Bionic frog jumping robot based on incomplete gear mechanism

Abstract

The utility model discloses a bionic frog jumping robot based on an incomplete gear mechanism. The bionic frog jumping robot comprises a rack, a bionic front limb mechanism, a bionic rear limb mechanism, a jumping driving mechanism and a force bearing rod. A distance measuring assembly and a control system are mounted on the rack; the bionic forelimb mechanism is mounted on one side of the rack; the bionic posterior limb mechanism is rotationally connected to the side, away from the bionic foreleg mechanism, of the rack. The jumping driving mechanism comprises a driving assembly and an incomplete gear pair, and the driving assembly is installed on the rack; the driving assembly is in transmission connection with the bionic posterior limb mechanism through an incomplete gear pair; the force bearing rod is mounted on the bionic posterior limb mechanism; an elastic force storage component is installed between the force bearing rod and the rack, and a pull rope is fixedly installed between the force bearing rod and the output end of the incomplete gear pair. The robot is simple in structure, light in weight, stable in landing, capable of jumping continuously and high in bounce capacity, and autonomous obstacle avoidance and remote control can be achieved by carrying the distance measuring assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of bionics, in particular to a bionic frog jumping robot based on an incomplete gear mechanism. Background Art

[0002] As humans explore the earth, there are more and more exploration tasks in various complex terrains. Bionic robots that can replace humans to complete related tasks under harsh conditions have gradually become a hot spot in robot development. Frogs can jump over distances that are many times their own length. This ability has important reference value for exploring complex environments and avoiding obstacles. The mechanical structure design of the bionic frog aims to imitate the frog's movement process such as taking off and accumulating power, jumping posture, and landing smoothly. This requires the robot to have a lightweight and stable skeleton and motion system to achieve highly bionic jumping movements.

[0003] However, most existing bionic frog robots have complex structures, many parts, and are heavy, resulting in a short jumping distance and prone to tipping over due to unstable center of gravity during jumping.

[0004] Therefore, a bionic frog jumping robot based on incomplete gear mechanism is proposed. Utility Model Content

[0005] The utility model aims to provide a bionic frog jumping robot based on an incomplete gear mechanism, aiming to solve or improve at least one of the above technical problems.

[0006] To achieve the above object, the utility model provides the following solution: The utility model provides a bionic frog jumping robot based on an incomplete gear mechanism, comprising:

[0007] A frame, on which a distance measuring component and a control system are installed;

[0008] A bionic forelimb mechanism, wherein the bionic forelimb mechanism is installed on one side of the frame;

[0009] A bionic hind limb mechanism, the bionic hind limb mechanism is rotatably connected to a side of the frame away from the bionic forelimb mechanism;

[0010] A jumping drive mechanism, the jumping drive mechanism comprising a driving assembly and an incomplete gear pair, the driving assembly being mounted on the frame; the driving assembly being in transmission connection with the bionic hind limb mechanism via the incomplete gear pair, and being used for driving the bionic hind limb mechanism to jump continuously;

[0011] A load-bearing rod, the load-bearing rod is installed on the bionic hind limb mechanism; an elastic force storage component is installed between the load-bearing rod and the frame, and a pull rope is fixedly installed between the load-bearing rod and the output end of the incomplete gear pair;

[0012] Wherein, both the driving component and the ranging component are electrically connected to the control system.

[0013] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present invention, the bionic hind limb mechanism includes two sets of four-bar link assemblies arranged side by side on the frame, and both sets of four-bar link assemblies are located on one side of the frame away from the bionic forelimb mechanism;

[0014] The four-bar link assembly includes a first link, the middle section of the first link is rotatably connected to the frame through a first rotating shaft; one end of the first link is rotatably connected to the output shaft of the incomplete gear pair, and the other end is rotatably connected to a second link; the end of the second link away from the first link is rotatably connected to a third link, and a frog palm is installed at the end of the third link away from the second link.

[0015] The middle section of the third link is rotatably connected to a fourth link, the end of the fourth link away from the third link is rotatably connected to the load-bearing rod, and the middle section of the fourth link is rotatably connected to the first rotating shaft; both ends of the load-bearing rod are respectively rotatably connected to the two fourth links.

[0016] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present invention, the incomplete gear pair includes an incomplete gear and a spur gear that mesh with each other; the incomplete gear is installed on the output shaft of the driving component, and the driving component is electrically connected to the control system;

[0017] A gear shaft is fixedly installed on the spur gear, the gear shaft is rotatably connected between two of the first links, a wire groove is installed on the gear shaft, and one end of the pulling rope is fixedly connected to the wire groove; the second link is located at the end of the first link away from the gear shaft.

[0018] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present invention, the bionic forelimb mechanism includes two upper arm rods arranged side by side on the frame, and both upper arm rods are located at the end of the frame away from the first link; a forearm rod is fixedly installed at the end of the upper arm rod away from the frame, a frog palm is installed at the bottom of the forearm rod, and a shock-absorbing spring is installed between the forearm rod and the upper arm rod.

[0019] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present invention, a lithium battery is installed at the bottom of the frame, and an infrared remote control module is installed at the end of the frame close to the upper arm rod. Both the lithium battery and the infrared remote control module are electrically connected to the control system.

[0020] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present utility model, the control system is electrically connected to a buzzer, and the buzzer is installed on the frame.

[0021] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present utility model, the driving assembly includes a DC reduction motor installed on the frame, the DC reduction motor is electrically connected to the control system, and the incomplete gear is installed on the output shaft of the DC reduction motor.

[0022] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present utility model, both the forearm rod and the third connecting rod are fixedly connected to the frog palm through rivets.

[0023] According to a bionic frog jumping robot based on an incomplete gear mechanism provided by the present utility model, the elastic energy storage component is a storage spring.

[0024] The present utility model discloses the following technical effects:

[0025] The structure of the present utility model is simple, reducing unnecessary components and complex structures, thereby reducing the overall mass, having a stable landing, and being able to jump continuously with strong jumping ability. It not only improves the flexibility of the robot but also effectively reduces the production cost; the ranging component is used to perform ranging operations during the walking process, and the control system controls the output power of the driving assembly, thereby realizing the automatic start and stop of the robot, enabling the robot to autonomously sense the surrounding environment, achieve autonomous obstacle avoidance and remote control, providing a new solution for exploration and rescue tasks, and at the same time providing rich research materials and application scenarios for the further research of bionic jumping robots;

[0026] Through the intermittent transmission characteristics of the incomplete gear pair of the present utility model, the pulling rope is intermittently tightened, and in cooperation with the elastic energy storage component, continuous jumping of the bionic hind limb mechanism is realized. Through this design, the robot can make full use of energy during the jumping process, achieve efficient and stable jumping actions, and have strong jumping ability, capable of adapting to jumping requirements at different heights and distances; the empty teeth of the incomplete gear pair do useless work for the mechanism, and a reasonable design of the number of teeth of the incomplete gear pair is beneficial to reducing the time of useless work and improving the energy utilization rate;

[0027] The present utility model is highly similar to a frog in terms of biological form and jumping actions. The bionic hind limb mechanism and the bionic forelimb mechanism simulate the relative relationship between the leg muscles, tendons and leg bones of a frog during jumping, and can realize the bionics of jumping actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 It is a structural schematic diagram of the utility model;

[0030] Figure 2 It is a structural schematic diagram of the jumping drive mechanism in the utility model.

[0031] Among them, 1. frog palm; 2. rivet; 3. third connecting rod; 4. fourth connecting rod; 5. second connecting rod; 6. gear shaft; 7. rope groove; 8. spur gear; 9. incomplete gear; 10. DC reduction motor; 11. pull rope; 12. load-bearing rod; 13. distance measuring component; 14. frame; 15. upper arm rod; 16. forearm rod. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0034] Reference Figure 1 - Figure 2 The utility model provides a bionic frog jumping robot based on an incomplete gear mechanism, comprising:

[0035] A frame 14, on which a distance measuring component 13 and a control system are mounted;

[0036] A bionic forelimb mechanism, which is mounted on one side of the frame 14;

[0037] A bionic hind limb mechanism, the bionic hind limb mechanism is rotatably connected to a side of the frame 14 away from the bionic forelimb mechanism;

[0038] The jumping driving mechanism includes a driving assembly and an incomplete gear pair, and the driving assembly is mounted on the frame 14; the driving assembly is connected to the bionic hind limb mechanism through the incomplete gear pair, and is used to drive the bionic hind limb mechanism to jump continuously;

[0039] The load-bearing rod 12 is installed on the bionic hind limb mechanism; an elastic energy storage component is installed between the load-bearing rod 12 and the frame 14, and a pull rope 11 is fixedly installed between the load-bearing rod 12 and the output end of the incomplete gear pair;

[0040] Among them, both the drive component and the ranging component 13 are electrically connected to the control system;

[0041] With such a setting, the structure of the present utility model is simple, reducing unnecessary components and complex structures, thereby reducing the overall mass, having a stable landing, being able to continuously jump with strong bouncing ability. It not only improves the flexibility of the robot but also effectively reduces the production cost; the ranging operation during walking is realized through the ranging component 13, and the output power of the drive component is controlled by the control system, so as to realize the automatic start and stop of the robot, enabling the robot to autonomously sense the surrounding environment, realize autonomous obstacle avoidance and remote control, providing a new solution for exploration and rescue tasks, and at the same time providing rich research materials and application scenarios for the further research of bionic jumping robots;

[0042] The present utility model drives the pull rope 11 to be intermittently tightened through the intermittent transmission characteristic of the incomplete gear pair, and in cooperation with the elastic energy storage component, realizes the continuous jumping of the bionic hind limb mechanism. Through this design, the robot can make full use of energy during the jumping process, realize efficient and stable jumping actions, and has strong bouncing ability, being able to adapt to jumping requirements at different heights and distances; the empty teeth of the incomplete gear pair do useless work for the mechanism, and a reasonable design of the number of teeth of the incomplete gear pair is beneficial to reducing the time of useless work and improving the energy utilization rate;

[0043] The present utility model is highly similar to a frog in terms of biological form and jumping action. The bionic hind limb mechanism and the bionic forelimb mechanism simulate the relative relationship between the leg muscles, tendons and leg bones of a frog during jumping, and can realize the bionics of jumping actions.

[0044] In a further optimized solution, the bionic hind limb mechanism includes two sets of four-bar link assemblies arranged side by side on the frame 14, and both sets of four-bar link assemblies are located on the side of the frame 14 away from the bionic forelimb mechanism;

[0045] The four-bar link assembly includes a first link, the middle section of the first link is rotationally connected to the frame 14 through a first rotating shaft; one end of the first link is rotationally connected to the output shaft of the incomplete gear pair, and the other end is rotationally connected to a second link 5; the end of the second link 5 away from the first link is rotationally connected to a third link 3, and a frog palm 1 is installed at the end of the third link 3 away from the second link 5;

[0046] The middle end of the third link 3 is rotatably connected to a fourth link 4. One end of the fourth link 4 away from the third link 3 is rotatably connected to the load-bearing rod 12, and the middle section of the fourth link 4 is rotatably connected to the first rotating shaft; both ends of the load-bearing rod 12 are respectively rotatably connected to two fourth links 4;

[0047] The four-link assembly with improved structure simulates the relative relationship between the leg muscles, tendons and leg bones of a frog when it jumps, thus realizing the bionic of the jumping action;

[0048] When the pulling rope 11 is tightened, the first link is driven to rotate around the first rotating shaft through the wire groove, and then the fourth link 4 is driven to move; at this time, the energy storage spring completes energy storage, and the incomplete gear realizes the release of elastic potential energy to achieve jumping; the fourth link 4 drives the third link 3 and the second link 5 to move. The four-link structure enables the third link 3 to drive the frog palm 1 to perform an action similar to the kicking and jumping of a frog under the drive of the pulling rope 11; an elastic energy storage component is installed between the load-bearing rod 12 and the frame 14. When the four-link assembly is in the extended state, the energy storage spring is compressed to store energy; when the pulling rope 11 is relaxed, the energy storage spring releases energy to assist the four-link assembly to quickly reset and prepare for the next jump.

[0049] In a further optimized scheme, the incomplete gear pair includes an incomplete gear 9 and a spur gear 8 that mesh with each other; the incomplete gear 9 is installed on the output shaft of the drive assembly, and the drive assembly is electrically connected to the control system;

[0050] A gear shaft 6 is fixedly installed on the spur gear 8. The gear shaft 6 is rotatably connected between two groups of two first links. A wire groove is installed on the gear shaft 6, and one end of the pulling rope 11 is fixedly connected to the wire groove; the second link 5 is located at one end of the first link away from the gear shaft 6;

[0051] When the control system receives a jumping instruction, the drive assembly is started to drive the incomplete gear 9 to rotate. The incomplete gear 9 meshes with the spur gear 8. However, due to the intermittent design of the incomplete gear, the rotation of the spur gear 8 is intermittent; the rotation of the spur gear 8 is transmitted through the gear shaft 6. A wire groove is installed on the gear shaft 6, and one end of the pulling rope 11 is fixedly connected to the wire groove. As the spur gear 8 rotates, the pulling rope 11 is intermittently tightened, thereby driving the movement of the four-link assembly.

[0052] In a further optimized scheme, the bionic forelimb mechanism includes two upper arm rods 15 arranged side by side on the frame 14. The two upper arm rods 15 are located at one end of the frame 14 away from the first link; a forearm rod 16 is fixedly installed at one end of the upper arm rod 15 away from the frame 14. A frog palm 1 is installed at the bottom of the forearm rod 16, and a shock-absorbing spring is installed between the forearm rod 16 and the upper arm rod 15;

[0053] The biomimetic forelimb mechanism mainly plays the roles of static support and shock absorption. When the robot lands, the frog palm 1 at the bottom of the forearm rod 16 first touches the ground, and part of the impact energy is absorbed by the shock absorption spring to keep the robot stable when landing.

[0054] In a further optimized solution, a lithium battery is installed at the bottom of the frame 14, and an infrared remote control module is installed at one end of the frame 14 close to the upper arm rod 15. The lithium battery and the infrared remote control module are both electrically connected to the control system.

[0055] In this embodiment, the control system is a single-chip microcomputer; the ranging component 13 is an ultrasonic ranging device, and the specific model is Keyence China - KEYENCE - high-precision ultrasonic ranging sensor; the model of the infrared remote control module is HX1838 infrared remote control module.

[0056] The control system is electrically connected to a buzzer, and the buzzer is installed on the frame 14.

[0057] The ultrasonic ranging device is used to measure the distance between the robot and the obstacle in front in real time. The single-chip microcomputer is responsible for receiving the signal from the ultrasonic ranging device and controlling the movement of the robot through the infrared remote control module. The lithium battery provides power support for the entire robot.

[0058] In a further optimized solution, the drive component includes a DC geared motor 10 installed on the frame 14. The DC geared motor 10 is electrically connected to the control system, and the incomplete gear 9 is installed on the output shaft of the DC geared motor 10.

[0059] In a further optimized solution, both the forearm rod 16 and the third connecting rod 3 are fixedly connected to the frog palm 1 through rivets 2, so that the frog palm 1 is fixedly connected to the forearm rod 16 and the frog palm 1 is fixedly connected to the third connecting rod 3 at a specific angle, thereby achieving a good simulation effect.

[0060] In a further optimized solution, the elastic energy storage component is a storage spring.

[0061] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention, 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 should not be construed as a limitation to the present invention.

[0062] Obviously, the above embodiments of the present utility model are merely examples for clearly explaining the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. A bionic frog jumping robot based on an incomplete gear mechanism, characterized in that, include: A frame (14), on which a distance measuring component (13) and a control system are installed; A bionic forelimb mechanism, the bionic forelimb mechanism being mounted on one side of the frame (14); A bionic hind limb mechanism, the bionic hind limb mechanism being rotatably connected to a side of the frame (14) away from the bionic forelimb mechanism; A jumping drive mechanism, the jumping drive mechanism comprising a driving assembly and an incomplete gear pair, the driving assembly being mounted on the frame (14); the driving assembly being transmission-connected to the bionic hind limb mechanism via the incomplete gear pair, and being used to drive the bionic hind limb mechanism to continuously jump; A load-bearing rod (12), the load-bearing rod (12) being mounted on the bionic hind limb mechanism; an elastic force storage component being mounted between the load-bearing rod (12) and the frame (14); and a pull rope (11) being fixedly mounted between the load-bearing rod (12) and the output end of the incomplete gear pair; Wherein, the driving component and the distance measuring component (13) are both electrically connected to the control system.

2. The bionic frog jumping robot based on the incomplete gear mechanism according to claim 1, wherein: The bionic hind limb mechanism comprises two groups of four-bar linkage assemblies mounted side by side on the frame (14), and the two groups of four-bar linkage assemblies are both located on a side of the frame (14) away from the bionic forelimb mechanism; The four-bar linkage assembly comprises a first link, the middle section of which is rotatably connected to the frame (14) via a first rotating shaft; one end of the first link is rotatably connected to the output shaft of the incomplete gear pair, and the other end is rotatably connected to a second link (5); an end of the second link (5) away from the first link is rotatably connected to a third link (3), and an end of the third link (3) away from the second link (5) is provided with a frog palm (1); The middle end of the third connecting rod (3) is rotatably connected to the fourth connecting rod (4); one end of the fourth connecting rod (4) away from the third connecting rod (3) is rotatably connected to the load-bearing rod (12); the middle section of the fourth connecting rod (4) is rotatably connected to the first rotating shaft; the two ends of the load-bearing rod (12) are respectively rotatably connected to the two fourth connecting rods (4).

3. The bionic frog jumping robot based on the incomplete gear mechanism according to claim 2, characterized in that: The incomplete gear pair comprises an incomplete gear (9) and a spur gear (8) meshing with each other; the incomplete gear (9) is mounted on the output shaft of the drive assembly, and the drive assembly is electrically connected to the control system; A gear shaft (6) is fixedly mounted on the spur gear (8), and the gear shaft (6) is rotatably connected between two groups of two first connecting rods. A wire groove is mounted on the gear shaft (6), and one end of the pull rope (11) is fixedly connected to the wire groove; the second connecting rod (5) is located at an end of the first connecting rod away from the gear shaft (6).

4. The bionic frog jumping robot based on the incomplete gear mechanism according to claim 2, characterized in that: The bionic forelimb mechanism includes two upper arm rods (15) arranged side by side and mounted on the frame (14), and the two upper arm rods (15) are located at one end of the frame (14) away from the first connecting rod; a forearm rod (16) is fixedly mounted at the end of the upper arm rod (15) away from the frame (14), a frog palm (1) is mounted at the bottom of the forearm rod (16), and a shock-absorbing spring is mounted between the forearm rod (16) and the upper arm rod (15).

5. The bionic frog jumping robot based on the incomplete gear mechanism according to claim 4, wherein: A lithium battery is mounted at the bottom of the frame (14), and an infrared remote control module is mounted at one end of the frame (14) close to the upper arm rod (15). Both the lithium battery and the infrared remote control module are electrically connected to the control system.

6. The bionic frog jumping robot based on an incomplete gear mechanism according to claim 1, characterized in that: The control system is electrically connected to a buzzer, and the buzzer is mounted on the frame (14).

7. The bionic frog jumping robot based on an incomplete gear mechanism according to claim 3, wherein: The driving assembly includes a DC geared motor (10) mounted on the frame (14), the DC geared motor (10) is electrically connected to the control system, and an incomplete gear (9) is mounted on the output shaft of the DC geared motor (10).

8. The bionic frog jumping robot based on an incomplete gear mechanism according to claim 4, characterized in that: Both the forearm rod (16) and the third connecting rod (3) are fixedly connected to the frog palm (1) by rivets (2).

9. The bionic frog jumping robot based on the incomplete gear mechanism according to claim 1, wherein: The elastic energy storage component is a storage spring.

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