Robot simulating jumping of frogs

Abstract

A robot simulating frog jumping comprises a head, a cam, a push rod, a slide way, a guide wheel, a front leg fixing frame, a double-end motor, a front sole, a front leg, a string, a main body plate, a rear leg fixing frame, a rear thigh, a rear shank, a rear sole and a torsional spring, the robot is designed like a frog in appearance, and the movement mode of the leg structure of the robot imitates frog jumping. The double-end motor is started to drive the cam to rotate, slow forward pushing and quick resetting of the push rod can be achieved in one period by means of sudden change of the contour of the cam, then movement is transmitted to the torsion spring through the rope, the torsion spring can store force slowly and release force quickly, and jumping of the whole device is achieved through elastic force. The device does not need to be reset manually after completing one-time jumping, continuous jumping can be achieved through closing and opening of the motor, the whole transmission mechanism is simple, and installation and operation are convenient.

Description

Technical Field

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

[0002] As a device that simulates the movement of frogs, the bionic frog jumping robot has broad application prospects in replacing human work in complex environments and developing unknown fields. Most of the existing bionic frog jumping robots adopt gear mechanisms. For example, the patent document with the publication number CN202703737U discloses "Bionic Frog Jumping Robot". The transmission structure mainly uses gears, with a large number of parts and a complex structure, and higher requirements for installation and maintenance. Content of the Utility Model

[0003] In order to solve the above-mentioned deficiencies existing in the prior art, the utility model provides a bionic frog jumping robot with a simple structure, convenient operation, which drives the spring to store and release energy through a cam mechanism to complete jumping.

[0004] To achieve the above object, the technical solution provided by the utility model is as follows:

[0005] A frog - like jumping robot is composed of a head 1, a cam 2, a push rod 3, a slideway 4, a guide wheel 5, a front - leg fixing bracket 6, a double - headed motor 7, a front foot 8, front legs 9, a thin rope 10, a main body plate 11, a rear - leg fixing bracket 12, a rear thigh 13, a rear calf 14, a rear foot 15, and a torsion spring 16. It is characterized in that: the head 1 is in a "C" shape, with two spheres at the upper end and two through - holes at the lower end, and is fixedly connected to the main body plate 11 through bolts; the front side of the slideway 4 is fixed to the main body plate 11 and the head 1 through bolts, and the rear side of the slideway 4 is fixed to the main body plate 11 and the front - leg fixing bracket 6 through bolts. The slideway 4 is in an "L" shape, and a square groove is opened in the standing part. The push rod 3 can move in the square groove of the slideway 4, and there is a through - hole at each end of the push rod 3. The guide wheel 5 is fixedly connected to the side of the main body plate 11. The double - headed motor 7 is fixed to the main body plate 11 by bundling. There are two cams 2, which are connected to the two end shafts of the double - headed motor 7 through a profile. The front legs 9 are fixedly connected to the front - leg fixing bracket 6 through bolts. There is a boss in the middle of the front foot 8, and it is fixed to the front legs 9 through bolts. The rear - leg fixing bracket 12 is fixed to the main body plate 11 through bolts. A groove is opened at the rear end of the rear - leg fixing bracket 12, and there is a through - hole on the side of the groove. "6" - shaped holes are opened at both ends of the rear thigh 13, and a "6" - shaped hole is opened at the upper end of the rear calf 14. There are 2 torsion springs 16 on each of the left and right sides of the main body plate 11, which are symmetrically distributed with respect to the main body plate 11. One end of each torsion spring 16 is installed in the groove of the rear - leg fixing bracket 12 and the "6" - shaped hole of the rear thigh 13 respectively, and is connected through a pin shaft and a split pin. The two ends of the other torsion spring 16 are installed in the "6" - shaped hole at the lower end of the rear thigh 13 and the "6" - shaped hole at the upper end of the rear calf 14 respectively, and are connected through a pin shaft and a split pin. There is a boss in the middle of the rear foot 15, and it is in clearance fit with the rear calf 14 through bolts. One end of the thin rope 10 is connected to the through - hole of the push rod 3, and the other end bypasses the guide wheel 5 and is connected to the split pin at the lower end of the rear thigh 13.

[0006] The slideway 4, the guide wheel 5, the front - leg fixing bracket 6, the front foot 8, the front legs 9, the thin rope 10, the rear - leg fixing bracket 12, the rear thigh 13, the rear calf 14, and the rear foot 15 each have two groups, which are symmetrically installed on the left and right sides of the main body plate 11.

[0007] The technical effect of the present utility model is that: the robot is designed to imitate a frog in appearance, and the movement mode of its leg structure also imitates the jumping of a frog. The driving force output of the motor is transmitted to the thin rope through a cam structure. The thin rope drives the legs to contract, thereby compressing the torsion spring. When the cam disengages from the push rod, the force on the torsion spring is released to complete the jump. This device does not require manual reset, and continuous jumps can be achieved by turning the motor on and off. The overall transmission mechanism has a simple structure and is convenient for installation and operation. Description of the Drawings

[0008] The present utility model will be further described below in conjunction with the accompanying drawings.

[0009] Figure 1 It is a schematic diagram of the overall structure of the present utility model.

[0010] Figure 2 It is a schematic diagram of the cam structure.

[0011] Figure 3 It is a schematic diagram of the main body plate structure.

[0012] Figure 4 It is a schematic diagram of the torsion spring.

[0013] Figure 5 It is a schematic diagram of the rear foot structure.

[0014] Figure 6 It is a schematic diagram of the rear thigh structure.

[0015] Figure 7 It is a schematic diagram of the rear leg fixing frame structure.

[0016] Figure 8 It is a schematic diagram of the rear calf structure.

[0017] Figure 9 It is a schematic diagram of the connection between the rear calf and the torsion spring.

[0018] In the figure, there are head 1, cam 2, push rod 3, slideway 4, guide wheel 5, front leg fixing frame 6, double-headed motor 7, front foot 8, front leg 9, thin string 10, main body plate 11, rear leg fixing frame 12, rear thigh 13, rear calf 14, rear foot 15, and torsion spring 16. Specific embodiments

[0019] Refer to the appendix Figure 1 to appendix Figure 9It is known that a frog - like jumping robot consists of a head 1, a cam 2, a push rod 3, a slideway 4, a guide wheel 5, a front leg fixing bracket 6, a double - headed motor 7, a front foot sole 8, front legs 9, a thin rope 10, a main body plate 11, a rear leg fixing bracket 12, rear thighs 13, rear calves 14, rear foot soles 15, and torsion springs 16; its characteristics are as follows: The head 1 is in a "C" shape, with two spherical balls at the upper end and two through - holes at the lower end, and is fixedly connected to the main body plate 11 through bolts. The front side of the slideway 4 is fixedly connected to the main body plate 11 and the head 1 through bolts, and the rear side of the slideway 4 is fixedly connected to the main body plate 11 and the front leg fixing bracket 6 through bolts. The slideway 4 is in an "L" shape, and a square groove is opened in the standing part. The push rod 3 can move in the square groove of the slideway 4, and there is a through - hole at each end of the push rod 3. The guide wheel 5 is fixedly connected to the side of the main body plate 11. The double - headed motor 7 is fixedly connected to the main body plate 11 by bundling. There are two cams 2, which are connected to the two end shafts of the double - headed motor 7 through a profile connection. The front legs 9 are fixedly connected to the front leg fixing brackets 6 through bolts. There is a boss in the middle of the front foot sole 8, which is fixedly connected to the front legs 9 through bolts. The rear leg fixing bracket 12 is fixedly connected to the main body plate 11 through bolts. A groove is opened at the rear end of the rear leg fixing bracket 12, and there is a through - hole on the side of the groove. "6" - shaped holes are opened at both ends of the rear thighs 13, and "6" - shaped holes are opened at the upper ends of the rear calves 14. There are 2 torsion springs 16 on each of the left and right sides of the main body plate 11, symmetrically distributed with respect to the main body plate 11. One end of a torsion spring 16 is respectively installed in the groove of the rear leg fixing bracket 12 and the "6" - shaped hole of the rear thigh 13, and is connected through a split pin with a cotter pin. The two ends of the other torsion spring 16 are respectively installed in the "6" - shaped hole at the lower end of the rear thigh 13 and the "6" - shaped hole at the upper end of the rear calf 14, and are connected through a pin and a split pin with a cotter pin. There is a boss in the middle of the rear foot sole 15, which is in clearance fit with the rear calf 14 through bolts. One end of the thin rope 10 is connected to the through - hole of the push rod 3, and the other end bypasses the guide wheel 5 and is connected to the split pin at the lower end of the rear thigh 13.

[0020] There are two sets of the slideway 4, the guide wheel 5, the front leg fixing bracket 6, the front foot sole 8, the front legs 9, the thin rope 10, the rear leg fixing bracket 12, the rear thighs 13, the rear calves 14, and the rear foot soles 15, which are symmetrically installed on the left and right sides of the main body plate 11.

[0021] The working principle and process of the present utility model are as follows:

[0022] During use, the double - headed motor 7 is started, driving the cam 2 to rotate, pushing the push rod 3 to move along the slideway 4. The thin rope 10 connected to the push rod 3 pulls the rear thigh 13 to rotate relative to the rear leg fixing bracket 12, compressing the torsion spring 16. After rotating for a period of time, the cam 2 enters the return stroke, with a sudden change in shape, causing the push rod 3 to quickly retract under the action of the spring force. The torsion spring 16 is released, and under the action of the elastic force, the frog - like jumping is realized, and the landing support is achieved by relying on the front foot sole 8 and the rear foot sole 15.

[0023] The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the present utility model is not limited by the above embodiments, and what is described in the above embodiments and the specification only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed.

Claims

1. A frog-like jumping robot, comprising a head (1), a cam (2), a push rod (3), a slideway (4), a guide wheel (5), a front leg fixing frame (6), a double-headed motor (7), a front foot (8), a front leg (9), a thin rope (10), a main body plate (11), a rear leg fixing frame (12), a rear thigh (13), a rear calf (14), a rear foot (15), and a torsion spring (16); characterized in that: The head (1) is "C" shaped, with two balls at the upper end and two through holes at the lower end, and is fixedly connected to the main body plate (11) by bolts. The front side of the slideway (4) is fixed by bolts, the main body plate (11) and the head (1), and the rear side of the slideway (4) is fixed by bolts, the main body plate (11) and the front leg fixing frame (6). The slideway (4) is "L" shaped, and a square groove is opened on the upright part. The push rod (3) can move in the square groove of the slideway (4). The push rod (3) There is a through hole at each end of the guide wheel (5) and the side of the main body plate (11), the double-headed motor (7) is fixed to the main body plate (11) by bundling, the cam (2) has two, and is respectively connected to the two end shafts of the double-headed motor (7) by profile, the front leg (9) is fixedly connected to the front leg fixing frame (6) by bolts, the front sole (8) has a boss in the middle, and is fixedly connected to the front leg (9) by bolts, and the rear leg fixing frame (12) is screwed The bolt is fixedly connected to the main body plate (11), the rear end of the rear leg fixing frame (12) is provided with a groove, the side of the groove is provided with a through hole, both ends of the rear thigh (13) are provided with a "6" shaped hole, the upper end of the rear calf (14) is provided with a "6" shaped hole, the torsion spring (16) is provided with two on the left and right sides of the main body plate (11), and is symmetrically distributed with respect to the left and right sides of the main body plate (11), and the two ends of a torsion spring (16) are respectively installed in the groove of the rear leg fixing frame (12) and the "6" of the rear thigh (13). shaped hole, connected by a pin shaft and a split pin, the two ends of another torsion spring (16) are respectively installed in the "6" shaped hole at the lower end of the rear thigh (13) and the "6" shaped hole at the upper end of the rear calf (14), connected by a pin shaft and a split pin, the middle of the rear sole (15) has a boss, which is matched with the rear calf (14) through a bolt gap, one end of the thin rope (10) is connected to the through hole of the push rod (3), and the other end passes around the guide wheel (5) and is connected to the split pin at the lower end of the rear thigh (13).

2. A frog-like jumping robot according to claim 1, characterized in that: The slideway (4), guide wheel (5), front leg fixing frame (6), front sole (8), front leg (9), thin rope (10), rear leg fixing frame (12), rear thigh (13), rear calf (14), and rear sole (15) are respectively provided in two groups and are symmetrically mounted on the left and right sides of the main body plate (11).

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