Bionic frog jumping motion robot

Abstract

The utility model discloses a bionic frog jumping motion robot which comprises a front face plate, the front face plate is of a vertically-arranged U-shaped plate structure, two frog arms are oppositely arranged on the vertical portion, away from a bent portion, of the U-shaped plate structure in parallel, the frog arms extend in the horizontal direction and are perpendicular to the front face plate, and each frog arm is provided with a parallel four-face rod structure. The bionic frog electric robot solves the problems that an existing bionic frog electric robot is poor in jumping effect and poor in overall stability.

Description

Technical Field

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

[0002] The bionic frog robot mimics the behavior and appearance of a frog. Based on a frog-like body structure and jumping mechanism, including limbs, torso, and tail, it achieves jumping and climbing movements through muscle contraction and skeletal extension. The bionic frog robot combines the advantages of biological characteristics and mechanical structure, offering a wide range of mobility advantages. Therefore, it is often used to replace humans in various harsh, complex, unknown, and unstructured environments.

[0003] The jumping robot that imitates the behavior of a frog has the characteristics of fast take-off and landing speed and short air time during the jumping process, which makes it very difficult to adjust the robot's posture in a very short time.

[0004] The jumping robots in the existing technology have many degrees of freedom, complex mechanical structures and controls, a low ratio of the bionic robot's load-bearing energy consumption to total energy consumption, and low jumping efficiency. In traditional technology, the motor drives the entire bionic frog robot to jump directly. The instantaneous force generated by the motor causes the entire bionic frog robot to shake during the jump. The bionic frog robot mainly uses a transmission mechanism to achieve the robot's jumping. However, the torque of the electric drive motor is fixed when it jumps, so the power assist when the frog robot jumps is also fixed, which cannot improve the explosive effect of its jump, resulting in poor jumping effect of the bionic frog electric robot. The overall stability of the bionic frog electric robot is poor and cannot cope with various scenarios. Utility Model Content

[0005] The utility model aims to provide a bionic frog jumping robot, which solves the problems of poor jumping effect and poor overall stability of the existing bionic frog electric robots.

[0006] The technical solution adopted by the utility model is a bionic frog jumping robot, which includes a front panel. The front panel adopts a vertically arranged U-shaped plate structure. Two frog arms are relatively parallel to each other in the vertical part of the U-shaped plate structure away from the bent part. The frog arms extend in the horizontal direction and are perpendicular to the front panel. A parallelogram structure is arranged on each frog arm.

[0007] The utility model is also characterized in that:

[0008] The frog arm is an approximately L-shaped plate structure, which includes a vertical plate and a horizontal plate. The vertical plate and the horizontal plate are connected by a support column. The vertical plate is vertically connected to the U-shaped plate structure. Rotating holes a are opened in the middle of the two horizontal plates, and the rotating shaft a is sleeved in the rotating hole a.

[0009] The parallelogram structure includes a driving leg, a through hole is provided in the middle of the driving leg, the through hole is located on the outside of the frog arm and is arranged opposite to the rotating hole a, and the rotating shaft a is sleeved in the through hole. Two threaded holes are provided at equal distances in the lower part of the driving leg, the threaded hole at the bottom end is threadedly connected to the third connecting rod, and the other threaded hole is threadedly connected to the second connecting rod. A connecting hole is provided in the middle of the second connecting rod, a rotating hole b is provided at the horizontal plate end of the frog arm, the rotating shaft b is sleeved in the rotating hole b, the first connecting rod is sleeved on the rotating shaft b, and the bottom of the first connecting rod is rotatably connected to the connecting hole; threaded holes are provided at the ends of the third connecting rod and the second connecting rod, and the frog legs are connected through the threaded holes.

[0010] Two motor seats are arranged opposite to each other on the top of the U-shaped plate structure, and the motor is fixed in the motor seat, and the coupling is sleeved on the motor output shaft; the hinge support is connected between the tops of the two driving legs, and the hinge support passes through the outer side of the driving leg and a support screw is set, and an elastic rope is wrapped between the coupling and the hinge support; the horizontal plate ends of the two frog arms are connected to the fixed rod, and a reset spring is set in the middle of the fixed rod, and the top of the reset spring is connected to the hinge support.

[0011] Fixing screws are sleeved in the threaded holes at the ends of the third connecting rod and the second connecting rod, and the third connecting rod and the second connecting rod are rotatably connected to the frog legs through the fixing screws.

[0012] A frog palm is provided at the bottom of the frog leg, and an anti-slip pattern is provided on the lower surface of the frog palm.

[0013] The front panel, frog arm, support column, driving leg, first connecting rod, second connecting rod, third connecting rod, and frog leg are all printed with PLA material. Several hollows are evenly opened on the front panel, frog arm, and driving leg.

[0014] The elastic cord is made of rubber band.

[0015] The beneficial effects of the present invention are as follows: the driving legs, the first connecting rod, the second connecting rod, the third connecting rod, and the frog legs each form two parallelograms, thereby enabling the bionic frog to achieve long-distance jumping. The parallelogram structure allows for smoother force transmission, greater adaptability and flexibility, and enables the bionic frog to accurately release accumulated power, improving energy conversion efficiency, achieving superior jumping performance, and significantly enhancing the stability of the jumping process. Furthermore, the bionic frog robot can jump farther. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a side view of the bionic frog jumping robot of the present invention;

[0017] Figure 2 This is a front view of the bionic frog jumping robot of the present invention;

[0018] Figure 3This is a top view of the bionic frog jumping robot of the present invention.

[0019] In the figure, 1. front panel, 2. frog arm, 3. support column, 4. driving leg, 5. first connecting rod, 6. second connecting rod, 7. third connecting rod, 8. frog leg, 9. frog palm, 10. hinge support. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0021] Example 1

[0022] The bionic frog jumping robot of the utility model is as follows: Figure 1 and Figure 2 As shown, it includes a front panel 1, which adopts a vertically arranged U-shaped plate structure. Two frog arms 2 are relatively parallel to each other in the vertical part of the U-shaped plate structure away from the bent part. The frog arms 2 extend in the horizontal direction and are perpendicular to the front panel 1. A parallelogram structure is set on each frog arm 2. The parallelogram structure controls the dynamic performance of the robot to adapt to different tasks and environmental requirements and realize the bionic frog jumping movement.

[0023] Example 2

[0024] The bionic frog jumping robot of the present invention includes a front panel 1, which adopts a vertically arranged U-shaped plate structure. Two frog arms 2 are relatively parallel to each other in the vertical part of the U-shaped plate structure away from the bending part. The frog arms 2 extend in the horizontal direction and are perpendicular to the front panel 1. A parallelogram structure is arranged on each frog arm 2. On the basis of Example 1, the frog arms 2 in this embodiment are approximately L-shaped plate structures. The L-shaped plate structure includes a vertical plate and a horizontal plate. A support column 3 is connected between the vertical plate and the horizontal plate. The vertical plate is vertically connected to the U-shaped plate structure. Rotating holes a are relatively opened in the middle of the two horizontal plates, and a rotating shaft a is sleeved in the rotating hole a.

[0025] Example 3

[0026] The bionic frog jumping robot of the present invention includes a front panel 1, which adopts a vertically arranged U-shaped plate structure. Two frog arms 2 are relatively parallel to each other in the vertical part of the U-shaped plate structure away from the bent part. The frog arms 2 extend in the horizontal direction and are perpendicular to the front panel 1. A parallelogram structure is arranged on each frog arm 2. The frog arms 2 are approximately L-shaped plate structures. The L-shaped plate structure includes a vertical plate and a horizontal plate. A support column 3 is connected between the vertical plate and the horizontal plate. The vertical plate is vertically connected to the U-shaped plate structure. Rotating holes a are relatively provided in the middle parts of the two horizontal plates, and a rotating shaft a is sleeved in the rotating hole a. On the basis of Example 2, the parallelogram structure in this embodiment includes a driving leg 4, a through hole is provided in the middle of the driving leg 4, the through hole is located on the outside of the frog arm 2 and is opposite to the rotating hole a, and the rotating shaft a is sleeved in the through hole, two threaded holes are provided at equal distances at the lower part of the driving leg 4, the third connecting rod 7 is threadedly connected in the threaded hole at the bottom end, and the second connecting rod 6 is threaded in the other threaded hole, a connecting hole is provided in the middle of the second connecting rod 6, a rotating hole is provided at the end of the horizontal plate of the frog arm 2, the rotating shaft b is sleeved in the rotating hole b, the first connecting rod 5 is sleeved on the rotating shaft b, and the bottom of the first connecting rod 5 is rotatably connected to the connecting hole; threaded holes are provided at the ends of the third connecting rod 7 and the second connecting rod 6, and the frog leg 8 is connected through the threaded holes, which increases the reliability of the robot's operation, ensures the balance of the robot in static and dynamic conditions, and avoids the occurrence of unstable phenomena such as rollover.

[0027] Example 4

[0028] The bionic frog jumping robot of the present invention includes a front panel 1, which adopts a vertically arranged U-shaped plate structure. Two frog arms 2 are relatively parallel to each other in the vertical part of the U-shaped plate structure away from the bent part. The frog arms 2 extend in the horizontal direction and are perpendicular to the front panel 1. A parallelogram structure is arranged on each frog arm 2. The frog arms 2 are approximately L-shaped plate structures. The L-shaped plate structure includes a vertical plate and a horizontal plate. A support column 3 is connected between the vertical plate and the horizontal plate. The vertical plate is vertically connected to the U-shaped plate structure. Rotating holes a are relatively provided in the middle parts of the two horizontal plates, and a rotating shaft a is sleeved in the rotating hole a. The parallelogram structure includes a driving leg 4, with a through hole in the middle of the driving leg 4. The through hole is located on the outside of the frog arm 2 and is opposite to the rotating hole a. The rotating shaft a is inserted into the through hole. Two threaded holes are equidistantly provided at the bottom of the driving leg 4. The threaded hole at the bottom end is threadedly connected to the third connecting rod 7, and the other threaded hole is threadedly connected to the second connecting rod 6. The middle of the second connecting rod 6 has a connecting hole. The horizontal plate end of the frog arm 2 has a rotating hole b. The rotating hole b is inserted into the rotating hole b. The first connecting rod 5 is inserted on the rotating shaft b. The bottom of the first connecting rod 5 is rotatably connected to the connecting hole. The ends of the third connecting rod 7 and the second connecting rod 6 each have a threaded hole, and the frog leg 8 is connected through the threaded holes. Based on Example 3, in this embodiment, the threaded holes at the ends of the third connecting rod 7 and the second connecting rod 6 are inserted into the threaded holes. The third connecting rod 7 and the second connecting rod 6 are rotatably connected to the frog leg 8 through the fixing screws. A frog foot 9 is provided at the bottom of the frog leg 8. The frog foot 9 significantly reduces the rigid impact on the robot during landing, improves the posture stability of the robot during landing, and provides good protection for the mechanical structure. The anti-slip grooves on the lower surface of the frog's paw enhance the friction between the robot and the ground, improve the robot's grip and stability, and avoid slipping.

[0029] Example 5

[0030] The bionic frog jumping robot of the present invention includes a front panel 1, which adopts a vertically arranged U-shaped plate structure. Two frog arms 2 are relatively parallel to each other in the vertical part of the U-shaped plate structure away from the bent part. The frog arms 2 extend in the horizontal direction and are perpendicular to the front panel 1. A parallelogram structure is arranged on each frog arm 2. The frog arms 2 are approximately L-shaped plate structures. The L-shaped plate structure includes a vertical plate and a horizontal plate. A support column 3 is connected between the vertical plate and the horizontal plate. The vertical plate is vertically connected to the U-shaped plate structure. Rotating holes a are relatively provided in the middle parts of the two horizontal plates, and a rotating shaft a is sleeved in the rotating hole a. The parallelogram structure includes a driving leg 4, a through hole is provided in the middle of the driving leg 4, the through hole is located on the outside of the frog arm 2 and is opposite to the rotating hole a, and the rotating shaft a is sleeved in the through hole, two threaded holes are provided at equal distances at the lower part of the driving leg 4, the third connecting rod 7 is threadedly connected in the threaded hole at the bottom end, and the second connecting rod 6 is threadedly connected in the other threaded hole, a connecting hole is provided in the middle of the second connecting rod 6, a rotating hole b is provided at the end of the horizontal plate of the frog arm 2, the rotating shaft b is sleeved in the rotating hole b, the first connecting rod 5 is sleeved on the rotating shaft b, and the bottom of the first connecting rod 5 is rotatably connected to the connecting hole; threaded holes are provided at the ends of the third connecting rod 7 and the second connecting rod 6, which are connected to the frog leg 8 through the threaded holes. The threaded holes at the ends of the third connecting rod 7 and the second connecting rod 6 are sleeved with fixing screws, and the third connecting rod 7 and the second connecting rod 6 are rotatably connected to the frog legs 8 through the fixing screws. A frog palm 9 is provided at the bottom of the frog leg 8, and an anti-slip pattern is provided on the lower surface of the frog palm. On the basis of Example 4, in this embodiment, two motor seats are relatively provided on the top of the U-shaped plate structure, and a motor is fixedly provided in the motor seat. The motor ensures sufficient power supply, and a coupling is sleeved on the motor output shaft; a hinge support 10 is connected between the tops of the two driving legs 4, and a support screw is provided on the hinge support 10 through the outer side of the driving leg 4, and an elastic rope is wound between the coupling and the hinge support 10; the horizontal plate ends of the two frog arms 2 are connected to the fixing rod, and a reset spring is provided in the middle of the fixing rod, and the top of the reset spring is connected to the hinge support 10, as shown Figure 3 shown.

[0031] Example 6

[0032] The bionic frog jumping robot of the present invention includes a front panel 1, which adopts a vertically arranged U-shaped plate structure. Two frog arms 2 are relatively parallel to each other in the vertical part of the U-shaped plate structure away from the bent part. The frog arms 2 extend in the horizontal direction and are perpendicular to the front panel 1. A parallelogram structure is arranged on each frog arm 2. The frog arms 2 are approximately L-shaped plate structures. The L-shaped plate structure includes a vertical plate and a horizontal plate. A support column 3 is connected between the vertical plate and the horizontal plate. The vertical plate is vertically connected to the U-shaped plate structure. Rotating holes a are relatively provided in the middle parts of the two horizontal plates, and a rotating shaft a is sleeved in the rotating hole a. The parallelogram structure includes a driving leg 4, a through hole is provided in the middle of the driving leg 4, the through hole is located on the outside of the frog arm 2 and is opposite to the rotating hole a, and the rotating shaft a is sleeved in the through hole, two threaded holes are provided at equal distances at the lower part of the driving leg 4, the third connecting rod 7 is threadedly connected in the threaded hole at the bottom end, and the second connecting rod 6 is threadedly connected in the other threaded hole, a connecting hole is provided in the middle of the second connecting rod 6, a rotating hole b is provided at the end of the horizontal plate of the frog arm 2, the rotating shaft b is sleeved in the rotating hole b, the first connecting rod 5 is sleeved on the rotating shaft b, and the bottom of the first connecting rod 5 is rotatably connected to the connecting hole; threaded holes are provided at the ends of the third connecting rod 7 and the second connecting rod 6, which are connected to the frog leg 8 through the threaded holes. Fixing screws are sleeved in the threaded holes at the ends of the third connecting rod 7 and the second connecting rod 6, and the third connecting rod 7 and the second connecting rod 6 are rotatably connected to the frog legs 8 through the fixing screws. A frog palm 9 is provided at the bottom of the frog leg 8, and anti-slip grooves are provided on the lower surface of the frog palm. Two motor seats are relatively provided on the top of the U-shaped plate structure, and the motor is fixedly provided in the motor seat. The motor ensures sufficient power supply, and a coupling is sleeved on the motor output shaft; a hinge support 10 is connected between the tops of the two driving legs 4, and a support screw is provided on the hinge support 10 through the outside of the driving leg 4, and an elastic rope is wrapped around the coupling and the hinge support 10; the horizontal plate ends of the two frog arms 2 are connected to the fixing rod, and a reset spring is provided in the middle of the fixing rod, and the top of the reset spring is connected to the hinge support 10. On the basis of Example 5, in this embodiment, the front panel 1, frog arm 2, support column 3, driving leg 4, first connecting rod 5, second connecting rod 6, third connecting rod 7, and frog leg 8 are all made of PLA printing material. A number of hollows are evenly opened on the front panel 1, frog arm 2, and driving leg 4. While ensuring strength, the weight can be reduced, and the jumping of the bionic frog can be better realized, and the resistance caused by its own weight is reduced to enhance the jumping force and stability; the overall size is 0.2m*0.2cm*0.2cm and below, the overall weight does not exceed 2kg, the body volume is small, making the movement more sensitive, and the small and agile body is not only easy to carry, but also can adapt to more working environments, which is conducive to improving the practicality and universality of the robot.

[0033] The elastic cord uses rubber bands to give the robot greater jumping power and longer jumping distance, so as to transfer the force to the robot's limbs more evenly, making the jumping movement smoother and more coordinated.

[0034] The working principle of the bionic frog jumping robot of the present invention is as follows: the driving legs 4, the first connecting rod 5 and the second connecting rod 6 are rotatably connected on the horizontal plate of the frog arm 2 on each side to form a group of parallelogram structures; the driving legs 4, the second connecting rod 6, the third connecting rod 7 and the frog legs 8 form another group of parallelogram structures; the two groups of parallelogram structures constitute a linked parallelogram structure; the top of the driving leg 4 is pulled by the motor, and the middle part of the driving leg 4 rotates around the frog arm 2 through the rotating shaft a, driving the parallelogram structure to shrink and move in parallel, so that the bionic frog robot jumps forward when jumping; in this process, the elastic potential energy of the rubber band is used to increase the jumping distance of the robot and improve the jumping explosive power of the frog legs; the frog palm serves as an overall support to ensure the overall stability and prevent the bionic frog robot from tilting or rolling during the jumping process.

[0035] The working process of the bionic frog jumping robot of the present invention is as follows: the motor rotates, driving the coupling to pull the elastic rope, and then the elastic rope pulls the driving leg 4 to move forward. The motor controls the parallelogram structure to perform spatial rotational movement, thereby lowering the center of gravity of the robot. At this time, the robot is in a low-lying posture as a whole, and the robot jumps forward to release elastic potential energy. By driving the first connecting rod 5, the second connecting rod 6, the third connecting rod 7, and the frog leg to store force, the robot obtains greater jumping power and a longer jumping distance.

[0036] This bionic frog-like jumping robot has a simple structure, a high degree of biomimetic imitation, and high jumping efficiency. During the jump phase, the rubber band releases energy, causing the robot to soar into the air. While in mid-air, the parallelogram structure remains unchanged, ensuring the overall center of gravity balance of the framework. The robot lands smoothly, and the hind limb motors rotate to recharge energy for the next jump. This improves the robot's biomimetic imitation and enhances its jumping ability.

Claims

1. A bionic frog jumping robot, characterized in that: The invention comprises a front panel (1), wherein the front panel (1) adopts a vertically arranged U-shaped plate structure, wherein two frog arms (2) are arranged in parallel on a vertical portion of the U-shaped plate structure away from the bent portion, wherein the frog arms (2) extend in a horizontal direction, are perpendicular to the front panel (1), and each frog arm (2) is provided with a parallelogram structure.

2. The bionic frog jumping robot according to claim 1, characterized in that: The frog arm (2) is approximately an L-shaped plate structure, which includes a vertical plate and a horizontal plate. A support column (3) is connected between the vertical plate and the horizontal plate. The vertical plate is vertically connected to the U-shaped plate structure. Rotary holes a are provided in the middle of the two horizontal plates. The rotating shaft a is sleeved in the rotating hole a.

3. The bionic frog jumping robot according to claim 2, characterized in that: The parallelogram structure comprises a driving leg (4), a through hole is provided in the middle of the driving leg (4), the through hole is located on the outside of the frog arm (2) and is arranged opposite to the rotating hole a, the rotating shaft a is sleeved in the through hole, two threaded holes are provided at equal intervals in the lower part of the driving leg (4), the threaded hole at the bottom end is threadedly connected to the third connecting rod (7), the threaded hole at the other end is threadedly connected to the second connecting rod (6), the middle part of the second connecting rod (6) is provided with a connecting hole, a rotating hole b is provided at the end of the horizontal plate of the frog arm (2), the rotating shaft b is sleeved in the rotating hole b, the first connecting rod (5) is sleeved on the rotating shaft b, and the bottom of the first connecting rod (5) is rotatably connected to the connecting hole; the ends of the third connecting rod (7) and the second connecting rod (6) are both provided with threaded holes, and the frog leg (8) is connected through the threaded holes.

4. The bionic frog jumping robot according to claim 3, characterized in that: Two motor seats are arranged opposite to each other at the top of the U-shaped plate structure, a motor is fixedly arranged in the motor seat, and a coupling is sleeved on the motor output shaft; a hinge support (10) is connected between the tops of the two driving legs (4), a support screw is arranged on the outer side of the hinge support (10) passing through the driving legs (4), and an elastic rope is wound between the coupling and the hinge support (10); the horizontal plate ends of the two frog arms (2) are connected to a fixed rod, a reset spring is arranged in the middle of the fixed rod, and the top of the reset spring is connected to the hinge support (10).

5. The bionic frog jumping robot according to claim 4, characterized in that: Fixing screws are sleeved into the threaded holes at the ends of the third connecting rod (7) and the second connecting rod (6), and the third connecting rod (7) and the second connecting rod (6) are rotatably connected to the frog leg (8) through the fixing screws.

6. The bionic frog jumping robot according to claim 5, characterized in that: A frog palm (9) is provided at the bottom of the frog leg (8), and an anti-slip pattern is provided on the lower surface of the frog palm.

7. The bionic frog jumping robot according to claim 6, characterized in that: The front panel (1), frog arm (2), support column (3), driving leg (4), first connecting rod (5), second connecting rod (6), third connecting rod (7), and frog leg (8) are all made of PLA printing material, and a number of hollows are evenly opened on the front panel (1), frog arm (2), and driving leg (4).

8. The bionic frog jumping robot according to claim 7, characterized in that: The elastic rope is a rubber band.

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