Jumping movement mechanism and bionic robot

Abstract

The utility model relates to the technical field of bionic robots, and particularly discloses a jumping movement mechanism which comprises a front supporting frame, a rear supporting frame, at least one guide rod, an incomplete gear and a driving mechanism. The rear supporting frame is provided with a rack, and the rack is fixedly connected with the rear supporting frame. The tail end of the at least one guide rod is fixedly connected with the rear support frame; the incomplete gear is configured to be rotationally connected with the front supporting frame, and the incomplete gear is meshed with the rack; at least one two-connecting rod and at least one energy storage mechanism are arranged between the front supporting frame and the rear supporting frame, and the two ends of the two-connecting rod are rotationally connected with the supporting frame and the rear supporting frame respectively. The head end of the at least one guide rod penetrates through the front supporting frame in a sliding mode and is fixedly provided with a limiting piece. The jumping movement mechanism is simple in overall structure, small in size and simple in control mode.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, and particularly relates to a jumping motion mechanism. Background Art

[0002] A bionic frog robot is a robot designed according to the movement mode and appearance of a frog. Its purpose is to improve the movement efficiency of the robot by simulating the excellent jumping ability of the frog.

[0003] The bionic frog robot has strong obstacle-crossing ability, and its jumping is mainly realized by the backward bounce. At present, the jumping distance of the bionic frog robot is short and the jumping continuity is poor. It has high requirements for the control method, and the jumping distance and the stability of continuous jumping are insufficient.

[0004] At present, the jumping of the bionic frog robot is mostly realized by directly driving the leg support mechanism with a motor. It cannot simulate the process of muscle energy storage and instant energy release of the frog's leg, and has a large volume and weight, and high control requirements. The utility model provides a jumping motion mechanism to solve the above technical problems. It can realize continuous jumping, has a light structure, a small volume, and a simple control method. At the same time, the jumping distance of the robot can be stably controlled by controlling the energy storage of the jumping mechanism.

[0005] In addition, the jumping distance and jumping continuity of the bionic frog robot are difficult to control, and at the same time, it has high requirements for the control method, and a large weight and volume. Summary of the Utility Model

[0006] The utility model provides a jumping motion mechanism to solve the above technical problems. By designing the mechanical parameters of the incomplete gear and the rack to control the meshing situation to achieve intermittent motion, it restores the process of the frog's thigh muscle storing energy and instantaneously releasing energy. The simple and ingenious mechanical structure greatly reduces the weight of the robot. At the same time, only the one-way rotation of a driving mechanism can sequentially realize the energy storage and energy release of the spring and repeat the motion, greatly reducing the control difficulty and reducing the number of motors. The ingenious lightweight mechanical structure greatly improves the movement efficiency of the robot.

[0007] To solve the above problems, the utility model adopts the following technical solutions:

[0008] In a first aspect, a jumping motion mechanism is provided, including: a front support frame, a rear support frame, at least one guide rod, an incomplete gear, and a driving mechanism.

[0009] The rear support frame has a rack, and the rack is fixedly connected to the rear support frame.

[0010] The end of the at least one guide rod is configured to be fixedly connected to the rear support frame.

[0011] The incomplete gear is configured to be rotatably connected to the front support frame, and the incomplete gear meshes with the rack.

[0012] The driving mechanism is used to drive the incomplete gear to rotate.

[0013] At least one two-link and at least one energy storage mechanism are arranged between the front support frame and the rear support frame, and two ends of the two-link are respectively rotatably connected to the support frame and the rear support frame.

[0014] The first end of the at least one guide rod slidably passes through the front support frame, and a limiting member is fixedly arranged thereon.

[0015] When the driving mechanism drives the incomplete gear to move relative to the rack, the at least one energy storage mechanism is compressed and stores elastic potential energy.

[0016] When the incomplete gear is disengaged from the rack, the at least one energy storage mechanism resets and releases elastic potential energy.

[0017] In the jumping motion mechanism provided by at least one embodiment of the present disclosure, the driving mechanism is fixedly connected to the front support frame.

[0018] In the jumping motion mechanism provided by at least one embodiment of the present disclosure, the rear support frame includes: a frame body and a carrier plate.

[0019] The end of the carrier plate is configured to be fixedly connected to the rear support frame.

[0020] The rack is carried on the carrier plate, and the rack is fixedly connected to the carrier plate.

[0021] The limiting member is fixedly arranged at the first end of the carrier plate.

[0022] An avoidance groove is arranged on the front support frame, and the carrier plate passes through the front support frame through the avoidance groove.

[0023] In the jumping motion mechanism provided by at least one embodiment of the present disclosure, a linear bearing paired with the guide rod is arranged on the front support frame.

[0024] The front support frame and the guide rod are configured to be slidably connected through the linear bearing.

[0025] In the jumping motion mechanism provided by at least one embodiment of the present disclosure, a rotating shaft is rotatably arranged on the front support frame, and the incomplete gear is fixedly connected to the rotating shaft.

[0026] A transmission gear set is arranged between the rotating shaft and the driving mechanism, and the rotating shaft and the driving mechanism are linked through the transmission gear set.

[0027] The rotating shaft is located above the guiding rod, and the rotating shaft is perpendicular to the guiding rod.

[0028] In the jumping motion mechanism provided by at least one embodiment of the present disclosure, the energy storage mechanism is a helical spring.

[0029] The guiding rod passes through the helical spring, and two ends of the helical spring are respectively connected to the front support frame and the rear support frame.

[0030] In the jumping motion mechanism provided by at least one embodiment of the present disclosure, two guiding rods, two connecting rods and two energy storage mechanisms are provided.

[0031] The two guiding rods are symmetrically distributed, the two connecting rods are symmetrically distributed, and the two energy storage mechanisms are symmetrically distributed.

[0032] In the jumping motion mechanism provided by at least one embodiment of the present disclosure, a positioning blind hole is provided on the rear support frame, the end of the guiding rod is inserted into the positioning blind hole, and the rear support frame is fixedly connected to the guiding rod through the positioning blind hole.

[0033] In a second aspect, a bionic robot is provided, which includes a front foot and a rear foot, and further includes the above-mentioned jumping motion mechanism.

[0034] Wherein, the front foot is fixedly connected to the front support frame, and the rear foot is fixedly connected to the rear support frame.

[0035] The beneficial effects of the present utility model are as follows: it ingeniously restores the process of the frog's thigh muscles storing energy and instantaneously releasing energy, and helps the robot complete the jumping motion simulating the frog.

[0036] It greatly reduces the workload and load of the control end. Only by driving the incomplete gear to continuously rotate forward by a certain angle, the complete jumping action of the frog storing energy and releasing energy can be completed. The overall structure is relatively simple, the volume is small, and the control method is simple. Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a schematic structural diagram of a jumping motion mechanism of the present utility model in the energy release state.

[0039] Figure 2 It is a schematic structural diagram of a jumping motion mechanism of the present utility model in the energy storage state.

[0040] Figure 3 This is a schematic structural diagram of a jumping motion mechanism of the present utility model after removing the energy storage mechanism.

[0041] Figure 4 This is a schematic structural diagram of a jumping motion mechanism of the present utility model after removing some components.

[0042] Figure 5 This is a schematic connection diagram of the rear support frame and the guide rod.

[0043] Figure 6 This is a three-dimensional view of the frame body.

[0044] Figure 7 This is a schematic structural diagram of the bionic robot provided by the present utility model.

[0045] In the figure:

[0046] 10. Front support frame; 11. Avoidance groove; 12. Linear bearing; 13. Rotating shaft;

[0047] 20. Rear support frame; 21. Rack; 22. Frame body; 23. Carrier plate; 24. Positioning blind hole;

[0048] 30. Guide rod; 31. Limiting part;

[0049] 40. Incomplete gear;

[0050] 50. Driving mechanism;

[0051] 60. Two-link; 61. First rod body; 62. Second rod body;

[0052] 70. Energy storage mechanism;

[0053] 80. Front foot;

[0054] 90. Rear foot. Specific embodiments

[0055] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0056] Currently, bionic frog robots generally use designs such as direct drive by motors, which have high requirements for the torque and control of the motors and are difficult to output huge energy in a short time. The well-developed leg muscles of frogs help them burst out huge energy in a short time, and the jumping height can reach up to 55 times their own body length. The present utility model can stably help the energy storage mechanism store energy by simulating the leg muscles of frogs and matching with a clever guiding structure, and at the same time uses an incomplete gear to cooperate with a rack to realize the release and storage of the energy storage mechanism.

[0057] When in use, the incomplete gear meshes with the rack and relative movement occurs, causing the energy storage mechanism to be compressed and store elastic potential energy. When the incomplete gear rotates to a certain angle, the incomplete gear and the rack become disengaged, and the elastic potential energy of the energy storage mechanism is instantaneously released, simulating the jumping movement of a frog to achieve jumping.

[0058] The energy release module in the embodiment is composed of an incomplete gear, a rack, a guide rod and a spring. By designing the mechanical parameters of the incomplete gear and the rack, the meshing condition between the incomplete gear and the rack is controlled. The spring is compressed through transmission. When the toothed part of the incomplete gear disengages from the driven gear, the incomplete gear will stop moving, the rack is not restricted by the incomplete gear, and the spring instantaneously releases elastic potential energy to achieve energy conversion. This mechanism can sequentially achieve the energy storage and release of the spring through the one-way rotation of a single motor. After the release is completed, continuing to rotate in the same direction can execute the jumping program again. Using only one motor can reduce the instability brought by multiple motors at the electronic control level, and at the same time greatly reduce the overall weight. The movable front support frame and rear support frame are used to adjust and control the takeoff posture and jumping distance of the bionic frog robot.

[0059] Embodiment 1

[0060] As Figures 1 to 6 shown, this embodiment provides a jumping motion mechanism, including a front support frame 10, a rear support frame 20, a guide rod 30, an incomplete gear 40 and a driving mechanism 50.

[0061] In this embodiment, a two-link 60 and an energy storage mechanism 70 are arranged between the front support frame 10 and the rear support frame 20. Both ends of the two-link 60 are rotatably connected to the support frame and the rear support frame 20 respectively. The driving mechanism 50 is fixedly connected to the front support frame 10.

[0062] In this embodiment, the head end of the guide rod 30 slidably passes through the front support frame 10, and a limiting member 31 is fixedly arranged.

[0063] Specifically, a linear bearing 12 paired with the guide rod 30 is arranged on the front support frame 10. The front support frame 10 and the guide rod 30 are configured to be slidably connected through the linear bearing 12.

[0064] In this embodiment, the rear support frame 20 includes a frame body 22 and a carrier plate 23.

[0065] Specifically, the end of the carrier plate 23 is configured to be fixedly connected to the rear support frame 20. The carrier plate 23 carries a rack 21, and the rack 21 is fixedly connected to the carrier plate 23. The limiting member 31 is fixedly arranged at the head end of the carrier plate 23.

[0066] Specifically, an avoidance groove 11 is provided on the front support frame 10, and the carrier plate 23 passes through the front support frame 10 through the avoidance groove 11.

[0067] In this embodiment, a rotating shaft 13 is rotatably provided on the front support frame 10, and the incomplete gear 40 is fixedly connected to the rotating shaft 13.

[0068] Specifically, a transmission gear set is provided between the rotating shaft 13 and the driving mechanism 50, and the rotating shaft 13 and the driving mechanism 50 are linked through the transmission gear set; the rotating shaft 13 is located above the guide rod 30, and the rotating shaft 13 is perpendicular to the guide rod 30.

[0069] Specifically, the driving mechanism 50 adopts a servo motor or a steering gear.

[0070] Exemplarily, the transmission gear set includes a driving gear and a driven gear. The driving gear is fixedly connected to the output shaft of the driving mechanism 50, the driven gear is fixedly connected to the rotating shaft 13, the driving gear and the driven gear are meshed, and the diameters of the driving gear and the driven gear are both larger than the diameter of the incomplete gear 40.

[0071] Exemplarily, in order to reduce the overall weight, the driving gear, the driven gear and the guide rod 30 are all made of carbon fiber composite materials, and the guide rod 30 adopts a tubular hollow design.

[0072] In this embodiment, the energy storage mechanism 70 adopts a spiral spring or an air spring, and a spiral spring is preferably used.

[0073] When configuring the spiral spring, the guide rod 30 passes through the spiral spring, and both ends of the spiral spring are respectively connected to the front support frame 10 and the rear support frame 20.

[0074] In this embodiment, one or two of the guide rod 30, the two-link rod 60 and the energy storage mechanism 70 can be provided; in order to balance the stability during jumping, two of the guide rod 30, the two-link rod 60 and the energy storage mechanism 70 are preferably used, and the two guide rods 30 are symmetrically distributed, the two two-link rods 60 are symmetrically distributed, and the two energy storage mechanisms 70 are symmetrically distributed.

[0075] In this embodiment, a positioning blind hole 24 is provided on the frame body 22, the end of the guide rod 30 is inserted into the positioning blind hole 24, and the frame body 22 is fixedly connected to the guide rod 30 through the positioning blind hole 24.

[0076] In this embodiment, the two-link rod 60 includes a first rod body 61 and a second rod body 62, and the length of the first rod body 61 is less than the length of the second rod body 62.

[0077] Specifically, one end of the first rod body and one end of the second rod body are rotatably connected, and this rotation connection point serves as the knee joint of the frog leg.

[0078] Specifically, the other end of the first rod 61 is rotatably connected to the front support frame 10, and this rotation connection point serves as the hip joint of the frog leg.

[0079] Specifically, the other end of the second rod 62 is rotatably connected to the frame body 22, and this rotation connection point serves as the ankle joint of the frog leg.

[0080] Overall, it restores the hip joint, knee joint and ankle joint of the frog leg. The three important joints include three degrees of freedom, which is beneficial for the bionic frog robot to better achieve jumping.

[0081] The working principle of this embodiment is as follows:

[0082] Driven by the drive mechanism 50, the incomplete gear meshes with the rack and relative movement occurs, converting rotation into linear motion. The compression spring is compressed and stores elastic potential energy. When the incomplete gear rotates to the incomplete part, the incomplete gear and the rack are disengaged, and the resistance on the compression spring decreases, instantly releasing the elastic potential energy.

[0083] Energy storage: The driven gear and the incomplete gear are coaxial. The incomplete gear meshes with the rack and relative movement occurs with the rack, and the spring is compressed to store elastic potential energy.

[0084] Energy release: When the incomplete gear rotates to the set angle, the incomplete part disengages from the rack, and the compression spring is instantly released, achieving the effect of instantly releasing the elastic potential energy. By converting the elastic potential energy into kinetic energy, jumping is realized.

[0085] Embodiment 2

[0086] In the unshown embodiment, a jumping motion mechanism is provided. The difference from Embodiment 1 is as follows:

[0087] In this embodiment, the rear support frame 20 only includes the frame body 22, and the head end of the rack 21 is fixedly connected to the carrier plate 23.

[0088] Specifically, an avoidance groove 11 is provided on the front support frame 10, and the rack 21 passes through the front support frame 10 through the avoidance groove 11.

[0089] Compared with Embodiment 1, the carrier plate is omitted as a whole, which can effectively reduce the weight.

[0090] In addition, as Figure 7 shown, the present utility model also provides a bionic robot, including a front foot 80, a rear foot 90 and a controller (not shown), and also including the jumping motion mechanism in any of the above embodiments.

[0091] Among them, the front foot 80 is fixedly connected to the front support frame 10, the rear foot 90 is fixedly connected to the rear support frame 20, and the controller is electrically connected to the drive mechanism 50.

[0092] Although the embodiments of the present application have been shown and described above, the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be thought of without creative work should be covered within the protection scope of the present utility model; unless expressly stated, any element, action or instruction used herein should not be construed as critical or essential.

Claims

1. A jumping motion mechanism, characterized in that, Comprising: Front support frame; Rear support frame, having a rack, and the rack is fixedly connected to the rear support frame; At least one guide rod, the end of which is configured to be fixedly connected to the rear support frame; Incomplete gear, configured to be rotatably connected to the front support frame, and the incomplete gear meshes with the rack; and Drive mechanism for driving the incomplete gear to rotate; Wherein, at least one two-link and at least one energy storage mechanism are arranged between the front support frame and the rear support frame, and both ends of the two-link are respectively rotatably connected to the support frame and the rear support frame; The head end of the at least one guide rod slidably passes through the front support frame, and a limiting member is fixedly arranged; When the drive mechanism drives the incomplete gear to move relative to the rack, the at least one energy storage mechanism is compressed and stores elastic potential energy; When the incomplete gear is disengaged from the rack, the at least one energy storage mechanism resets and releases elastic potential energy.

2. The jumping motion mechanism according to claim 1, characterized in that, The drive mechanism is fixedly connected to the front support frame.

3. The jumping motion mechanism according to claim 2, characterized in that, The rear support frame includes: Frame body; and Carrier plate, the end of which is configured to be fixedly connected to the rear support frame; Wherein, the rack is mounted on the carrier plate, and the rack is fixedly connected to the carrier plate; The limiting member is fixedly arranged at the head end of the carrier plate; An avoidance groove is arranged on the front support frame, and the carrier plate passes through the front support frame through the avoidance groove.

4. A jumping motion mechanism according to claim 1, characterized in that, A linear bearing paired with the guide rod is arranged on the front support frame; The front support frame and the guide rod are configured to be slidably connected through the linear bearing.

5. A jumping motion mechanism according to claim 4, characterized in that, A rotating shaft is rotatably arranged on the front support frame, and the incomplete gear is fixedly connected to the rotating shaft; A transmission gear set is arranged between the rotating shaft and the drive mechanism, and the rotating shaft and the drive mechanism are linked through the transmission gear set; The rotating shaft is located above the guide rod, and the rotating shaft is perpendicular to the guide rod.

6. The jumping motion mechanism according to claim 5, characterized in that, The energy storage mechanism is a helical spring; The guide rod passes through the helical spring, and both ends of the helical spring are respectively connected to the front support frame and the rear support frame.

7. A jumping motion mechanism according to claim 1, characterized in that, There are two guide rods, two-link rods and energy storage mechanisms respectively; The two guide rods are symmetrically distributed, the two two-link rods are symmetrically distributed, and the two energy storage mechanisms are symmetrically distributed.

8. A jumping motion mechanism according to claim 1, characterized in that, A positioning blind hole is arranged on the rear support frame, the end of the guide rod is inserted into the positioning blind hole, and the rear support frame is fixedly connected to the guide rod through the positioning blind hole.

9. A bionic robot, comprising a front foot and a rear foot, characterized in that, It further includes a jumping motion mechanism according to any one of claims 1 to 8; Wherein, the front foot is fixedly connected to the front support frame, and the rear foot is fixedly connected to the rear support frame.

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