Bionic frog robot based on cam

Abstract

The bionic frog robot based on the cam comprises a main body mechanism and a rear leg mechanism which are arranged in a relative rotation mode, a driving piece and a transmission shaft which are in driving connection are installed on the main body mechanism, the transmission shaft is fixedly connected with the cam, an arc-shaped hole is formed in the cam, and a cam ejector rod is arranged on the rear leg mechanism. The cam ejector rod is arranged in the arc-shaped hole in a penetrating mode, the arc-shaped hole gradually gets close to the transmission shaft upwards from back to front, the transmission shaft is driven by the driving part to rotate anticlockwise, then the cam is driven to rotate anticlockwise and backwards, and the cam ejector rod relatively moves in the arc-shaped hole along the front upper portion to drive the main body mechanism to rotate downwards. An elastic piece is installed between the main body mechanism and the rear leg mechanism and used for driving the main body mechanism to rotate upwards to reset, so that the main body mechanism and the rear leg mechanism are separated from each other to be opened, and the bouncing performance is better, and the structure is simple.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a cam-based bionic frog robot. Background Art

[0002] Bionic frog robots have wide applications and developments in aspects such as rescue, detection, transportation, etc. The existing bionic frog jumping robot disclosed in Chinese Patent Document Publication No. CN118025370A, which is based on the meshing of an incomplete gear and a rack, has a relatively complex structure, a large number of components, is prone to failures, is not convenient for maintenance, has a high cost, and the bouncing force is not easy to control, and the bouncing performance needs to be improved. Content of the Utility Model

[0003] The utility model aims to provide a cam-based bionic frog robot to solve the above existing technical problems.

[0004] To achieve the above object, the technical solution of the utility model is: a cam-based bionic frog robot, including a main body mechanism and a hind leg mechanism that are relatively rotatably arranged. A driving member and a transmission shaft are drivingly connected and installed on the main body mechanism. A cam is fixedly connected to the transmission shaft. An arc-shaped hole is formed in the cam. A cam ejector rod is arranged on the hind leg mechanism. The cam ejector rod passes through the arc-shaped hole. The arc-shaped hole gradually approaches the transmission shaft upward from the back to the front. By driving the transmission shaft to rotate counterclockwise by the driving member, the cam is driven to rotate counterclockwise backward. The cam ejector rod moves relatively forward and upward in the arc-shaped hole, thereby driving the main body mechanism to rotate downward, so that the main body mechanism and the hind leg mechanism approach and fold together. An elastic member is installed between the main body mechanism and the hind leg mechanism. The elastic member is used to drive the main body mechanism to rotate upward and reset, so that the main body mechanism and the hind leg mechanism move away and open.

[0005] Preferably, the driving member is a servo motor. A small gear is arranged on the output shaft of the servo motor, and a large gear is arranged on the transmission shaft. The small gear and the large gear are meshed and driven.

[0006] Preferably, the main body mechanism includes a frog body main body and a supporting front palm hinged to the bottom end of the frog body main body. The hind leg mechanism includes a hind leg main body and a supporting hind palm hinged to the bottom end of the hind leg main body.

[0007] Preferably, there are two relatively arranged hind leg main bodies. A connecting shaft is fixedly installed between the top ends of the two hind leg main bodies. A limiting groove is arranged at the top end of the hind leg main body. Lugs are respectively arranged at both ends of the rear side of the frog body main body. The two lugs are respectively rotatably arranged on the connecting shaft in the limiting grooves at the top ends of the two hind leg main bodies.

[0008] Preferably, first fixing holes are respectively formed at both ends of the rear side of the frog body main body. Protrusions are respectively arranged on the opposite sides of the two hind leg main bodies, and second fixing holes are arranged on the protrusions. The elastic member is a torsion spring, and the torsion spring is sleeved on the connecting shaft and both ends respectively pass through the first fixing hole and the second fixing hole.

[0009] Preferably, a convex portion extends forward from the middle of the hind leg main body. The cam push rod is arranged on one side of the convex portion. The axis direction of the cam push rod is parallel to that of the transmission shaft and is perpendicular to the plane where the rotation direction of the cam is located.

[0010] Preferably, the supporting front palm includes a hinged portion hinged to the bottom of the front side of the frog body main body and a columnar body arranged below the hinged portion. The bottom end of the columnar body is hemispherical, and the columnar body is used for forming a supporting fit with the ground.

[0011] Preferably, a stop block is arranged on the output shaft of the servo motor. A relief opening is formed on the frog body main body for the stop block to perform a relief activity. A stop convex rib is arranged on the frog body main body on the side close to the hind leg main body corresponding to the relief opening for limiting the movement of the stop block.

[0012] Preferably, the bottom surface of the supporting rear palm is an arc surface.

[0013] The utility model has the following beneficial effects:

[0014] In the utility model, the driving member drives the transmission shaft to rotate counterclockwise, and then drives the cam to rotate counterclockwise backward. The cam push rod relatively moves forward and upward in the arc-shaped hole, and then drives the main body mechanism to rotate downward, so that the main body mechanism and the hind leg mechanism approach and fold together. An elastic member is installed between the main body mechanism and the hind leg mechanism, and the elastic member is used to drive the main body mechanism to rotate upward to reset, so that the main body mechanism and the hind leg mechanism move away from each other and open. By repeating the above actions, the bionic frog robot can jump forward. The bionic frog robot based on the cam can accurately control the compression and release process of the elastic member by using a cam system composed of components such as a driving member and a cam, so as to accurately control the bouncing force. The bouncing performance is better, and the environmental adaptability is strong. By imitating the contraction and force generation of the frog's leg muscles by means of the rotation of the cam, and using the quick return characteristic of the cam to imitate the instant bounce of the frog, the long-distance jumping movement of the bionic frog robot is realized. Moreover, the structure is simple, the number of components is small, it is not easy to fail, it is more conducive to maintenance, and the cost is low. Description of the Drawings

[0015] Figure 1 is a perspective view of an embodiment of the utility model at an angle;

[0016] Figure 2 is a perspective view of an embodiment of the utility model at another angle;

[0017] Figure 3 is the left view of the embodiment of the present utility model;

[0018] Figure 4 is the rear side perspective view of the embodiment of the present utility model;

[0019] Figure 5 is the bottom view of the embodiment of the present utility model;

[0020] Figure 6 is the exploded schematic view of the embodiment of the present utility model;

[0021] Reference numerals in the drawings: 1 front sole support, 2 rear sole support, 3 frog body main body, 31 lug, 32 first fixing hole, 33 relief opening, 34 stop rib, 4 rear leg main body, 41 limit groove, 42 protruding portion, 43 bump, 44 second fixing hole, 5 elastic member, 6 driving member, 7 small gear, 8 large gear, 9 transmission shaft, 10 cam, 11 arc-shaped hole, 12 cam ejector rod, 13 connecting shaft, 14 stop block. Detailed implementation manners

[0022] To further illustrate each embodiment, the present utility model provides drawings. These drawings are part of the disclosure of the present utility model, mainly used to illustrate the embodiments, and can be combined with the relevant descriptions in the specification to explain the operating principle of the embodiments. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present utility model. The components in the drawings are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0023] In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0025] The clockwise and counterclockwise directions mentioned in this article are based on Figure 3 The viewing angle in is the reference.

[0026] See also Figures 1-6 As shown, as an embodiment of the utility model, a cam-based bionic frog robot is provided, comprising a main body mechanism and a hind leg mechanism arranged to rotate relative to each other, an elastic member 5 is installed between the main body mechanism and the hind leg mechanism, a driving member 6 and a transmission shaft 9 connected by driving are installed on the main body mechanism, the driving member 6 is a steering gear, a small gear 7 is arranged on the output shaft of the steering gear, a large gear 8 is arranged on the transmission shaft 9, the small gear 7 and the large gear 8 are meshed for transmission, a cam 10 is fixedly connected to the transmission shaft 9, an arc hole 11 is opened on the cam 10, and the hind leg mechanism A cam push rod 12 is provided on the upper part, and the cam push rod 12 is passed through the arc hole 11. The arc hole 11 is from back to front and gradually upwards approaching the direction of the transmission shaft 9. The transmission shaft 9 is driven to rotate counterclockwise by the driving member 6, thereby driving the cam 10 to rotate counterclockwise backward. The cam push rod 12 moves relatively along the front and upper part in the arc hole 11, thereby driving the main body mechanism to rotate downward, so that the main body mechanism and the rear leg mechanism are close to each other and retracted. The elastic member 5 is used to drive the main body mechanism to rotate upward and reset, so that the main body mechanism and the rear leg mechanism are separated from each other and opened.

[0027] In the above technical solution, the control program of the servo motor is written into the single-chip microcomputer. A start instruction is sent to the single-chip microcomputer via Bluetooth. The single-chip microcomputer starts to run the control program. The single-chip microcomputer controls the rotation angle and speed of the servo motor. The reduction gear composed of the small gear 7 and the large gear 8 drives the transmission shaft 9 to rotate counterclockwise, and then drives the cam 10 to rotate counterclockwise backward. The cam push rod 12 moves relatively forward and upward in the arc-shaped hole 11, and then drives the main body mechanism to rotate downward, so that the main body mechanism and the hind leg mechanism approach and fold together. At this time, the elastic member 5 is compressed, and the elastic member 5 starts to store energy. Then, the servo motor is controlled to rotate in the reverse direction according to the set angle, and under the elastic force of the elastic member 5, the transmission shaft 9 is driven to rotate clockwise, and then the cam 10 is driven to rotate clockwise forward, driving the cam push rod 12 to move relatively backward and downward in the arc-shaped hole 11, and the main body mechanism rotates upward to reset, so that the main body mechanism and the hind leg mechanism move away from each other and open. Then, repeating the above actions can achieve the forward jumping movement of the bionic frog robot. The bionic frog robot based on the cam can precisely control the compression and release process of the elastic member 5 by using the cam system composed of the driving member 6, the reduction gear and the cam 10, so as to precisely control the bouncing force, with better bouncing performance and strong environmental adaptability. By means of the rotation of the cam 10 to imitate the contraction and force generation of the frog's leg muscles, and using the quick return characteristic of the cam 10 to imitate the instant bounce of the frog, the long-distance jumping movement of the bionic frog robot based on the cam is realized, and the structure is simple, with fewer components, not easy to fail, more conducive to maintenance, and lower cost. Additionally, by optimizing the shapes of the cam 10 and the arc-shaped hole 11 and the material of the elastic member 5, more efficient energy conversion can be achieved, thereby improving the energy utilization rate, prolonging the battery life, and increasing the working time; the cam system for realizing the jumping movement of the bionic frog robot has a wide application prospect. It can be used in rescue missions, exploration robots, entertainment games and other fields, bringing more fun and practicality to people.

[0028] In this embodiment, the main body mechanism includes the frog body main body 3 and the supporting front palm 1 hinged to the bottom end of the frog body main body 3. The supporting front palm 1 includes a hinged part hinged to the front bottom side of the frog body main body 3 and a columnar body arranged below the hinged part. The bottom end of the columnar body is hemispherical, and the columnar body is used for forming a supporting cooperation with the ground to ensure the landing support stability of the supporting front palm 1. The hind leg mechanism includes the hind leg main body 4 and the supporting hind palm 2 hinged to the bottom end of the hind leg main body 4. The bottom surface of the supporting hind palm 2 is an arc-shaped surface with an upward opening, that is, it gradually increases from the middle to the front and rear sides, ensuring the supporting stability of the bionic frog robot during the jumping movement.

[0029] In this embodiment, there are two relatively arranged hind leg bodies 4. A connecting shaft 13 is fixedly installed between the tops of the two hind leg bodies 4. A limiting groove 41 is provided at the top of the hind leg body 4. Lugs 31 are respectively provided at both ends of the rear side of the frog body 3. The two lugs 31 are respectively rotatably arranged on the connecting shaft 13 in the limiting grooves 41 at the tops of the two hind leg bodies 4, so that the synchronization of the movements of the two hind leg bodies 4 is better. The lugs 31 are limited in the width direction (i.e., the axial direction of the connecting shaft 13) through the limiting grooves 41, thereby ensuring the hinged stability between the frog body 3 and the hind leg body 4, and further improving the stability of the bionic frog robot during jumping motion.

[0030] In this embodiment, first fixing holes 32 are respectively formed at both ends of the rear side of the frog body 3. Protrusions 43 are respectively provided on the opposite sides of the two hind leg bodies 4. Second fixing holes 44 are provided on the protrusions 43. The elastic member 5 is a torsion spring. The torsion spring is sleeved on the connecting shaft 13 and its two ends respectively pass through the first fixing hole 32 and the second fixing hole 44, ensuring the installation reliability of the torsion spring, and further improving the stability of the bionic frog robot during jumping motion.

[0031] In this embodiment, a raised portion 42 extends forward from the middle of the hind leg body 4. The cam push rod 12 is arranged on one side of the raised portion 42. The axial direction of the cam push rod 12 is parallel to that of the transmission shaft 9 and both are perpendicular to the plane where the rotation direction of the cam 10 is located, making the movements of the bionic frog robot during jumping motion smoother.

[0032] In this embodiment, a stop block 14 is provided on the output shaft of the servo motor. A relief opening 33 is formed on the frog body 3 for the stop block 14 to perform a relief activity. A stop rib 34 is provided on the frog body 3 corresponding to the side of the relief opening 33 close to the hind leg body 4 for limiting the movement of the stop block 14, thereby preventing the main body mechanism from rotating downward by too large an angle and interfering with the hind leg mechanism, affecting the stability of the bionic frog robot during jumping motion.

[0033] Although the present invention is specifically shown and described in combination with the preferred embodiments, those skilled in the art should understand that various changes made to the present invention in form and detail without departing from the spirit and scope of the present invention defined by the appended claims all fall within the protection scope of the present invention.

Claims

1. A cam-based bionic frog robot, characterized in that: The invention comprises a main body mechanism and a rear leg mechanism which are arranged to rotate relative to each other, a driving member and a transmission shaft which are connected by driving are installed on the main body mechanism, a cam is fixedly connected to the transmission shaft, an arc-shaped hole is opened on the cam, a cam push rod is arranged on the rear leg mechanism, the cam push rod is penetrated by the arc-shaped hole, the arc-shaped hole is from back to front and gradually approaches upward toward the direction of the transmission shaft, the transmission shaft is driven to rotate counterclockwise by the driving member, thereby driving the cam to rotate backward counterclockwise, the cam push rod moves relatively along the front upper side in the arc-shaped hole, thereby driving the main body mechanism to rotate downward, so that the main body mechanism and the rear leg mechanism are approached and gathered together, an elastic member is installed between the main body mechanism and the rear leg mechanism, the elastic member is used to drive the main body mechanism to rotate upward and reset, so that the main body mechanism and the rear leg mechanism are moved away from each other and opened.

2. The cam-based bionic frog robot according to claim 1, characterized in that: The driving part is a steering gear, a small gear is arranged on the output shaft of the steering gear, a large gear is arranged on the transmission shaft, and the small gear and the large gear are meshed for transmission.

3. The cam-based bionic frog robot according to claim 2, characterized in that: The main body mechanism comprises a frog body and a supporting front palm hinged at the bottom end of the frog body, and the hind leg mechanism comprises a hind leg body and a supporting rear palm hinged at the bottom end of the hind leg body.

4. The cam-based bionic frog robot according to claim 3 is characterized in that: The two hind leg bodies are arranged opposite to each other, a connecting shaft is fixedly installed between the top ends of the two hind leg bodies, a limiting groove is arranged at the top ends of the hind leg bodies, and lugs are respectively arranged at the two ends of the rear side of the frog body body, and the two lugs are respectively rotatably arranged on the connecting shafts in the limiting grooves at the top ends of the two hind leg bodies.

5. The cam-based bionic frog robot according to claim 3 is characterized in that: The two ends of the rear side of the frog body are respectively provided with first fixing holes, the opposite sides of the two hind leg bodies are respectively provided with protrusions, and the protrusions are provided with second fixing holes. The elastic member is a torsion spring, which is sleeved on the connecting shaft and has two ends respectively inserted into the first fixing hole and the second fixing hole.

6. The cam-based bionic frog robot according to claim 3 is characterized in that: A convex portion is formed in the middle of the rear leg body extending forward, and a cam follower is arranged on one side of the convex portion. The cam follower and the axial direction of the transmission shaft are parallel to each other and perpendicular to the plane where the rotation direction of the cam is located.

7. The cam-based bionic frog robot according to claim 3 is characterized in that: The supporting forefoot comprises a hinged part hinged at the front bottom of the frog body and a column body arranged at the lower side of the hinged part. The bottom end of the column body is hemispherical, and the column body is used to form a supporting match with the ground.

8. The cam-based bionic frog robot according to claim 3 is characterized by: A stop block is arranged on the output shaft of the servo, a yielding opening is opened on the frog body for the stop block to yield, and a stop convex rib is arranged on the side of the frog body corresponding to the yielding opening close to the hind leg body for limiting the activity of the stop block.

9. The cam-based bionic frog robot according to claim 3, characterized in that: The bottom surface supporting the rear palm is an arc-shaped surface.

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