Bionic frog jumping robot

Abstract

The utility model provides a bionic frog jumping robot. The bionic frog jumping robot comprises a rack, a supporting mechanism, a jumping mechanism and a power mechanism. The jumping mechanism comprises short rear legs, long rear legs and cross rods connected between the short rear legs and the long rear legs, the long rear legs are hinged to the two sides of the rack through second rotating shafts, the rear ends of the cross rods are connected with first short shafts, the lower ends of the long rear legs are hinged to the rear legs through second short shafts, and first tension springs are arranged between the first rotating shafts and the second rotating shafts; a second tension spring is arranged between the first short shaft and the second short shaft; the power mechanism comprises a speed reduction motor, a worm and a worm gear, a half gear is arranged on a worm gear shaft and is matched with the straight gear in a meshed mode, and a short column is arranged on the straight gear and connected with the first rotating shaft through a belt. The gear motor provides motive power, the straight gear is driven to rotate intermittently through transmission of the worm gear, the worm and the half gear, so that the tension spring is intermittently stretched to store energy to obtain bouncing power, and the bouncing mode can reduce structural abrasion of the robot, improve transmission efficiency and prolong the service life of the robot.

Description

Technical Field

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

[0002] Traditional land bionic robots usually use wheels or tracks to move on a flat surface. The advantage is that they are fast, but the disadvantage is that they cannot move in places with complex terrain, are easily restricted by obstacles during movement, and are prone to "rollover". Therefore, when in use, they usually need to avoid obstacles by bypassing them, which affects the robot's operating efficiency and increases costs.

[0003] In contrast, the bionic jumping robot has good crossing ability and can smoothly cross obstacles that are several times larger than itself. It also has a shorter reaction time, which can save driving time, improve efficiency, and has a better way of handling complex terrain.

[0004] However, currently available jumping robots mostly use cam compression springs, which are prone to wear, resulting in a short service life and low transmission efficiency. Summary of the invention

[0005] The technical problem to be solved by the utility model is to provide a bionic frog jumping robot, in which the power of the worm gear is transmitted to the spur gear by the cooperation of incomplete half gears, and the bouncing power is obtained by the intermittent stretching of the tension spring of the spur gear, so as to reduce the wear of the robot structure, improve the transmission efficiency and extend the service life of the robot.

[0006] The utility model provides a bionic frog jumping robot, comprising a frame, a supporting mechanism, a jumping mechanism and a power mechanism, wherein:

[0007] The support mechanism includes front legs, which are mounted on both sides of the front part of the frame by bolts;

[0008] The jumping mechanism comprises two groups of short hind legs, long hind legs and a cross bar, wherein the short hind legs are rotatably mounted on both sides of the frame, the tops of the two long hind legs are connected to a second rotating shaft and are hinged to both sides of the frame through the second rotating shaft, the front ends of the two cross bars are connected through a first rotating shaft and are hinged to the lower ends of the short hind legs, the middle parts of the cross bars are hinged to the middle parts of the long hind legs, the rear ends of the cross bars are connected to the first short shaft, the lower ends of the long hind legs are hinged to the hind feet through the second short shaft, a first tension spring is provided between the first rotating shaft and the second rotating shaft, and a second tension spring is provided between the first short shaft and the second short shaft;

[0009] The power mechanism includes a reduction motor, the power output end of the reduction motor is connected to a worm, the worm is meshed with a worm wheel, a half gear is provided at the other end of the worm wheel shaft, the half gear is meshed with a spur gear, a gear shaft is provided at the center of the spur gear, the gear shaft is rotatably mounted on both sides of the groove frame, at least one short column is provided on one side of the spur gear, a belt is connected to one of the short columns, and the other end of the belt is connected to the first rotating shaft.

[0010] Preferably, the frame comprises a slot-shaped frame body, and a plurality of mounting holes are respectively provided on two side walls of the slot-shaped frame body.

[0011] Preferably, the second rotating shaft and the worm gear shaft are both mounted in the mounting hole, the upper end of the short rear leg is mounted in the mounting hole via a third short shaft, and the middle portion of the crossbar is hinged to the middle portion of the long rear leg via a fourth short shaft.

[0012] Preferably, bearing seats are installed on both sides of the groove-shaped frame, and both ends of the gear shaft are movably mounted on the bearing seats.

[0013] Preferably, four short columns are provided on one side of the spur gear.

[0014] Preferably, the reduction motor, worm gear, half gear and spur gear are all arranged in the groove frame.

[0015] The working principle of the utility model: the bionic frog jumping robot of the utility model is provided with the original power by the reduction motor when working, and the power is provided to the worm, which drives the worm to rotate at a uniform speed, and the worm drives the worm wheel to rotate, and the rotation of the turbine shaft drives the half gear to rotate, and the half gear is meshed with the spur gear, and the meshing drives the spur gear to rotate, and the short column on the side of the spur gear rotates with it, and the short column pulls the first rotating shaft through the belt, thereby stretching the first tension spring to store energy, and at the same time drives the short hind legs and the long hind legs to rotate counterclockwise around the connection with the frame, so that the second tension spring is also stretched to store energy, and at this time the jumping mechanism also has the action of squatting downward to store energy when the frog jumps. When the half gear rotates the straight toothless part relative to the spur gear, the meshing is temporarily separated, the transmission belt is temporarily released, the first tension spring and the second tension spring are both contracted, and the energy stored in the two is also released, completing a jump, and at the same time, each component is restored to the initial position, ready for the next jump, thereby realizing intermittent jumping.

[0016] Beneficial effects of the utility model: The bionic frog jumping robot of the utility model is powered by a reduction motor, which drives the spur gear to rotate intermittently through a worm gear and a half gear transmission, thereby stretching the tension spring to store energy and obtain the power of jumping. The use of this jumping method can reduce the wear of the robot structure, improve the transmission efficiency, and extend the service life of the robot. In addition, the long axis, short axis and rubber ring are used to connect the joints of the mechanism. In order to increase the friction during jumping, the material of the rear sole is rubber. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional diagram of the bionic frog jumping robot of the utility model;

[0018] Figure 2 This is a disassembly diagram of the bionic frog jumping robot of the utility model;

[0019] Figure 3 for Figure 1 A three-dimensional diagram of the power mechanism;

[0020] Figure 4 for Figure 1 A three-dimensional diagram of the jumping mechanism.

[0021] In the figure:

[0022] Frame 1, slotted frame 11, mounting hole 12, bearing seat 13;

[0023] Support mechanism 2, front leg 21, bolt 22;

[0024] Jumping mechanism 3, short hind leg 31, long hind leg 32, cross bar 33, second rotating shaft 34, first rotating shaft 35, first short shaft 36, second short shaft 37, hind foot 38, first tension spring 39, second tension spring 310, third short shaft 311, fourth short shaft 312;

[0025] Power mechanism 4, reduction motor 41, worm 42, worm wheel 43, worm wheel shaft 44, half gear 45, spur gear 46, gear shaft 47, short column 48, belt 49. DETAILED DESCRIPTION

[0026] In order to make the technical solution of the present utility model easier to understand, the technical solution of the present utility model is now clearly and completely described in the form of specific embodiments in combination with the accompanying drawings.

[0027] Embodiment 1:

[0028] like Figures 1 to 4 As shown, the bionic frog jumping robot of this embodiment includes a frame 1, a supporting mechanism 2, a jumping mechanism 3 and a power mechanism 4, wherein:

[0029] The support mechanism 2 includes front legs 21, which are mounted on both sides of the front part of the frame 1 through bolts 22;

[0030] The jumping mechanism 3 includes two groups of short hind legs 31, long hind legs 32 and a cross bar 33. The short hind legs 31 can be rotatably mounted on both sides of the frame 1. The tops of the two long hind legs 32 are connected to a second rotating shaft 34 and are hinged to both sides of the frame 1 through the second rotating shaft 34. The front ends of the two cross bars 33 are connected through a first rotating shaft 35 and are hinged to the lower ends of the short hind legs 31. The middle parts of the cross bars 33 are hinged to the middle parts of the long hind legs 32. The rear ends of the cross bars 33 are connected to a first short shaft 36. The lower ends of the long hind legs 32 are hinged to a rear foot 38 through a second short shaft 37. A first tension spring 39 is provided between the first rotating shaft 35 and the second rotating shaft 34, and a second tension spring 310 is provided between the first short shaft 36 and the second short shaft 37.

[0031] The power mechanism 4 includes a reduction motor 41, the power output end of the reduction motor 41 is connected to a worm 42, the worm 42 is meshed with a worm wheel 43, the other end of the worm wheel shaft 44 is provided with a half gear 45, the half gear 45 is meshed with a spur gear 46, the center of the spur gear 46 is equipped with a gear shaft 47, the gear shaft 47 can be rotatably installed on both sides of the groove frame 11, at least one short column 48 is provided on one side of the spur gear 46, one of the short columns 48 is connected to a belt 49, and the other end of the belt 49 is connected to the first rotating shaft 35.

[0032] Embodiment 2:

[0033] like Figures 1 to 4 As shown, the bionic frog jumping robot of this embodiment includes a frame 1, a supporting mechanism 2, a jumping mechanism 3 and a power mechanism 4, wherein:

[0034] The support mechanism 2 includes front legs 21, which are mounted on both sides of the front part of the frame 1 through bolts 22;

[0035] The jumping mechanism 3 includes two groups of short hind legs 31, long hind legs 32 and a cross bar 33. The short hind legs 31 can be rotatably mounted on both sides of the frame 1. The tops of the two long hind legs 32 are connected to a second shaft 34 and are hinged to both sides of the frame 1 through the second shaft 34. The front ends of the two cross bars 33 are connected through a first shaft 35 and are hinged to the lower ends of the short hind legs 31. The middle part of the cross bar 33 is hinged to the middle part of the long hind legs 32. The rear end of the cross bar 33 is connected to the first short shaft 36. The lower end of the hind leg 32 is hinged to the hind foot 38 through the second short shaft 37, a first tension spring 39 is provided between the first rotating shaft 35 and the second rotating shaft 34, and a second tension spring 310 is provided between the first short shaft 36 and the second short shaft 37; the second rotating shaft 34 and the worm gear shaft 44 are both mounted in the mounting hole 12, the upper end of the short hind leg 31 is mounted in the mounting hole 12 through the third short shaft 311, and the middle part of the cross bar 33 is hinged to the middle part of the long hind leg 32 through the fourth short shaft 312.

[0036] The power mechanism 4 includes a reduction motor 41, the power output end of the reduction motor 41 is connected to a worm 42, the worm 42 is meshed with a worm wheel 43, the other end of the worm wheel shaft 44 is provided with a half gear 45, the half gear 45 is meshed with a spur gear 46, the center of the spur gear 46 is equipped with a gear shaft 47, the gear shaft 47 can be rotatably installed on both sides of the groove frame 11, four short columns 48 are provided on one side of the spur gear 46, one of the short columns 48 is connected to a belt 49, and the other end of the belt 49 is connected to the first rotating shaft 35.

[0037] The frame 1 includes a slot frame 11, and a plurality of mounting holes 12 are respectively provided on the two side walls of the slot frame 11. Bearing seats 13 are respectively installed on both sides of the slot frame 11, and both ends of the gear shaft 47 are movably mounted on the bearing seats 13. The reduction motor 41, the worm gear, the half gear 45 and the spur gear 46 are all arranged in the slot frame 11.

[0038] It should be noted that the embodiments described herein are only partial embodiments of the present invention, rather than all implementations of the present invention, and the embodiments are only exemplary, and their role is only to provide a more intuitive and clear way to understand the content of the present invention, rather than to limit the technical solutions described in the present invention. Without departing from the concept of the present invention, all other implementation methods that ordinary technicians in the field can think of without creative work, and other simple replacements and various changes to the technical solutions of the present invention, all belong to the protection scope of the present invention.

Claims

1. A bionic frog jumping robot, characterized in that: It comprises a frame (1), a supporting mechanism (2), a jumping mechanism (3) and a power mechanism (4), wherein: The support mechanism (2) comprises front legs (21), and the front legs (21) are mounted on both sides of the front part of the frame (1) via bolts (22); The jumping mechanism (3) comprises two groups of short hind legs (31), long hind legs (32) and a cross bar (33); the short hind legs (31) are rotatably mounted on both sides of the frame (1); the tops of the two long hind legs (32) are connected to a second rotating shaft (34) and are hinged to both sides of the frame (1) through the second rotating shaft (34); the front ends of the two cross bars (33) are connected to the lower ends of the short hind legs (31) through a first rotating shaft (35); the middle parts of the cross bars (33) are hinged to the middle parts of the long hind legs (32); the rear ends of the cross bars (33) are connected to a first short shaft (36); the lower ends of the long hind legs (32) are hinged to a hind foot (38) through a second short shaft (37); a first tension spring (39) is provided between the first rotating shaft (35) and the second rotating shaft (34); and a second tension spring (310) is provided between the first short shaft (36) and the second short shaft (37); The power mechanism (4) comprises a reduction motor (41), the power output end of the reduction motor (41) is connected to a worm (42), the worm (42) is meshed with a worm wheel (43), the other end of the worm wheel shaft (44) is provided with a half gear (45), the half gear (45) is meshed with a spur gear (46), the center of the spur gear (46) is equipped with a gear shaft (47), the gear shaft (47) is rotatably mounted on both sides of the groove frame (11), at least one short column (48) is provided on one side of the spur gear (46), a belt (49) is connected to one of the short columns (48), and the other end of the belt (49) is connected to the first rotating shaft (35).

2. The bionic frog jumping robot according to claim 1, characterized in that: The frame (1) comprises a slot-shaped frame body (11), and two side walls of the slot-shaped frame body (11) are respectively provided with a plurality of mounting holes (12).

3. The bionic frog jumping robot according to claim 2, characterized in that: The second rotating shaft (34) and the worm gear shaft (44) are both mounted in the mounting hole (12), the upper end of the short rear leg (31) is mounted in the mounting hole (12) via a third short shaft (311), and the middle part of the crossbar (33) is hinged to the middle part of the long rear leg (32) via a fourth short shaft (312).

4. The bionic frog jumping robot according to claim 2, characterized in that: The two sides of the groove frame (11) are respectively installed with bearing seats (13), and the two ends of the gear shaft (47) are respectively movably mounted on the bearing seats (13).

5. The bionic frog jumping robot according to claim 1, characterized in that: Four short columns (48) are provided on one side of the spur gear (46).

6. The bionic frog jumping robot according to claim 2, characterized in that: The reduction motor (41), worm gear, half gear (45) and spur gear (46) are all arranged in the slot-shaped frame (11).

Images