Bionic frog jumping robot

Abstract

The utility model discloses a bionic frog jumping robot which comprises a trunk, a spring compression frame, a cam and worm wheel connector, rear legs, front legs, a worm, a motor, a compression spring and a torsion spring. The trunk is connected with the front legs and is in sliding connection with the spring compression frame; a connector on the worm is fixedly connected with a rotating shaft of the motor and rotates synchronously with the rotating shaft, and a worm body of the worm is meshed with a worm gear on the cam worm gear connector; the rear leg comprises a thigh upper part, a thigh lower part and a shank lower part, the shank upper part and the rear sole form a parallelogram through mutually connected nodes of the thigh upper part, the thigh lower part, the shank lower part and the shank upper part; the compression spring is sleeved on the spring sleeve rod of the trunk; and the torsional spring is arranged at the joint of the thigh lower part and the shank lower part. The utility model has the advantages of high energy utilization rate, stable and reliable action, simple structure, low manufacturing difficulty and long service life, and can realize long-distance jumping and change the jumping distance and height.

Description

Technical Field

[0001] The utility model relates to the field of bionic robots, in particular to a bionic frog jumping robot. Background Art

[0002] Since the 1950s, bionics has rapidly developed, providing numerous innovative design inspirations. In nature, frogs, as amphibians, possess unique biological structures and physiological functions, enabling them to demonstrate exceptional performance in hunting, locomotion, and survival. Designing a miniaturized, high-performance bionic frog robot would significantly enhance operational efficiency and safety in areas such as environmental monitoring, search and rescue expeditions, and military reconnaissance. Such a robot could precisely enter complex or hazardous environments, such as disaster zones, toxic areas, or uncharted terrain, to conduct water quality testing, soil contamination monitoring, and ecosystem assessments, providing critical data for environmental protection and disaster response. Furthermore, during search and rescue missions, it could replace humans in inaccessible locations, reducing safety risks for rescuers. Furthermore, the application of bionic frog robots in military reconnaissance could enhance the stealth and accuracy of intelligence gathering, providing crucial support for military operations. Miniaturized, high-performance bionic frog robots have broad application prospects and significant practical benefits.

[0003] At present, the document with Chinese patent publication number CN117446043A discloses a frog robot based on bionic design, which realizes the bionic frog's power storage and jumping process by controlling an air pump and a cylinder group. However, the transmission structure is complex, the energy conversion rate is low, the manufacturing is difficult, and it is difficult to be widely used. The document with Chinese patent publication number CN114889719A discloses a bionic frog robot based on a cam mutation structure, which uses a cylindrical cam and leg tension springs to realize the bionic frog's power storage and jumping. However, the force applied by the cam to drive the tension spring to store power varies greatly, affecting the service life and stability. At the same time, the cylindrical cam has a small stroke and a low energy conversion rate, making it difficult to achieve long-distance jumping. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the defects of the above-mentioned technology and provide a bionic frog jumping robot.

[0005] In order to solve the above technical problems, the technical solution provided by the utility model is a bionic frog jumping robot: comprising a trunk, a spring compression frame, a cam-worm gear connector, hind legs, front legs, a worm, a motor, a compression spring, and a torsion spring;

[0006] The cam-worm gear connecting body includes a worm gear and a disc-shaped cam fixedly connected to the worm gear;

[0007] The trunk is connected to the front legs in such a manner that the front leg connection hole of the trunk is connected to a through hole at either end of the front leg portion, and the front sole of the front leg is connected to the remaining through hole at the front leg portion, and the connection angles between the front leg portion and the front leg connection hole and between the front leg and the front sole can be adjusted;

[0008] The trunk is connected to the spring compression frame in such a way that the sliders symmetrically arranged on the left and right sides of the spring compression frame respectively penetrate into the guide rails symmetrically arranged on the left and right ends of the trunk, and the sliders can slide along the guide rails, while the spring sleeve rod of the trunk also passes through the spring compression hole on the spring compression frame;

[0009] The trunk is connected to the cam-worm gear connector in such a manner that a fixed shaft on the trunk is inserted into a rotation hole on the cam-worm gear connector, and the cam-worm gear connector can rotate relative to the fixed shaft;

[0010] The trunk is connected to the motor in such a way that the motor is inserted into the motor seat on the trunk according to the shape;

[0011] The connector on the worm is fixedly connected to the rotating shaft of the motor and rotates synchronously, and the worm body of the worm is meshed with the worm wheel on the cam-worm wheel connector;

[0012] The hind leg comprises an upper thigh, a lower thigh, a lower calf, an upper calf, and a rear foot, wherein a through hole at either end of the upper thigh is connected to a thigh connecting hole of a spring compression frame, a middle through hole of the upper thigh is connected to a through hole at either end of the lower thigh, and the remaining through hole of the upper thigh is connected to the middle through hole of the upper calf, a through hole at one end of the upper calf close to the middle through hole is connected to the calf connecting hole of the trunk, the middle through hole of the lower calf is connected to the remaining through hole at the upper calf, a through hole at one end of the lower calf close to the middle through hole is connected to the remaining through hole at the lower thigh, and the remaining through hole at the lower calf is connected to the rear foot, and the nodes where the upper thigh, lower thigh, lower calf, and upper calf are connected to each other form a parallelogram, and the angle of the connection between the remaining through hole at the lower calf and the rear foot can be adjusted;

[0013] The compression spring is sleeved onto the spring sleeve rod of the trunk, and the outer diameter of the compression spring is larger than the diameter of the spring compression hole;

[0014] The torsion spring end 1 of the torsion spring is embedded in the torsion spring groove 1 at the lower part of the thigh, and the torsion spring end 2 of the torsion spring is embedded in the torsion spring groove 2 at the lower part of the calf.

[0015] Furthermore, the spring compression frame is provided with a driven shaft, which is inscribed in the disc cam. When the motor drives the worm to rotate, the worm will drive the cam-worm connector to rotate counterclockwise, so that the driven shaft slides relatively along the inscribed inner wall of the disc cam, so that the slider of the spring compression frame moves forward along the guide rail, compressing the compression spring sleeved on the spring sleeve rod to actively store energy. The disc cam is provided with a return point. When the tangent point between the driven shaft and the disc cam reaches the return point position, the compression spring quickly releases energy to bounce the spring compression frame back to its initial position.

[0016] Furthermore, when the spring compression frame compresses the compression spring forward, the hind leg will change from an extended state to a contracted state, the angle between the torsion spring end 1 and the torsion spring end 2 will decrease, the torsion spring will be passively compressed, and the tangent point between the driven shaft and the disc cam will reach the knock-back point, and the hind leg will then quickly return to an extended state, so that the hind foot pushes off the ground to complete the jump.

[0017] The advantages of the present invention over the prior art are: the present invention adopts a worm gear high torque transmission, combined with a disc cam, to realize active energy storage of the compression spring and passive energy storage of the torsion spring, with high energy utilization rate, and can realize long-distance jumping, and the jumping distance and height can be changed by increasing or decreasing the four compression springs, changing the wire diameters of the compression springs and the torsion springs, and adjusting the three groups of connection holes on the rear sole and the forefoot, the action is stable and reliable, the structure is simple, the manufacturing difficulty is low, it is not easy to be damaged, the service life is long, and it is suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the overall structure of a bionic frog jumping robot Figure 1 .

[0019] Figure 2 Schematic diagram of the overall structure of a bionic frog jumping robot Figure 2 .

[0020] Figure 3 Schematic diagram of the coordination between the torso and spring compression frame of a bionic frog jumping robot.

[0021] Figure 4 This is a schematic diagram of the coordination between the trunk, spring compression frame, and motion mechanism of a bionic frog jumping robot.

[0022] Figure 5 This is a schematic diagram of the structure of the torso of a bionic frog jumping robot.

[0023] Figure 6 This is a schematic diagram of the structure of the cam-turbine connector of a bionic frog jumping robot.

[0024] Figure 7This is a schematic diagram of the structure of the lower thigh and torsion spring of a bionic frog jumping robot.

[0025] Figure 8 This is a schematic diagram of the structure of the lower leg of a bionic frog jumping robot.

[0026] Wherein: 1. Torso; 11. Frog-like head; 12. Guide rail; 13. Spring sleeve rod; 14. Fixed shaft; 15. Motor base; 16. Front leg connection hole; 17. Lower leg connection hole; 2. Spring compression frame; 21. Driven shaft; 22. Slider; 23. Upper leg connection hole; 24. Spring compression hole; 3. Cam-turbine connector; 31. Disc cam; 32. Turbine; 33. Rotation hole; 34. Return point; 4. Hind leg; 41. Upper thigh; 42. Lower thigh; 421. Torsion spring slot 1; 43. Lower calf; 432. Torsion spring slot 2; 44. Upper calf; 45. Hind foot; 5. Front leg; 51. Front leg; 52. Front foot; 6. Worm; 61. Connector; 62. Worm thread; 7. Motor; 8. Compression spring; 9. Torsion spring; 91. Torsion spring end 1; 92. Torsion spring end 2 DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0028] Example 1, combined with the attached Figure 1-8 , a bionic frog jumping robot, including a trunk 1, a spring compression frame 2, a cam-worm gear connector 3, hind legs 4, front legs 5, a worm 6, a motor 7, a compression spring 8, and a torsion spring 9;

[0029] The cam-worm gear connecting body 3 includes a worm gear 32 and a disc cam 31 fixedly connected to the worm gear 32;

[0030] The trunk 1 is connected to the front leg 5 in such a manner that the front leg connection hole 16 of the trunk 1 is correspondingly connected to any through hole on the front leg portion 51 of the front leg 5, and the forefoot 52 of the front leg 5 is connected to the remaining through hole on the front leg portion 51. The connection angles between the front leg portion 51 and the front leg connection hole 16 and between the front leg 51 and the forefoot 52 can be adjusted.

[0031] The trunk 1 is connected to the spring compression frame 2 in such a way that the sliders 22 symmetrically arranged on the left and right sides of the spring compression frame 2 respectively penetrate into the guide rails 12 symmetrically arranged on the left and right ends of the trunk 1. The sliders 22 can slide along the guide rails 12, and at the same time, the spring sleeve rod 13 of the trunk 1 also passes through the spring compression hole 24 on the spring compression frame 2.

[0032] The trunk 1 is connected to the cam-worm gear connector 3 in such a way that the fixed shaft 14 on the trunk 1 is inserted into the rotation hole 33 on the cam-worm gear connector 3, and the cam-worm gear connector 3 can rotate relative to the fixed shaft 14;

[0033] The trunk 1 is connected to the motor 7 in such a way that the motor 7 is inserted into the motor seat 15 on the trunk 1 according to the shape;

[0034] The connector 61 on the worm 6 is fixedly connected to the rotating shaft of the motor 7 and rotates synchronously, and the worm body 62 of the worm 6 is meshed with the worm wheel 32 on the cam-worm wheel connector 3;

[0035] The hind leg 4 includes an upper thigh 41, a lower thigh 42, a lower calf 43, an upper calf 44, and a rear foot 45. The through hole at either end of the upper thigh 41 is connected to the thigh connecting hole 23 of the spring compression frame 2, the middle through hole of the upper thigh 41 is connected to the through hole at either end of the lower thigh 42, the remaining end through holes of the upper thigh 41 are connected to the middle through hole of the upper calf 44, and the through hole at one end of the upper calf 44 close to the middle through hole is connected to the calf connecting hole 17 of the torso 1. The middle through hole of the lower leg part 43 is connected to the remaining end through hole of the upper leg part 44, the through hole of one end of the lower leg part 43 close to the middle through hole is connected to the remaining end through hole of the lower thigh part 42, and the remaining end through hole of the lower leg part 43 is connected to the rear sole 45. The nodes where the upper thigh part 41, the lower thigh 42, the lower leg 43 and the upper leg 44 are connected to each other form a parallelogram. The angle of the connection between the remaining end through hole of the lower leg 43 and the rear sole 45 can be adjusted.

[0036] The compression spring 8 is inserted into the spring sleeve rod 13 of the trunk 1, and the outer diameter of the compression spring 8 is larger than the diameter of the spring compression hole 24;

[0037] The torsion spring end 91 of the torsion spring 9 is embedded in the torsion spring groove 421 of the lower thigh 42 , and the torsion spring end 92 of the torsion spring 9 is embedded in the torsion spring groove 431 of the lower leg 43 .

[0038] In this embodiment, a driven shaft 21 is provided on the spring compression frame 2, and the driven shaft 21 is inscribed in the disc cam 31. When the motor 7 drives the worm 6 to rotate, the worm 6 will drive the cam-worm connector 3 to rotate counterclockwise, so that the driven shaft 21 slides relatively along the inner wall of the disc cam 31, so that the slider 22 of the spring compression frame 2 moves forward along the guide rail 12, compressing the compression spring 8 on the spring sleeve rod 13 to actively store energy. The disc cam 31 is provided with a return point 34. When the tangent point between the driven shaft 21 and the disc cam 31 reaches the return point 34, the compression spring 9 quickly releases energy to bounce the spring compression frame 2 back to its initial position. When the spring compression frame 2 compresses the compression spring 9 forward, the hind leg 4 will change from an extended state to a contracted state, the angle between the torsion spring end 1 91 and the torsion spring end 2 92 of the torsion spring 9 will decrease, the torsion spring 9 will be passively compressed, and the tangent point between the driven shaft 21 and the disc cam 31 will reach the return point 34, and the hind leg 4 will then quickly return to an extended state, so that the hind foot 45 pushes off the ground to complete the jump.

[0039] In this embodiment, the spring compression frame 2 has four spring sleeve rods 13, and the four are arranged asymmetrically. The four are arranged as follows: one on the central axis of the trunk 1, one on the right side of the central axis, and two on the left side of the central axis. The specific positions are adapted to the stroke of the disc cam 31. The four compression springs 8 can be increased, decreased, and replaced according to the jumping distance. The wire diameters of the compression spring 8 and the torsion spring 9 can be changed, thereby changing the jumping distance.

[0040] In this embodiment, the rear sole 45 is provided with three sets of optional connection holes that can be connected to the lower part of the calf 43, so that the jumping height can be adjusted. The bottom of the rear sole 45 and the forefoot 52 are both glued with rubber layers of corresponding shapes to increase the friction with the support surface and prevent slipping.

[0041] In the description of the embodiments of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the product of the utility model is usually placed when in use. It is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0042] Furthermore, the use of terms such as "horizontal," "vertical," and "overhanging" does not necessarily imply that the component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0043] In the description of the embodiments of the present invention, “a plurality of” means at least 2.

[0044] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] The above description of the present invention and its embodiments is non-limiting. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by the above, and does not deviate from the purpose of the present invention, without inventive design, a structure and embodiment similar to the technical solution should fall within the scope of protection of the present invention.

Claims

1. A bionic frog jumping robot, characterized by: It comprises a trunk (1), a spring compression frame (2), a cam-worm gear connector (3), hind legs (4), front legs (5), a worm (6), a motor (7), a compression spring (8), and a torsion spring (9); The cam-worm gear connecting body (3) comprises a worm gear (32) and a disc-shaped cam (31) fixedly connected to the worm gear (32); The trunk (1) is connected to the front leg (5) in such a manner that the front leg connecting hole (16) of the trunk (1) is correspondingly connected to any through hole on the front leg portion (51) of the front leg (5), the front sole (52) of the front leg (5) is connected to the remaining through hole on the front leg portion (51), and the connection angles of the connection between the front leg portion (51) and the front leg connecting hole (16) and the connection between the front leg portion (51) and the front sole (52) can be adjusted; The trunk (1) is connected to the spring compression frame (2) in such a manner that the sliders (22) symmetrically arranged on the left and right sides of the spring compression frame (2) respectively penetrate into the guide rails (12) symmetrically arranged on the left and right ends of the trunk (1), and the sliders (22) can slide along the guide rails (12), and at the same time, the spring sleeve rod (13) of the trunk (1) also passes through the spring compression hole (24) on the spring compression frame (2); The trunk (1) is connected to the cam-worm gear connector (3) in such a manner that a fixed shaft (14) on the trunk (1) is inserted into a rotation hole (33) on the cam-worm gear connector (3), and the cam-worm gear connector (3) can rotate relative to the fixed shaft (14); The trunk (1) is connected to the motor (7) in such a way that the motor (7) is inserted into a motor seat (15) on the trunk (1) according to its shape; The connector (61) on the worm (6) is fixedly connected to the rotating shaft of the motor (7) and rotates synchronously, and the worm body (62) of the worm (6) is meshed with the worm wheel (32) on the cam-worm wheel connector (3); The rear leg (4) comprises an upper thigh (41), a lower thigh (42), a lower calf (43), an upper calf (44), and a rear sole (45). A through hole at either end of the upper thigh (41) is connected to a thigh connecting hole (23) of the spring compression frame (2). A middle through hole of the upper thigh (41) is connected to a through hole at either end of the lower thigh (42). The remaining through holes of the upper thigh (41) are connected to a middle through hole of the upper calf (44). A through hole at one end of the upper calf (44) close to the middle through hole is connected to a calf connecting hole of the trunk (1). (17) are connected, the middle through hole of the lower leg (43) is connected to the remaining end through hole of the upper leg (44), the through hole of one end of the lower leg (43) close to the middle through hole is connected to the remaining end through hole of the lower thigh (42), the remaining end through hole of the lower leg (43) is connected to the rear sole (45), the nodes where the upper thigh (41), the lower thigh (42), the lower leg (43) and the upper leg (44) are connected to each other form a parallelogram, and the angle of the connection between the remaining end through hole of the lower leg (43) and the rear sole (45) can be adjusted; The compression spring (8) is inserted into the spring sleeve rod (13) of the trunk (1), and the outer diameter of the compression spring (8) is larger than the diameter of the spring compression hole (24); The first torsion spring end (91) of the torsion spring (9) is embedded in the first torsion spring groove (421) of the lower thigh (42), and the second torsion spring end (92) of the torsion spring (9) is embedded in the second torsion spring groove (431) of the lower leg (43).

2. A bionic frog jumping robot according to claim 1, characterized in that: The spring compression frame (2) is provided with a driven shaft (21), and the driven shaft (21) is inscribed in the disc cam (31). When the motor (7) drives the worm (6) to rotate, the worm (6) drives the cam-worm connector (3) to rotate counterclockwise, so that the driven shaft (21) slides relatively along the inner wall of the disc cam (31), so that the slider (22) of the spring compression frame (2) moves forward along the guide rail (12), compressing the compression spring (8) sleeved on the spring sleeve rod (13) to actively store energy. The disc cam (31) is provided with a return point (34). When the tangent point between the driven shaft (21) and the disc cam (31) reaches the return point (34), the compression spring (8) quickly releases energy and rebounds the spring compression frame (2) to its initial position.

3. A bionic frog jumping robot according to claim 2, characterized in that: When the spring compression frame (2) compresses the compression spring (8) forward, the hind leg (4) changes from an extended state to a contracted state, the angle between the torsion spring end 1 (91) and the torsion spring end 2 (92) of the torsion spring (9) decreases, the torsion spring (9) is passively compressed, and the tangent point between the driven shaft (21) and the disc cam (31) reaches the kick-back point (34), and the hind leg (4) then quickly returns to an extended state, so that the hind foot (45) pushes off the ground to complete the jump.

4. The bionic frog jumping robot according to claim 1, characterized in that: The spring compression frame (2) has four spring sleeve rods (13), which are arranged asymmetrically. The four rods are arranged in the following manner: one on the central axis of the trunk (1), one on the right side of the central axis, and two on the left side of the central axis.

5. A bionic frog jumping robot according to any one of claims 1 to 4, characterized in that: The rear sole (45) is provided with three groups of optional connection holes that can be connected to the lower part of the calf (43), so that the jumping height can be adjusted. The bottoms of the rear sole (45) and the front sole (52) are both adhered with rubber layers of corresponding shapes.

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