can realize a variety of bionic gaits of the amphibious robot.

[0003] The above patent solutions have the following problems: 1) either emphasizing the frog's jumping function, while ignoring the bionic frog image; 2) either emphasizing the frog's hind legs' bouncing or swimming function, while ignoring the front legs; 3) either the mechanical structure is complex and the manufacturing cost is high. Utility Model Content

[0004] The technical problem solved by the utility model is to provide a bionic frog, which can realize jumping by combining front and rear legs and can swim in water after adding rotating flippers, has a simple structure and a bionic frog image.

[0005] The technical solution adopted by the utility model is as follows: the bionic frog includes an upper cover, a lower cover, a plate, front legs, connecting rod legs and a bouncing device. The upper and lower covers are buckled on the upper and lower surfaces of the plate to form a frog image. The bouncing device is arranged on the plate, and includes a tension spring, a steering gear, a dial plate and a rod. The rod is a rigid integral part, including a front axle, a hanging rod, a cross bar and a rear axle. The front axle and the rear axle are respectively located at the front end and the rear end of the rod, and are respectively inserted into the through holes of the two front legs and the two connecting rod legs. The hanging rod and the cross bar are located in the middle of the rod, and play the role of connecting the rod and fixing the rod. The front end of the tension spring is connected to the fixed column on the plate, and the rear end is connected to the hanging rod; the cross bar cooperates with the dial plate and can move backward under the action of the dial plate; the dial plate is installed on the rotating shaft of the steering gear. When the dial plate rotates to disengage from the cross bar, the rod moves forward quickly under the action of the tension spring's rapid return. A front through hole, a middle through hole and a rear through hole are processed on the plate body; the front through hole passes through the front leg and reserves a rotation space for the front leg; the rear through hole passes through the rear axle and reserves a moving space for the rear axle; the middle through hole reserves space for the rotation of the paddle.

[0006] Furthermore, the connecting rod leg includes a thigh, a calf and a rear flipper. The thigh includes an inner thigh and an outer thigh; the outer end of the inner thigh is hinged to the front end of the outer thigh, the middle part is rotatably connected to the lower surface of the board body through a thigh shaft, the inner end is processed with a through hole for inserting the rear shaft, and the rear end of the outer thigh is hinged to the rear flipper. The calf includes an inner calf and an outer calf, the inner end of the inner calf is rotatably connected to the lower surface of the board body through a calf shaft, and the outer end is hinged to the outer thigh, one end of the outer calf is hinged to the inner calf, and the other end is hinged to the rear flipper. The inner calf and inner thigh, and the outer calf and outer thigh form a parallelogram-shaped hinged connecting rod structure.

[0007] Furthermore, in order to ensure that the power of jumping is forward, after the connecting rod leg is contracted, the length direction of the outer thigh and the outer calf is the front-to-back direction, that is, the jumping direction.

[0008] Furthermore, the front leg includes an upper leg, a transition section and a toe-shaped front fin. The upper and middle part of the upper leg is rotatably connected to the lower surface of the board body through the front leg axis. The upper end of the upper leg is processed with a through hole for inserting the front axis, and the lower end is connected to the toe-shaped transition section and the front fin. The transition section lands before jumping to provide jumping friction. The front fin is made of soft rubber and lands first after jumping to play a buffering role. The front fin is multi-toe shaped to increase the stable contact area with the ground.

[0009] Furthermore, the upper leg is provided with a rotating paddle, and the rotating paddle can rotate freely around the upper leg. A front positioning block and a rear positioning block are installed on the upper leg. The rotating paddle can also be installed on the connecting rod leg, and the upper leg can be replaced with a rotating rod, and the rotating rod is fixedly connected to the connecting rod leg. The front positioning block maximizes the force acting on the water when the rotating paddle is opened; the rear positioning block ensures that the force of the water can quickly open the rotating paddle after the rotating paddle rotates backward.

[0010] Furthermore, in order to ensure the stability of the forward and backward movement of the rod, a guide block is fixed on the plate body, and the rod passes through the guide hole of the guide block and moves forward and backward in a directed manner under the constraint of the guide hole.

[0011] The beneficial effects of the utility model are as follows: the combined action of the front legs and the connecting rod legs of the utility model realizes the jumping and swimming of the bionic frog. The tension spring provides the power for jumping or swimming, the front fins are used for jumping stability, the rear fins provide jumping friction, and the rotating fins provide the swimming force. The jumping device has a simple structure and low production cost. The bionic frog is light in weight and can swim or jump on the water surface or soft mud. It has a remote control function and can detect or search in places that people cannot reach. The upper and lower covers provide profiling, which is not easy to be found unless it is close. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the appearance of Example 1;

[0013] Figure 2 This is a top view of Example 2 after removing the upper cover;

[0014] Figure 3 for Figure 2 AA cross-sectional view of ;

[0015] Figure 4 It is a schematic diagram of the jump of the utility model;

[0016] Figure 5 This is a schematic diagram of the partial structure of the front leg of Example 2;

[0017] Figure 6 for Figure 5 Schematic diagram of top view;

[0018] In the figure: 1-upper cover, 2-plate, 3-front leg, 4-connecting rod leg, 5-tension spring, 6-servo, 7-shift plate, 8-rod, 9-chip, 10-battery, 11-detector;

[0019] 21-fixed column, 22-guide block, 23-middle through hole, 24-rear through hole, 25-calf axis, 26-thigh axis, 27-front leg axis, 28-front through hole;

[0020] 31-upper leg, 32-transition section, 33-front fin, 34-rotation fin, 35-rear positioning block, 36-front positioning block;

[0021] 41-thigh, 42-calf, 43-hind flipper, 411-inner thigh, 412-outer thigh, 421-inner calf, 422-outer calf;

[0022] 81-front axle, 82-hanging rod, 83-cross bar, 84-rear axle. DETAILED DESCRIPTION

[0023] In the present utility model, the remote control and detection systems are both existing technologies, and the water seal materials and water seal structures are also existing technologies, which are not the key contents of the present utility model.

[0024] The following front and back are customary positioning, that is, the frog's head is in front, and the Figure 2 The left side is the front and the right side is the back. Example 1

[0025] The structure of the bionic frog in this embodiment is shown in the attached figure. Figure 1-3 As shown, it includes an upper cover 1, a lower cover, a plate 2, front legs 3 and rear legs, and the rear legs are connecting rod legs 4. The upper cover 1 and the lower cover are respectively buckled on the upper and lower surfaces of the plate 2 to form the image of a frog. To simplify the lines in the drawings, the lower cover is omitted in the drawings. The connecting rod legs 4 are located outside the upper and lower covers, and the lower cover is provided with two openings to accommodate the movement of the two front legs 3.

[0026] The front leg 3 includes an upper leg 31, a transition section 32, and a front flipper 33. Figure 3 As shown. The transition section 32 and the front flipper 33 contact the ground. When the bionic frog jumps and lands, the front flipper 33 lands first. The front flipper 33 is made of soft rubber to play a buffering role. The front flipper 33 is multi-toed to increase the contact area with the ground for stability and to prevent the bionic frog from tipping over. The upper leg 31 is made of plastic, which has good rigidity and can transmit motion. The transition section 32 is made of hard rubber, which has both elasticity and rigidity. It can transmit motion and absorb vibration, and has a large friction with the ground, which is conducive to jumping. Normally, the front flipper 33 and the transition section 32 are an integrated structure. The upper middle part of the upper leg 31 is rotatably connected to the lower surface of the plate body through the front leg shaft 27, and a through hole is processed on its upper end. The front shaft 81 of the rod 8 is inserted into the through hole. In this way, the front leg 3 can rotate around the front leg shaft 27 under the action of the front shaft 81.

[0027] The connecting rod leg 4 includes a thigh 41, a calf 42, and a rear flipper 43. Figure 2As shown. The thigh 41 includes an inner thigh 411 and an outer thigh 412. The outer end of the inner thigh 411 is hinged to the front end of the outer thigh 412. The middle part of the inner thigh 411 is rotatably connected to the lower surface of the board body through the thigh shaft 26. The inner end is processed with a through hole, and the rear shaft 84 of the rod 8 is inserted into the through hole. The rear end of the outer thigh 412 is hinged to the rear flipper 43. The calf 42 includes an inner calf 421 and an outer calf 422. The inner end of the inner calf 421 is rotatably connected to the lower surface of the board body through the calf shaft 25, and the outer end is hinged to the outer thigh 412. One end of the outer calf 422 is hinged to the inner calf 421, and the other end is hinged to the rear flipper 43. The inner calf 421 and the inner thigh 411, the outer calf 422 and the outer thigh 412 form a parallelogram-shaped hinged connecting rod structure. In this way, under the action of the rear shaft 84 , the thigh 41 and the calf 42 of the connecting rod leg 4 can rotate around the thigh axis 26 and the calf axis 25 respectively at the same time, thereby driving the movement of the rear flipper 43 .

[0028] A bouncing device is provided on the plate body 2, as shown in the attached Figure 2 and attached Figure 3 As shown, the bouncing device includes a tension spring 5, a servo 6, a dial plate 7 and a rod 8. The rod 8 is a rigid integral part, including a front axle 81, a hanging rod 82, a cross bar 83 and a rear axle 84. The front axle 81 and the rear axle 84 are respectively located at the front end and the rear end of the rod 8, and are respectively inserted into the through holes of the two front legs and the two connecting rod legs to drive the movement of the front legs and the connecting rod legs. The hanging rod 82 and the cross bar 83 are located in the middle part of the rod 8, and play the role of connecting and fixing the rod. The front end of the tension spring 5 is connected to the fixed column 21, and the rear end is connected to the hanging rod 82. The fixed column 21 is located at the front end of the plate body, and is used to limit and fix the tension spring 5. The cross bar 83 cooperates with the dial plate 7, and the dial plate 7 is fixedly mounted on the rotating shaft of the servo 6 and rotates under the drive of the servo 6. As shown in the attached figure Figure 3 As shown, when the paddle 7 rotates in the direction shown in the figure, the crossbar 83 is pressed to move backward, and the rod 8 drives the front shaft 81, the hanging rod 82 and the rear shaft 84 to move backward together, the tension spring 5 is stretched, the front shaft 81 drives the front leg 3 to rotate, so that the front flipper 33 moves forward, and the rear shaft 84 drives the connecting rod leg 4 to rotate, so that the rear flipper 43 moves forward. When the paddle 7 is separated from the crossbar 83, the tension spring 5 quickly returns to its original position, and drives the rod 8 to move forward quickly through the hanging rod 82, thereby driving the front shaft 81 and the rear shaft 84 to move forward quickly, so that the front flipper 33 and the rear flipper 43 move backward quickly, so as to realize the bionic frog jumping forward, as shown in the figure. Figure 4 shown.

[0029] A guide block 22 is fixed on the plate body 2, and is processed with a front through hole 28, a middle through hole 23, and a rear through hole 24. The rod 8 passes through the guide hole of the guide block 22 and moves forward and backward in a directional manner under the constraint of the guide hole. The upper leg 31 of the front leg passes through the front through hole 28, and a rotation space for the upper leg 31 is reserved. The rear through hole 24 passes through the rear axle 84, and a movement space for the rear axle 84 is reserved. The middle through hole 23 reserves space for the rotation of the paddle 7, so as to achieve a good match with the cross bar 83.

[0030] In order to achieve detection or search by remote control, a remote control system and a detection system are also installed, including a chip 9, a battery 10, a detector 11, etc. The detector 11 is installed on the protruding eyes of the bionic frog, and the chip 9 and the battery 10 are installed on the board. The rotation speed of the servo is remotely controlled, thereby realizing the control of the jumping speed of the bionic frog.

[0031] It should be noted that: 1) The main purpose of the front leg rotation is to achieve the upward movement of the bionic frog. The main component of the friction force with the ground is upward, and the forward friction component plays an auxiliary role in jumping; 2) In order to achieve the forward direction of the friction force between the rear flipper and the ground, after the connecting rod leg is contracted, the length direction of the outer thigh and the outer calf should be consistent with the jumping direction of the bionic frog, as shown in the attached figure. Figure 2 That is to say, the length direction of the outer thigh and outer calf is the front-to-back direction; 3) In order to adapt to wet or soft muddy ground and increase jumping height and distance, except for necessary parts, the remaining parts are made of lightweight materials; 4) In order to ensure the jumping friction between the rear fin and the ground, the rear fin should increase the contact area with the ground and use lightweight hard material wrapped with rubber.

[0032] In this embodiment, the front legs provide upward power, and the rear legs (connecting rod legs) provide forward power, thereby achieving bionic frog-like jumping. Combined with the shape of the upper and lower covers, it is difficult to distinguish the real from the fake unless at close range. Example 2

[0033] The bionic frog in Example 1 is suitable for jumping on the ground. In order to realize the bionic frog swimming in water, this embodiment, on the basis of Example 1, uses water sealing materials to seal the electrical components such as the steering gear, the chip, and the battery, and adds a flipper 34. Figure 5 and attached Figure 6 As shown. The paddle 34 is mounted on the upper leg 31 of the front leg and can rotate freely around the upper leg 31. On the upper leg 31, a front positioning block 36 and a rear positioning block 35 are fixedly installed to limit the rotation space of the paddle 34. When the paddle rotates to move the rod backward, the front leg moves forward, and the paddle 34 rotates backward under the action of the water resistance, reducing the resistance with the water, so that the front leg can be extended forward while the board body is basically motionless. When the tension spring returns to its original position quickly, the front leg moves backward quickly, and the paddle 34 rotates forward quickly under the action of the water, opens the paddle, increases the resistance with the water, and realizes the rapid swimming of the bionic frog.

[0034] The front positioning block 36 is positioned so that the force exerted by the paddle 34 on the water when it is opened is the largest, thus ensuring the forward force of swimming. The rear positioning block 35 is positioned so that the force exerted by the paddle 34 on the water when it is turned backward is the smallest, thus reducing the resistance of the water. However, it must be ensured that the force exerted by the water can cause the paddle 34 to be opened quickly when swimming. In order to obtain a larger force of swimming, the paddle 34 is preferably installed at the connection with the transition section, where the moving distance is large.

[0035] In order to realize the rapid swimming of the bionic frog, the upper leg 31 is replaced with a rotating rod, which is fixedly connected to the connecting leg.

[0036] The front legs of the utility model provide the bionic frog with upward power, the connecting rod legs provide forward jumping power, and the webbed feet on the front and rear legs jointly provide forward power for swimming in the water. The combined action of the front and rear legs enables the bionic frog to jump and swim in the water. The utility model uses the energy storage of the tension spring to provide power for jumping or swimming in the water. The front webbed feet are used for jumping stability, the rear webbed feet provide jumping friction, and the webbed feet provide swimming force. The bouncing device has a simple structure and low manufacturing cost. The bionic frog is light in weight and can swim or jump on the water surface or soft mud. It has a remote control function and can detect or search in places that people cannot reach. The upper and lower covers only provide imitation, making the utility model more like a frog in shape and difficult to detect except at close range.

[0037] This utility model is a competition for teachers to guide students to compete in long jump and stability, as well as water swimming speed and recognition of the returned image. The next step is to add a servo to adapt to different long jump distances and water swimming turns.

Claims

1. A bionic frog, comprising a plate body, front legs and connecting rod legs; characterized in that: The device also comprises a bouncing device, which is arranged on the plate body and comprises a tension spring (5), a steering gear (6), a shifting plate (7) and a rod (8); the rod (8) is a rigid integral part and comprises a front shaft (81), a hanging rod (82), a cross rod (83) and a rear shaft (84); the front shaft (81) and the rear shaft (84) are respectively located at the front end and the rear end of the rod (8) and are respectively inserted into the through holes of the two front legs and the two connecting rod legs; the hanging rod (82) and the cross rod (83) are located in the middle of the rod (8); the front end of the tension spring (5) is connected to a fixing column (21) on the plate body, and the rear end is connected to the hanging rod (82); the cross rod (83) cooperates with the shifting plate (7) and can move backwards under the action of the shifting plate (7); the shifting plate (7) is mounted on the rotating shaft of the steering gear (6); The plate body is machined with a front through hole (28), a middle through hole (23) and a rear through hole (24); the front through hole (28) passes through the front leg and reserves a rotation space for the front leg; the rear through hole (24) passes through the rear axle (84) and reserves a movement space for the rear axle (84); the middle through hole (23) reserves a rotation space for the shifting plate (7).

2. A bionic frog according to claim 1, characterized in that: The connecting rod leg comprises a thigh (41), a calf (42) and a rear flipper (43); the thigh (41) comprises an inner thigh (411) and an outer thigh (412); the outer end of the inner thigh (411) is hinged to the front end of the outer thigh (412), the middle part is rotatably connected to the lower surface of the plate body through a thigh shaft (26), and the inner end is processed with a through hole for inserting the rear shaft (84); the rear end of the outer thigh (412) is hinged to the rear flipper (43); the calf (42) The invention comprises an inner calf (421) and an outer calf (422); the inner end of the inner calf (421) is rotatably connected to the lower surface of the board body through a calf shaft (25), and the outer end is hinged to the outer thigh (412); one end of the outer calf (422) is hinged to the inner calf (421), and the other end is hinged to the rear flipper (43); the inner calf (421) and the inner thigh (411), and the outer calf (422) and the outer thigh (412) form a parallelogram hinged connecting rod structure.

3. A bionic frog according to claim 2, characterized in that: After the connecting rod leg is retracted, the length direction of the outer thigh (412) and the outer shank (422) is the front-to-back direction.

4. A bionic frog according to claim 1, characterized in that: The front leg comprises an upper leg (31), a transition section (32) and a toe-shaped front flipper (33); the upper middle portion of the upper leg (31) is rotatably connected to the lower surface of the board body via a front leg shaft (27); the upper end of the upper leg (31) is processed with a through hole for inserting the front shaft (81); the lower end is connected to the toe-shaped transition section (32) and the front flipper (33); the transition section (32) lands before jumping, and the front flipper (33) lands first after jumping.

5. A bionic frog according to claim 4, characterized in that: A swivel fin (34) is mounted on the upper leg (31), and the swivel fin (34) can freely rotate around the upper leg (31). A front positioning block (36) and a rear positioning block (35) are mounted on the upper leg (31).

6. The bionic frog according to claim 5, characterized in that: The upper leg (31) is replaced with a rotating rod, and the rotating rod is fixedly connected to the connecting rod leg.

7. A bionic frog according to claim 5 or 6, characterized in that: The front positioning block (36) enables the maximum force acting on the flippers (34) with water when the flippers (34) are opened; and the rear positioning block (35) enables the flippers (34) to be opened quickly due to the force of water after the flippers (34) rotate backward.

8. The bionic frog according to claim 1, characterized in that: A guide block (22) is fixed on the plate body, and the rod (8) passes through a guide hole of the guide block (22).

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