Mechanical high-performance bionic frog

Abstract

The utility model discloses a mechanical high-performance bionic frog, and relates to the technical field of bionic robots. Comprising a guide rod hinge, a floor and a rack rail, two sets of rod bases are arranged at the top of the floor, a clamping frame is arranged on the outer side of a second guide rod, a first clamp is arranged in the clamping frame, a second clamp is arranged in the clamping frame, and a first connecting rod is rotationally arranged on one side of the clamping frame; a second connecting rod is arranged on one side of the first connecting rod, a third connecting rod is rotationally connected to the other side of the first connecting rod, a third thread seat is rotationally arranged at one end of the fifth connecting rod, and a second thread is arranged at the bottom end of the third thread seat. According to the bionic frog robot, by means of the jumping ability and dynamic stability of the bionic frog, the bionic frog robot can easily cross gullies and various obstacles, has certain maneuverability, can adapt to various complex environments, reduces labor cost and improves working efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, in particular to a mechanical high-performance bionic frog. Background Art

[0002] With the rapid development of science and technology, bionics, as a discipline that studies the structure and function of biological systems and applies this knowledge to engineering and technical design, has made significant progress. Among the numerous bionics research results, the bionic frog equipment is undoubtedly a striking highlight. This equipment is usually made of lightweight materials, has good flexibility and durability, and is equipped with a sophisticated control system that can accurately control the direction and distance of the jump. This equipment not only simulates the jumping ability and movement mechanism of the frog, but also shows great application potential in many fields.

[0003] At present, although the legs of bionic frogs can simulate the movement of frogs, they cannot bounce up from the ground as quickly as real frogs due to the lack of sufficient elasticity and strength, which limits their application in real environments. In order to solve this technical problem, the utility model proposes a mechanical high-performance bionic frog. Utility Model Content

[0004] The main purpose of the utility model is to provide a mechanical high-performance bionic frog, which can effectively solve the problems mentioned in the background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A mechanical high-performance bionic frog comprises a guide rod hinge, a floor and a rack rail, wherein two groups of the rack rails are symmetrically connected and installed on the top of the floor, two groups of rod seats are arranged on the top of the floor, a No. 2 guide rod is arranged inside the rod seat, a clamping frame is arranged outside the No. 2 guide rod, a No. 1 clamp is arranged inside the clamping frame, a No. 2 clamp is arranged inside the clamping frame, and the No. 2 clamp is combined and connected with the No. 1 clamp, a No. 1 connecting rod is rotatably arranged on one side of the clamping frame, a No. 2 connecting rod is arranged on one side of the No. 1 connecting rod, a No. 3 connecting rod is rotatably connected to the other side of the No. 1 connecting rod, one end of the No. 3 connecting rod is rotatably connected to the No. 5 connecting rod, one end of the No. 5 connecting rod is rotatably arranged with a No. 3 seat, and the bottom end of the No. 3 seat is provided with a No. 2 foot.

[0007] Preferably, the guide rods are symmetrically arranged on the top of the floor, two groups of No. 1 groove seats are arranged on one side of the floor, and a No. 4 connecting rod is rotatably arranged inside the floor.

[0008] Preferably, a front foot block is rotatably provided at the bottom end of the fourth connecting rod, a seventh connecting rod is rotatably provided at the top end of the front foot block, and a front foot block is provided at the bottom end of the front foot block.

[0009] Preferably, a No. 6 connecting rod is rotatably provided on the other side of the No. 1 connecting rod, a No. 1 pin is provided on the other end of the No. 6 connecting rod, and the No. 1 pin is rotatably connected to the No. 2 pin.

[0010] Preferably, a No. 2 groove seat is provided through the top of the floor, and the No. 2 groove seat is rotatably connected to the No. 4 connecting rod and the No. 7 connecting rod.

[0011] Preferably, a slider rail is movably provided inside the floor, a guide rod No. 1 is provided inside the rod seat, and a slider No. 1 is movably provided outside the guide rod No. 1.

[0012] Preferably, a driving motor is provided on the top of the floor, a gear is provided on the output end of the driving motor, a No. 1 rack is provided on the top of the rack rail, and the No. 1 rack is meshed with the gear, a No. 1 motor fixing plate is provided on one side of the driving motor, a No. 2 motor fixing plate is provided on the other side of the driving motor, a push rod is provided on one side of the No. 1 rack, and a push plate is provided inside the floor.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] In the utility model, the bionic frog's jumping ability and dynamic stability are used to enable the robot to easily cross gullies and various obstacles and have a certain degree of maneuverability. The bionic frog robot can adapt to various complex environments, reduce labor costs, and improve work efficiency.

[0015] In the utility model, the display and experiment of the bionic frog can stimulate students' interest and love for science, cultivate their innovative thinking and hands-on ability, and in the field of education, the bionic frog can be used as a teaching tool to help students better understand biological structures and mechanical principles.

[0016] In the utility model, the research on bionic frogs involves knowledge in many disciplines such as mechanics, biology, physics, etc. This cross-application approach will promote the innovation and development of various industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the mechanical high-performance bionic frog of the utility model;

[0018] Figure 2 This is a schematic diagram of the floor structure of the mechanical high-performance bionic frog of the utility model;

[0019] Figure 3 This is a schematic diagram of the clamp structure of the mechanical high-performance bionic frog of the utility model;

[0020] Figure 4It is a schematic diagram of the overall side view of the mechanical high-performance bionic frog of the utility model;

[0021] Figure 5 This is a schematic diagram of the overall front view of the mechanical high-performance bionic frog of the utility model;

[0022] Figure 6 It is an overall top view schematic diagram of the mechanical high-performance bionic frog of the utility model.

[0023] In the figure: 1. Guide rod twist; 2. Connecting rod No. 1; 3. Connecting rod No. 2; 4. Seat No. 1; 5. Connecting rod No. 3; 6. Connecting rod No. 4; 7. Connecting rod No. 5; 8. Connecting rod No. 6; 9. Foot No. 1; 10. Front foot twist block; 11. Foot No. 2; 12. Front foot block; 13. Connecting rod No. 7; 14. Seat No. 2; 15. Rod seat; 16. Floor; 17. Rack rail; 18. Slider rail; 19. Guide rod No. 1; 20. Slider No. 1; 21. Guide rod No. 2; 22. Clamp No. 1; 23. Clamp frame; 24. Clamp No. 2; 25. Gear; 26. Rack No. 1; 27. Motor fixing plate No. 1; 28. Motor fixing plate No. 2; 29. ​​Push rod; 30. Drive motor; 31. Push plate; 32. Seat No. 3. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0025] like Figure 1-6 As shown, the mechanical high-performance bionic frog;

[0026] The mechanical high-performance bionic frog comprises a guide rod twisted 1, a floor 16 and a rack rail 17. Two groups of rod seats 15 are arranged on the top of the floor 16. A No. 2 guide rod 21 is arranged inside the rod seat 15. A clamping frame 23 is arranged outside the No. 2 guide rod 21. A No. 1 clamp 22 is arranged inside the clamping frame 23. A No. 2 clamp 24 is arranged inside the clamping frame 23, and the No. 2 clamp 24 is combined and connected with the No. 1 clamp 22. A No. 1 connecting rod 2 is rotatably arranged on one side of the clamping frame 23. A No. 2 connecting rod 3 is arranged on one side of the No. 1 connecting rod 2. A No. 3 connecting rod 5 is rotatably connected to the other side of the No. 1 connecting rod 2. A No. 5 connecting rod 7 is rotatably connected to one end of the No. 3 connecting rod 5. A No. 3 groove seat 32 is rotatably arranged on one end of the No. 5 connecting rod 7. A No. 2 foot 11 is arranged at the bottom end of the No. 3 groove seat 32.

[0027] The guide rod hinge 1 is symmetrically arranged on the top of the floor 16, two groups of No. 1 groove seats 4 are arranged on one side of the floor 16, a No. 4 connecting rod 6 is rotatably arranged inside the floor 16, a front foot hinge block 10 is rotatably arranged on the bottom end of the No. 4 connecting rod 6, a No. 7 connecting rod 13 is rotatably arranged on the top of the front foot hinge block 10, a front foot block 12 is arranged on the bottom end of the front foot hinge block 10, a No. 6 connecting rod 8 is rotatably arranged on the other side of the No. 1 connecting rod 2, a No. 1 foot 9 is rotatably arranged on the other end of the No. 6 connecting rod 8, and the No. 1 foot 9 is rotatably connected to the No. 2 foot 11, and a No. 2 groove seat 14 is arranged through the top of the floor 16, and the No. 2 groove seat 14 is rotatably connected to the No. 4 connecting rod 6 and the No. 7 connecting rod 13 respectively.

[0028] Two groups of rack rails 17 are symmetrically connected and installed on the top of the floor 16. A slider rail 18 is movably arranged inside the floor 16. A No. 1 guide rod 19 is arranged inside the rod seat 15. A No. 1 slider 20 is movably arranged outside the No. 1 guide rod 19. A driving motor 30 is arranged on the top of the floor 16. A gear 25 is arranged at the output end of the driving motor 30. A No. 1 rack 26 is arranged at the top of the rack rail 17, and the No. 1 rack 26 is meshed with the gear 25. A No. 1 motor fixing plate 27 is arranged on one side of the driving motor 30, and a No. 2 motor fixing plate 28 is arranged on the other side of the driving motor 30. A push rod 29 is arranged on one side of the No. 1 rack 26, and a push plate 31 is arranged inside the floor 16.

[0029] Energy storage part: connect the power supply to the driving motor 30, start the driving motor 30, so that the gear 25 connected to the motor shaft rotates, and the rotation of the gear 25 drives the No. 1 rack 26 matched therewith to move forward, wherein the push rod 29 connected to the groove on the No. 1 rack 26 pushes the push plate 31 forward, and the clamping frame 23 connected to the push plate 31 drives the energy storage springs on both sides to store energy, and the springs are released after the energy storage is completed, driving the whole frog leg to bounce, wherein the rotation of the driving motor 30 is converted into linear motion by the gear 25 rack mechanism to realize the energy storage of the spring, the structure is simple and reliable, and the synchronization of the middle push rod 29 makes the gears 25 and the No. 1 rack 26 on both sides move synchronously, and makes the energy storage progress of the springs on both sides the same, thereby improving the stability of the mechanism;

[0030] Automatic disconnection and excitation part: In order to improve the reliability and automation of the mechanism, a mechanical structure is used to automatically disconnect the energy storage connection after the spring energy storage reaches a predetermined distance, and directly release the spring to complete the frog's jump. This part is mainly completed by the groove position of the No. 1 rack 26, the rack rail 17, the clamp 23, and the push rod 29. When the drive motor 30 rotates to make the No. 1 rack 26 move forward, the No. 1 rack 26 drives the push rod 29 forward, and at the same time, the push rod 29 pushes the push plate 31 to drive the clamp 23 forward. When the spring completes energy storage, that is, the push plate 31 reaches the predetermined position, the position below the push plate 31 loses its restriction, resulting in downward rotation, and the push rod 29 loses its push position. At this time, the automatic disconnection of the mechanism is completed. After the automatic disconnection, the connection between the push plate 31 and the push rod 29 is disconnected. At this time, part of the spring loses its limit, and the automatic excitation of the mechanism is achieved due to the tension of the spring;

[0031] Reverse reset part: After the mechanism completes a bounce, the driving motor 30 rotates in the reverse direction to pull the push rod 29 back. At this time, the push rod 29 can pass through the inclined surface of the push plate 31. The push rod 29 passes through the push plate 31 upward along the groove through the inclined surface, and then falls down to complete the reset of the initial state;

[0032] Forelimbs: The forelimbs are a typical four-bar mechanism, whose main function is to absorb and cushion the impact force when landing after jumping, and at the same time, they work together with the hind limbs to support the frog in a static state;

[0033] Hind limb part: The hind limb is composed of a No. 1 slider 20, a No. 1 guide rod 19 and a No. 2 guide rod 21, and various connecting rods. It is the main power output mechanism for the frog to jump. The mechanism stores and releases power through the spring, changes from a compressed state to an expanded state, and exerts force backward to achieve the frog's jump;

[0034] Accumulated force deployment and automatic reset mechanism: This mechanism realizes automatic deployment and recovery through double guide rods and the clips in the middle. The core part of this mechanism lies in the two springs on the guide rods. Different springs are installed on the two guide rods in different directions. The contraction of the spring pulls the clamp frame 23 (the clamp frame 23 also drives the slider) to the left to realize the deployment of the frog's hind limbs. After the frog completes the jumping action, the spring will pull the No. 1 slider 20 to the right to realize the contraction of the legs. At the same time, the two clips on the clamp frame 23 are in a closed state under normal conditions.

[0035] Take-off process:

[0036] Combination Figure 4Explanation: the first rack 26 moves toward the push rod 29 under the transmission of the gear 25 at the output end of the drive motor 30. The push rod 29 on the first rack 26 pushes the push plate 31 to drive the clamping frame 23 to move to the right, and at the same time pulls the spring to start accumulating force. After the clamping frame 23 passes the inclined surface of the first slider 20 with the clamp, it is locked. The push plate 31 passes over the platform table and then flips over. The push rod 29 passes over the push plate 31. After the push plate 31 passes, it means that the push plate 31 and the clamping frame 23 are locked. The frog is officially separated from the power source, and the power storage process ends. The spring contracts, pulling the clamp 23 to drive the No. 1 slider 20 to move to the left, and the hind limbs unfold and exert force. After the clamp 23 drives the clamp through the inclined plane, the clamp releases the No. 1 slider 20 below, and the No. 1 slider 20 is unlocked. After the clamp 23 and the No. 1 slider 20 are released, they move to the right under the pull of the spring, and the frog's hind limbs are reset. The drive motor 30 rotates in the opposite direction, driving the No. 1 rack 26 to the left. After the push rod 29 passes the inclined plane, the reset is completed.

[0037] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A mechanical high-performance bionic frog, comprising a guide rod (1), a floor (16) and a rack rail (17), characterized in that: The rack rails (17) are symmetrically connected and installed in two groups on the top of the floor (16); the top of the floor (16) is provided with two groups of rod seats (15); a second guide rod (21) is provided inside the rod seats (15); a clamping frame (23) is provided outside the second guide rod (21); a first clamp (22) is provided inside the clamping frame (23); a second clamp (24) is provided inside the clamping frame (23); and the second clamp (24) is combined with the first clamp (22). A No. 1 connecting rod (2) is rotatably provided on one side of the clamp frame (23), a No. 2 connecting rod (3) is provided on one side of the No. 1 connecting rod (2), a No. 3 connecting rod (5) is rotatably connected to the other side of the No. 1 connecting rod (2), a No. 5 connecting rod (7) is rotatably connected to one end of the No. 3 connecting rod (5), a No. 3 groove seat (32) is rotatably provided on one end of the No. 5 connecting rod (7), and a No. 2 foot (11) is provided at the bottom end of the No. 3 groove seat (32).

2. The mechanical high-performance bionic frog according to claim 1, characterized in that: The guide rod hinge (1) is symmetrically arranged on the top of the floor (16), two groups of No. 1 groove seats (4) are arranged on one side of the floor (16), and a No. 4 connecting rod (6) is rotatably arranged inside the floor (16).

3. The mechanical high-performance bionic frog according to claim 2, characterized in that: A front foot block (10) is rotatably provided at the bottom end of the fourth connecting rod (6), a seventh connecting rod (13) is rotatably provided at the top end of the front foot block (10), and a front foot block (12) is provided at the bottom end of the front foot block (10).

4. The mechanical high-performance bionic frog according to claim 1, characterized in that: A No. 6 connecting rod (8) is rotatably provided on the other side of the No. 1 connecting rod (2), a No. 1 foot (9) is provided on the other end of the No. 6 connecting rod (8), and the No. 1 foot (9) is rotatably connected to the No. 2 foot (11).

5. The mechanical high-performance bionic frog according to claim 4, characterized in that: A No. 2 groove seat (14) is provided through the top of the floor (16), and the No. 2 groove seat (14) is rotatably connected to the No. 4 connecting rod (6) and the No. 7 connecting rod (13).

6. The mechanical high-performance bionic frog according to claim 4, characterized in that: A slider rail (18) is movably provided inside the floor (16), a first guide rod (19) is provided inside the rod seat (15), and a first slider (20) is movably provided outside the first guide rod (19).

7. The mechanical high-performance bionic frog according to claim 6, characterized in that: A driving motor (30) is arranged on the top of the floor (16), a gear (25) is arranged on the output end of the driving motor (30), a No. 1 rack (26) is arranged on the top of the rack rail (17), and the No. 1 rack (26) is meshedly connected with the gear (25), a No. 1 motor fixing plate (27) is arranged on one side of the driving motor (30), a No. 2 motor fixing plate (28) is arranged on the other side of the driving motor (30), a push rod (29) is arranged on one side of the No. 1 rack (26), and a push plate (31) is arranged inside the floor (16).

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