Frog bionic robot

Abstract

The utility model discloses a frog bionic robot which comprises a bionic body and bionic limbs. The bionic limb comprises a forelimb structure and a hind limb structure; the posterior limb structure comprises a posterior limb assembly and a posterior limb driving mechanism; the posterior limb assembly comprises a connecting rod, a posterior sole, a posterior shank and a posterior thigh; the connecting rod comprises a first connecting rod and a second connecting rod; one end of the rear sole is fixedly connected with the second connecting rod; one end of the rear shank is rotationally connected to the second connecting rod, and the other end of the rear shank is rotationally connected with one end of the rear thigh; the other end of the rear thigh is rotationally connected with the first connecting rod; the posterior limb driving mechanism comprises an installation sliding rod, a rear spring, a posterior limb driving steering engine and an energy storage transmission assembly. The rear spring is arranged on the installation sliding rods in a sleeving mode, and the two ends of the rear spring abut against the ends of the two installation sliding rods respectively. The frog bionic robot has the advantages of high energy utilization efficiency, simple structure and the like.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to a frog bionic robot. Background Art

[0002] With the development of the times, human beings have higher and higher requirements for space exploration, archaeological excavation, deep-sea exploration, post-disaster rescue and other tasks, and thus the requirements for robots' ability to adapt to and autonomously complete various scientific tasks in various locations and environments are also getting higher and higher.

[0003] Bionic robots combine bionics with robotics, and apply some of the bionics techniques to robotics, so that robots can be further developed. At present, many institutions around the world start from the study of biological prototypes, movement methods, physiological functions and other characteristics of insects, reptiles and other organisms, and apply some of their characteristics to robotics to produce robots for various specific purposes, so that they can work efficiently in extreme environments. As the exploration environment becomes more and more complex, the requirements for robot mobility are also getting higher and higher. When encountering obstacles that are difficult to climb, jumping robots have great advantages over walking robots and crawling robots, so it is of great significance to study bionic frog jumping robots. However, the current bionic frog robots still have some technical defects, such as low energy utilization efficiency and limitations in structural design. Utility Model Content

[0004] The utility model aims to overcome the above-mentioned problems and provide a frog bionic robot, which has the advantages of high energy utilization efficiency, simple structure and the like.

[0005] The purpose of the utility model is achieved through the following technical solutions:

[0006] A frog bionic robot, comprising a bionic body and bionic limbs;

[0007] The bionic limb comprises a forelimb structure and a hindlimb structure; the forelimb structure comprises a forelimb assembly, a front spring and a forelimb driving servo; the forelimb assembly is provided with two groups and each group comprises a forefoot, a front calf and a front thigh; the forefoot is connected to one end of the front calf; the upper end of the front thigh is fixedly connected to the output shaft of the forelimb driving servo, and the lower end of the front thigh is hinged to the front calf; one end of the front spring is connected to the front thigh, and the other end of the front spring is connected to the front calf; on the front calf, the connection point of the front thigh is located between the connection point of the forefoot and the connection point of the front spring; the forelimb driving servo is arranged on the bionic body;

[0008] The hind limb structure includes a hind limb assembly and a hind limb driving mechanism; the hind limb assembly includes a connecting rod, a hind foot, a hind calf and a hind thigh; the connecting rod includes a first connecting rod and a second connecting rod; the first connecting rod is arranged on the bionic body; the hind foot, the hind calf and the hind thigh are each provided with two; one end of the hind foot is fixedly connected to the second connecting rod; one end of the hind calf is rotatably connected to the second connecting rod, and the other end of the hind calf is rotatably connected to one end of the hind thigh; the other end of the hind thigh is rotatably connected to the first connecting rod;

[0009] The hind limb driving mechanism includes a mounting slide rod, a rear spring, a hind limb driving servo and an energy storage transmission assembly; the mounting slide rods are provided with two, one end of which is rotatably connected to the first connecting rod, and one end of the other mounting slide rod is rotatably connected to the second connecting rod, and the two mounting slide rods are connected by a structure that can be relatively telescopically moved; the hind calf, the rear thigh and the mounting slide rod form a variable triangle; the rear spring is sleeved on one of the mounting slide rods, and the two ends of the rear spring are respectively pressed against the ends of the two mounting slide rods; the hind limb driving servo is arranged on the bionic body; the energy storage transmission assembly includes a gear transmission assembly, a winding shaft and a pull rope; the gear transmission assembly is connected between the hind limb driving servo and the winding shaft; the winding shaft is rotatably connected to the bionic body; one end of the pull rope is fixedly connected to the second connecting rod, and the other end of the pull rope is fixedly connected to the winding shaft.

[0010] The working principle of the above frog bionic robot is:

[0011] When jumping, the hind limb drives the servo to provide power, and the power is transmitted to the reel through the gear transmission assembly, so that the reel rotates in the corresponding direction and the pull rope is rolled up; because the other end of the pull rope is connected to the second connecting rod, when it is stretched and rolled up, the distance between the second connecting rod and the reel is shortened, so that the hind calf and the hind thigh rotate in the direction of a smaller angle, which is equivalent to bringing the hind calf and the hind thigh together; at the same time, the two mounting slide bars compress the rear spring to achieve energy storage. When the energy is stored to the set level, the power transmission is disconnected and the restriction is removed. At this time, the rear spring begins to release potential energy to restore the deformation, and with the ground as support, drives the mounting slide bar connected to the first connecting rod away from the other mounting slide bar, and then transmits power to the entire bionic body through the first connecting rod, prompting the bionic body to move forward and upward, thereby taking the bionic limb away from the bottom surface to achieve jumping.

[0012] Before landing, the forelimb driving servo adjusts the front thigh in real time so that the front foot contacts the ground with a large area for stable landing; when landing, the front and rear springs both provide a cushioning effect, and the front spring also stores energy to provide a certain driving force for the next jump, which is better.

[0013] In a preferred embodiment of the present invention, the gear transmission assembly comprises a first gear assembly and a second gear assembly;

[0014] The first gear assembly includes a first driving gear and a first driven gear; the first driving gear is connected to the output shaft of the hind limb driving servo, and the first driven gear is fixedly arranged on a transmission shaft, and the transmission shaft is rotatably connected to the bionic body;

[0015] The second gear assembly includes a second driving gear and a second driven gear; the second driving gear is fixedly connected to the transmission shaft, and the second driven gear is fixedly arranged on the winding shaft; the second driving gear is an incomplete gear with some teeth missing. Through the above structure, the number of turns of the winding shaft can be controlled by using incomplete gears. When the second driving gear and the second driven gear are meshed, the pull rope can be wound up by the winding shaft to store energy; when the second driving gear reaches the tooth-missing part, the second driven gear is disengaged from the second driving gear, and at this time, the second driven gear and the winding shaft are not restricted, so they start to release potential energy and jump.

[0016] Further, the diameter of the first driving gear is smaller than the diameter of the first driven gear.

[0017] Furthermore, the diameter of the second driving gear is greater than the diameter of the second driven gear.

[0018] In a preferred embodiment of the utility model, a controller is provided on the bionic body, and the controller is electrically connected to the hind limb driving servo and the forelimb driving servo.

[0019] In a preferred embodiment of the utility model, a camera is provided at the front end of the bionic body, and the camera is electrically connected to a controller of the robot.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] 1. The frog bionic robot of the utility model has the advantages of high energy utilization efficiency and simple structure.

[0022] 2. By fixing the rear spring on the connecting rod, the direction and strength of the rear spring during extension and retraction can be effectively controlled, avoiding the problem of uneven force caused by the free extension of the rear spring, greatly improving the stability of the jump and the accuracy of the landing point; fixing the rear spring directly on the connecting rod can reduce unnecessary friction and torsional stress, and reduce wear; at the same time, energy can be more concentrated and directly transmitted to the leg structure, reducing energy loss.

[0023] 3. By integrating the design of hind leg spring energy storage and winding mechanism energy release, the release of spring energy storage is controlled by the winding mechanism, achieving precise control of jumping force and time. At the same time, the spring energy storage mechanism can efficiently store and release energy, and can convert energy into elastic potential energy for storage. When it is necessary to perform a jumping action, the spring rebounds quickly, converting the stored energy into kinetic energy almost losslessly, pushing the robot to complete long-distance or difficult jumps, and can achieve higher energy utilization compared to traditional motor drives.

[0024] 4. By setting the forelimb drive servo, the inclination angle of the forelegs can be accurately controlled to form a better aerodynamic shape during jumping, effectively reduce air resistance, help the robot flexibly adjust the center of gravity in the air, ensure the stability of jumping, adapt to various ground conditions and task requirements, and ensure accurate jumping and safe landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1-3 The three-dimensional structural schematic diagrams of the frog bionic robot of the utility model are shown in three different viewing angles. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0027] See also Figure 1-3 The frog bionic robot of this embodiment includes a bionic body 1 and a bionic limb; the bionic limb includes a forelimb structure and a hindlimb structure; the forelimb structure includes a forelimb assembly, a front spring 2 and a forelimb driving servo 3; the forelimb assembly is provided with two groups and both include a front sole 4, a front calf 5 and a front thigh 6; the front sole 4 is connected to one end of the front calf 5; the upper end of the front thigh 6 is fixedly connected to the output shaft of the forelimb driving servo 3, and the lower end of the front thigh 6 is hinged to the front calf 5; one end of the front spring 2 is connected to the front thigh 6, and the other end of the front spring 2 is connected to the front calf 5; on the front calf 5, the connection point of the front thigh 6 is located between the connection point of the front sole 4 and the connection point of the front spring 2; the forelimb driving servo 3 is arranged on the bionic body 1.

[0028] See also Figure 1-3The hind limb structure includes a hind limb assembly and a hind limb driving mechanism; the hind limb assembly includes a connecting rod, a hind foot 7, a hind calf 8 and a hind thigh 9; the connecting rod includes a first connecting rod 10 and a second connecting rod 11; the first connecting rod 10 is arranged on the bionic body 1; the hind foot 7, the hind calf 8 and the hind thigh 9 are each provided with two; one end of the hind foot 7 is fixedly connected to the second connecting rod 11; one end of the hind calf 8 is rotatably connected to the second connecting rod 11, and the other end of the hind calf 8 is rotatably connected to one end of the hind thigh 9; the other end of the hind thigh 9 is rotatably connected to the first connecting rod 10.

[0029] See also Figure 1-3 The hind limb driving mechanism includes a mounting slide bar 12, a rear spring 13, a hind limb driving steering gear 14 and an energy storage transmission assembly; the mounting slide bar 12 is provided with two, one end of which is rotatably connected to the first connecting rod 10, and one end of the other mounting slide bar 12 is rotatably connected to the second connecting rod 11, and the two mounting slide bars 12 are connected by a relatively telescopic structure; the rear calf 8, the rear thigh 9 and the mounting slide bar 12 form a variable triangle; the rear spring 13 is sleeved on one of them The rear spring 13 is mounted on the mounting slide rod 12, and the two ends of the rear spring 13 are respectively pressed against the ends of the two mounting slide rods 12; the hind limb driving servo 14 is arranged on the bionic body 1; the energy storage transmission assembly includes a gear transmission assembly, a winding shaft 15 and a pull rope 16; the gear transmission assembly is connected between the hind limb driving servo 14 and the winding shaft 15; the winding shaft 15 is rotatably connected to the bionic body 1; one end of the pull rope 16 is fixedly connected to the second connecting rod 11, and the other end of the pull rope 16 is fixedly connected to the winding shaft 15.

[0030] See also Figure 1-3 , the gear transmission assembly includes a first gear assembly and a second gear assembly; the first gear assembly includes a first driving gear 17 and a first driven gear 18; the first driving gear 17 is connected to the output shaft of the hind limb driving servo 14, and the first driven gear 18 is fixedly arranged on the transmission shaft, and the transmission shaft is rotatably connected to the bionic body 1; the second gear assembly includes a second driving gear 19 and a second driven gear 20; the second driving gear 19 is fixedly connected to the transmission shaft, and the second driven gear 20 is fixedly arranged on the winding shaft 15; the second driving gear 19 is an incomplete gear with some teeth missing. Through the above structure, the use of incomplete gears can control the number of turns of the winding shaft 15. When the second driving gear 19 and the second driven gear 20 are meshed, the pull rope 16 can be wound up by the winding shaft 15, thereby storing energy; when it moves to the tooth-missing part, the second driven gear 20 disengages from the second driving gear 19, and at this time, the second driven gear 20 and the winding shaft 15 are not restricted, thereby starting to release potential energy to jump.

[0031] Furthermore, the diameter of the first driving gear 17 is smaller than the diameter of the first driven gear 18 .

[0032] Furthermore, the diameter of the second driving gear 19 is greater than the diameter of the second driven gear 20 .

[0033] Specifically, the bionic body 1 is provided with a controller, which is electrically connected to the hind limb driving servo 14 and the forelimb driving servo 3 .

[0034] See also Figure 1-3 A camera 21 is provided at the front end of the bionic body 1, and the camera 21 is electrically connected to the controller of the robot.

[0035] See also Figure 1-3 The working principle of the frog bionic robot of this embodiment is:

[0036] When jumping, the hind limb drives the steering engine 14 to provide power, and the power is transmitted to the reel 15 through the gear transmission assembly, so that the reel 15 rotates in the corresponding direction and the pull rope 16 is rolled up; because the other end of the pull rope 16 is connected to the second connecting rod 11, when it is stretched and rolled up, the distance between the second connecting rod 11 and the reel 15 will be shortened, so that the hind leg 8 and the hind thigh 9 rotate in the direction of the angle becoming smaller, which is equivalent to bringing the hind leg 8 and the hind thigh 9 together; at the same time, the two mounting slide bars 12 compress the rear spring 13 to achieve energy storage. When the energy is stored to a set level, the power transmission is disconnected and the restriction is cancelled. At this time, the rear spring 13 begins to release potential energy to restore the deformation, and with the ground as support, drives the mounting slide bar 12 connected to the first connecting rod 10 away from the other mounting slide bar 12, and then transmits power to the entire bionic body 1 through the first connecting rod 10, prompting the bionic body 1 to move forward and upward, thereby taking the bionic limb away from the bottom surface to achieve jumping.

[0037] Before landing, the front thigh 6 is adjusted in real time by the forelimb driving servo 3 so that the forefoot 4 contacts the ground with a large area for stable landing; when landing, the front spring 2 and the rear spring 13 both provide a buffering effect, and the front spring 2 also stores energy to provide a certain driving force for the next jump, which is better.

[0038] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A frog bionic robot, comprising a bionic body and bionic limbs; characterized in that: The bionic limb comprises a forelimb structure and a hindlimb structure; the hindlimb structure comprises a hindlimb assembly and a hindlimb driving mechanism; the hindlimb assembly comprises a connecting rod, a hind sole, a hind calf and a hind thigh; the connecting rod comprises a first connecting rod and a second connecting rod; the first connecting rod is arranged on the bionic body; the hind sole, the hind calf and the hind thigh are each provided with two; one end of the hind sole is fixedly connected to the second connecting rod; one end of the hind calf is rotatably connected to the second connecting rod, and the other end of the hind calf is rotatably connected to one end of the hind thigh; the other end of the hind thigh is rotatably connected to the first connecting rod; The hind limb driving mechanism includes a mounting slide rod, a rear spring, a hind limb driving servo and an energy storage transmission assembly; the mounting slide rods are provided with two, one end of which is rotatably connected to the first connecting rod, and one end of the other mounting slide rod is rotatably connected to the second connecting rod, and the two mounting slide rods are connected by a structure that can be relatively telescopically moved; the hind calf, the rear thigh and the mounting slide rod form a variable triangle; the rear spring is sleeved on one of the mounting slide rods, and the two ends of the rear spring are respectively pressed against the ends of the two mounting slide rods; the hind limb driving servo is arranged on the bionic body; the energy storage transmission assembly includes a gear transmission assembly, a winding shaft and a pull rope; the gear transmission assembly is connected between the hind limb driving servo and the winding shaft; the winding shaft is rotatably connected to the bionic body; one end of the pull rope is fixedly connected to the second connecting rod, and the other end of the pull rope is fixedly connected to the winding shaft.

2. The frog bionic robot according to claim 1, characterized in that: The forelimb structure includes a forelimb assembly, a front spring and a forelimb driving servo; the forelimb assembly is provided with two groups and each group includes a forefoot, a front calf and a front thigh; the forefoot is connected to one end of the front calf; the upper end of the front thigh is fixedly connected to the output shaft of the forelimb driving servo, and the lower end of the front thigh is hinged to the front calf; one end of the front spring is connected to the front thigh, and the other end of the front spring is connected to the front calf; on the front calf, the connection point of the front thigh is located between the connection point of the forefoot and the connection point of the front spring; the forelimb driving servo is arranged on the bionic body.

3. The frog bionic robot according to claim 1, characterized in that: The gear transmission assembly includes a first gear assembly and a second gear assembly; The first gear assembly includes a first driving gear and a first driven gear; the first driving gear is connected to the output shaft of the hind limb driving servo, and the first driven gear is fixedly arranged on a transmission shaft, and the transmission shaft is rotatably connected to the bionic body; The second gear assembly includes a second driving gear and a second driven gear; the second driving gear is fixedly connected to the transmission shaft, and the second driven gear is fixedly arranged on the winding shaft; the second driving gear is an incomplete gear with some teeth missing.

4. The frog bionic robot according to claim 3, characterized in that: The diameter of the first driving gear is smaller than the diameter of the first driven gear.

5. The frog bionic robot according to claim 3, characterized in that: The diameter of the second driving gear is greater than the diameter of the second driven gear.

6. The frog bionic robot according to claim 1, characterized in that: The bionic body is provided with a controller, which is electrically connected to the hind limb driving steering gear and the forelimb driving steering gear.

7. The frog bionic robot according to claim 1, characterized in that: A camera is provided at the front end of the bionic body, and the camera is electrically connected to the controller of the robot.

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