Frog-imitating jumping robot

Abstract

The utility model relates to a bionic robot, and aims to provide a frog-imitating jumping robot which has the characteristics of higher jumping performance, small volume and high energy utilization rate. According to the technical scheme, the frog-imitating jumping robot comprises a frame plate provided with a battery and a driving mechanism, and is characterized in that a pair of front legs and a pair of bouncing rear legs are further installed on the frame plate, and the bouncing rear legs are hinge four-bar mechanisms and are driven by the driving mechanism.

Description

Technical Field

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

[0002] With the improvement of the operation task requirements for robots in modern society, the development of robot movement methods has entered an all - round development stage. All kinds of robots play an important role in production cooperation, social services, military reconnaissance, etc. However, in some unstructured environments, such as encountering obstacles several times larger than their own size, the movement requirements for robots are more demanding. It is required that the robot has high explosiveness while having a small volume as much as possible, and jumping robots emerge as the times require.

[0003] Although significant progress has been made in current jumping robot technology, there are still many deficiencies. The primary problem is the miniaturization and lightweight of the robot; existing robots often have complex structures and heavy weights, resulting in insufficient jumping explosive power and it is difficult to ensure high jumping performance while being lightweight. Content of the Utility Model

[0004] The purpose of the utility model is to overcome the deficiencies of the above - mentioned background art and provide a frog - like jumping robot, which has the characteristics of high jumping performance, small volume and high energy utilization rate.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] A frog - like jumping robot, a frame plate installed with a battery and a driving mechanism, is characterized in that: a pair of front legs and a pair of bouncing hind legs are further installed on the frame plate, and the bouncing hind legs are a hinge four - bar mechanism and are driven by the driving mechanism;

[0007] The hinge four - bar mechanism includes a third connecting rod, a second connecting rod, a first connecting rod sequentially hinged, and a frame plate fixing a fourth connecting rod;

[0008] The driving mechanism includes a servo motor and an intermittent motion mechanism driven by the servo motor. The intermittent motion mechanism includes a gear steering wheel fixed at the output shaft end of the servo motor and a sector gear fixed at the top of the first connecting rod and cooperating with the gear steering wheel.

[0009] The hinge four - bar mechanism includes a fourth connecting rod fixed on the frame plate, a third connecting rod whose top end is hinged to the fourth connecting rod through a third cylindrical pin, a first connecting rod whose middle part is hinged to the frame plate through a hinge pin, a second connecting rod whose one end is hinged to the bottom end of the first connecting rod through a first cylindrical pin and the other end is hinged to the lower part of the third connecting rod through a second cylindrical pin, and a telescopic spring whose two ends are respectively connected to the first cylindrical pin and the third cylindrical pin; the hinge axes of the above - mentioned connecting rods are parallel to each other.

[0010] On the left and right sides of the shelf board, two support frame hinges extending downward are symmetrically arranged; the middle part of the first connecting rod is hinged to the bottom end of the support frame through a hinge pin; after the support frame, the shelf board, and the fourth connecting rod are integrated, they serve as a rod in the four-bar hinge mechanism.

[0011] A limiting boss is arranged on the support frame; the limiting boss is used to limit the swinging range of the first connecting rod to ensure that the robot can continuously perform intermittent jumping movements.

[0012] An arc-shaped fin is arranged at the bottom end of the third connecting rod, and elastic rubber is adhered to the outer side of the fin to improve the ground pushing effect.

[0013] Weight-reducing holes and weight-reducing grooves are respectively arranged on the shelf board, the front leg, and the first connecting rod.

[0014] A control board is also arranged on the shelf board.

[0015] The beneficial effects of the present utility model are as follows: The frog-like jumping robot provided by the present utility model draws on the principle of frog jumping, can have excellent jumping explosive power in a relatively small volume, and can adapt to more complex unstructured working environments; moreover, the frog-like jumping robot has high energy utilization efficiency, a simple structure, is convenient to use, and is conducive to maintenance and mass production. Description of the Drawings

[0016] Figure 1 It is a three-dimensional structure schematic diagram of an embodiment of the present utility model.

[0017] Figure 2 It is a front view structure schematic diagram of an embodiment of the present utility model.

[0018] Figure 3 It is a top view structure schematic diagram of an embodiment of the present utility model.

[0019] Figure 4 is Figure 2 the A-direction structure schematic diagram in

[0020] Reference numerals in the figures: shelf board 1, front leg 2, servo motor 3, gear steering wheel 4, first connecting rod 5, second connecting rod 6, fourth connecting rod 7, third connecting rod 8, telescopic spring 9, fin 10, mounting hole 11, first cylindrical pin 12, second cylindrical pin 13, third cylindrical pin 14, half-thread bolt 15, limiting boss 16, support frame 17. Detailed Embodiment

[0021] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application.

[0022] The frog - like jumping robot shown in the attached drawings includes a frame plate 1. A pair of front legs 2 are symmetrically installed on the front side of the frame plate, and the front legs mainly play a supporting role. A pair of bouncing hind legs are symmetrically installed on the rear side of the frame plate, and a driving mechanism for driving the bouncing hind legs is installed on the frame plate. The driving mechanism drives the bouncing hind legs to store potential energy, and the bouncing hind legs jump when the potential energy is released.

[0023] The top of the front leg is fixed to the frame plate by bolts, and the angle between the front leg and the frame plate can be adjusted before work to control the take - off posture.

[0024] The bouncing hind leg includes a fourth connecting rod 7 fixed to the frame plate, a third connecting rod 8 whose top is hinged to one end of the fourth connecting rod through a third cylindrical pin 14, a first connecting rod 5 whose middle part is hinged to the frame plate through a hinge pin, a second connecting rod 6 whose one end is hinged to the bottom end of the first connecting rod through a first cylindrical pin 12 and the other end is hinged to the lower part of the third connecting rod through a second cylindrical pin 13, and a telescopic spring 9 whose two ends are respectively connected to the first cylindrical pin and the third cylindrical pin; the hinge axes of the above - mentioned connecting rods are parallel to each other. Obviously, a four - bar linkage is formed among the third connecting rod, the second connecting rod, the first connecting rod, and the frame plate fixed with the fourth connecting rod in sequence.

[0025] The driving mechanism includes a servo motor and an intermittent motion mechanism driven by the servo motor for driving the bouncing hind legs; the servo motor is installed on the upper surface of the frame plate; the intermittent motion mechanism includes a gear steering wheel fixed to the output shaft end of the servo motor and a sector gear located at the top of the first connecting rod. The gear steering wheel is an incomplete gear, and the sector gear is intermittently meshed and matched with the gear steering wheel.

[0026] Further, the hinge pin is a half - thread bolt 15, which is inserted into the hinge hole in the middle of the first connecting rod and then fixed to the frame plate by screwing.

[0027] Further, two downward - extending support frames 17 are symmetrically arranged on the left and right sides of the frame plate; the middle part of the first connecting rod is hinged to the bottom of the support frame through a hinge pin; therefore, after the support frame, the frame plate, and the fourth connecting rod are integrated, they serve as a link in the four - bar linkage.

[0028] In the toothed meshing stage of the intermittent motion mechanism, the servo motor 3 drives the first connecting rod to rotate clockwise (refer to Figure 1 ) thus driving the bouncing hind legs to bend downward, the telescopic spring 9 is stretched under force, and the overall center of gravity of the robot shifts downward; in the meshing disengagement stage of the intermittent motion mechanism, the telescopic spring 9 quickly contracts to drive the first connecting rod to rotate counterclockwise and the bouncing hind legs to instantly extend (refer to Figure 1 ), and at the same time, the robot releases potential energy to jump.

[0029] Further, the center of the pitch circle of the sector gear is located on the axis of the hinge pin.

[0030] Further, a limiting boss 16 is arranged on the support frame; the limiting boss is arranged on the swinging path of the first connecting rod and is used for limiting the swinging range of the first connecting rod, so that in the meshing and disengaging stage of the intermittent motion mechanism, the amplitude of the counterclockwise swing of the first connecting rod driven by the telescopic spring is limited, so as to ensure that the incomplete gear of the gear steering wheel can still be meshed with the sector gear on the upper part of the first connecting rod during the next rotation, so that the robot can continuously perform intermittent jumping motion.

[0031] Further, a foot fin 10 is arranged at the bottom end of the third connecting rod 8, and the foot fin 10 is arc-shaped, and elastic rubber is adhered to the outer side of the arc to improve the ground pushing effect and further improve the energy conversion efficiency.

[0032] Mounting ears are arranged on the frame plate 1 for fixing the steering gear 3, so the installation is convenient.

[0033] A control board and a battery are also installed on the frame plate 1, and a temperature and humidity sensor and a Bluetooth module are provided. The temperature and humidity sensor can monitor the ambient parameters around a frog-like jumping robot and send the temperature and humidity values to the upper computer through Bluetooth, so as to realize functions such as environmental monitoring. The control board (prior art) is used to control the working states of the steering gear, the temperature and humidity sensor, the Bluetooth module and the battery.

[0034] Weight-reducing holes and weight-reducing grooves are respectively arranged on the frame plate 1, the front leg 2 and the first connecting rod 5 to reduce the weight of the robot and improve the jumping ability.

[0035] Working principle:

[0036] Step 1: Start the steering gear, the incomplete gear of the gear steering wheel is meshed with the sector gear of the first connecting rod, drive the jumping hind leg to bend downward, stretch the telescopic spring in the jumping hind leg, so that the telescopic spring accumulates the energy required for jumping, and at the same time the overall center of gravity of the robot shifts downward to adjust the takeoff posture;

[0037] Step 2: As the gear steering wheel rotates, the sector gear of the first connecting rod is meshed with the incomplete gear of the gear steering wheel, the telescopic spring releases the elastic potential energy, drives the jumping hind leg to bounce upward, and completes a jumping action; at the same time, the first connecting rod is stretched by the telescopic spring and swings to the initial position so that the sector gear of the first connecting rod is in a position where it can be meshed with the incomplete gear of the gear steering wheel again;

[0038] Step 3: The gear steering wheel continues to rotate, the incomplete gear of the gear steering wheel is meshed with the incomplete gear of the first connecting rod again, and steps 1 and 2 are repeated to make the frog-like jumping robot form a coherent intermittent jumping action.

[0039] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A frog-like jumping robot, comprising a frame (1) equipped with a battery and a driving mechanism, characterized in that: A pair of front legs (2) and a pair of bouncing rear legs are also mounted on the frame plate, and the bouncing rear legs are hinged four-bar mechanisms and driven by the driving mechanism; The hinged four-bar mechanism comprises a third connecting rod (8), a second connecting rod (6), a first connecting rod (5) and a frame plate to which a fourth connecting rod (7) is fixed, which are hinged in sequence; The driving mechanism comprises a steering gear (3) and an intermittent motion mechanism driven by the steering gear, and the intermittent motion mechanism comprises a gear steering disc (4) fixed to the output shaft end of the steering gear and a sector gear fixed to the top of the first connecting rod and matched with the gear steering disc.

2. The frog-like jumping robot according to claim 1, characterized in that: The hinged four-bar mechanism comprises a fourth connecting rod fixed on the frame plate, a third connecting rod hinged to the fourth connecting rod at the top through a third cylindrical pin (14), a first connecting rod hinged to the frame plate at the middle through a hinge pin, a second connecting rod hinged to the bottom end of the first connecting rod at one end through a first cylindrical pin (12) and hinged to the lower part of the third connecting rod at the other end through a second cylindrical pin (13), and a telescopic spring (9) with two ends respectively connected to the first cylindrical pin and the third cylindrical pin; the hinge axes of the above connecting rods are parallel to each other.

3. The frog-like jumping robot according to claim 2, characterized in that: Two support frames (17) extending downward are symmetrically arranged on the left and right sides of the frame plate; the middle part of the first connecting rod is hinged to the bottom end of the support frame through a hinge pin; after the support frame, the frame plate and the fourth connecting rod are connected as a whole, they serve as a rod in a hinged four-bar mechanism.

4. The frog-like jumping robot according to claim 3, characterized in that: The support frame is provided with a limiting boss (16); the limiting boss is used to limit the swing range of the first connecting rod to ensure that the robot can continuously perform intermittent jumping movements.

5. The frog-like jumping robot according to claim 4, characterized in that: The bottom end of the third connecting rod is provided with an arc-shaped flipper (10), and the outer side of the flipper is adhered with elastic rubber to improve the ground-pushing effect.

6. The frog-like jumping robot according to claim 5, characterized in that: The frame plate, the front legs and the first connecting rod are respectively provided with weight-reducing holes and weight-reducing grooves.

7. The frog-like jumping robot according to claim 6, characterized in that: The frame plate is also provided with a control panel.

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