Bionic frog jumping robot with coiling trigger type structure

Abstract

The utility model discloses a bionic frog jumping robot with a coiling trigger type structure. The bionic frog jumping robot comprises a trunk shell, a spring, a hollow shaft, a pull wire, a tail structure, front legs and rear legs. The upper end of the hollow shaft is slidably connected with the trunk shell, the lower end of the hollow shaft is fixedly connected with the tail structure, the hollow shaft is sleeved with the spring, a driving device and a rotating shaft are arranged in the trunk shell, a barbell sleeve is detachably and fixedly arranged on the tail structure, and the two ends of the pull wire are fixedly connected with the rotating shaft and the barbell sleeve respectively. The two ends of the rear legs are hinged to the trunk shell and the tail structure respectively, when the trunk shell compresses the spring to a certain degree, the barbell sleeve is separated from the tail structure, and the take-off action occurs at the moment when the pulling force of the pull wire disappears. According to the device, energy is effectively accumulated through the unique winding device, energy is instantly released through an automatic release mechanism, and efficient energy storage and powerful jumping are achieved; the device is simple in structure and easy to operate, and has good controllability and stability.

Description

Technical Field

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

[0002] Jumping robots are currently a hot topic of research. Due to their unique locomotion and efficient energy conversion, they hold potential for applications in exploration, rescue, and military applications. However, despite significant progress in jumping robot research, relatively little research has focused on small-scale bionic frog robots. This is primarily due to numerous challenges in structural design, motion control, and energy management. Current research on bionic frog robots focuses primarily on simulating the leaping motion of a frog's hind legs through complex linkage structures. While this design approach can achieve a certain degree of frog-like jumping, it also presents some significant challenges. For example, the complex linkage structure results in a large bionic frog robot, making it difficult to carry and operate in practical applications. Furthermore, the complex structure also increases manufacturing and maintenance costs, making repairs more difficult. Finally, existing bionic frog robots also exhibit shortcomings in long-jump performance, failing to reach the level of a real frog.

[0003] Therefore, the utility model designs a bionic frog jumping robot with a winding-triggered structure. This design not only realizes the frog's unique hind leg pushing-off jumping method, but also significantly improves the jumping performance, while avoiding the energy loss and life problems caused by the complex connecting rod structure. Summary of the Invention

[0004] The purpose of this utility model is to address the problems existing in the prior art and provide a bionic frog jumping robot with a winding-trigger structure. The robot has a stable structure, is easy to operate, and has good controllability. Its unique energy storage and release mechanism avoids the energy loss and life problems caused by the complex connecting rod structure.

[0005] The utility model adopts the following technical solutions:

[0006] The utility model provides a bionic frog jumping robot with a winding-trigger structure, comprising a trunk shell, a spring, a hollow shaft, a pull wire, a tail structure and at least one group of front legs; the hollow shaft is arranged obliquely, the upper end of the hollow shaft is slidably connected to the trunk shell, and the lower end is fixedly connected to the tail structure; the spring is sleeved on the outside of the hollow shaft, and the spring is distributed between the trunk shell and the tail structure; a driving device and a rotating shaft are arranged inside the trunk shell, the driving device is drivingly connected to the rotating shaft, and the driving device can drive the rotating shaft to rotate; the tail structure is detachably and fixedly provided with a barbell sleeve, one end of the pull wire is fixedly connected to the rotating shaft, and the other end is fixedly connected to the barbell sleeve, and the pull wire and the hollow shaft are parallel to each other; the front legs are fixedly arranged below the trunk shell, the bottoms of the front legs are in contact with the ground, and the bottom of the tail structure is in contact with the ground.

[0007] Furthermore, at least one set of hind legs is provided to tightly connect the torso and tail during jumping, preventing the torso and tail from separating. The hind legs include a first connecting rod and a second connecting rod, wherein the upper end of the first connecting rod is hinged to the torso housing, the lower end of the first connecting rod is hinged to the upper end of the second connecting rod, and the lower end of the second connecting rod is hinged to the tail structure.

[0008] Furthermore, the barbell sleeve is detachably connected to the tail structure through a trigger structure; the trigger structure includes a touch pin and two groups of buckle plates, the buckle plates include an integrally formed long claw, a short claw and a connecting end, and the connecting ends of the two groups of buckle plates are fixedly connected by a touch pin; the tail structure includes a base plate, a mounting seat is fixedly provided in the center of the base plate, and force-dispersing sheet metals are fixedly provided on both sides of the mounting seat, and the force-dispersing sheet metals are fixed on the base plate, and the long claws of the two groups of buckle plates are hinged to the two groups of force-dispersing sheet metals respectively; a first groove is provided between the long claw and the short claw, and a second groove is provided on the top of the mounting seat. When the short claw is distributed on the top of the mounting seat, the barbell sleeve is confined to the space formed by the first groove and the second groove. When the short claw leaves the top of the mounting seat, the barbell sleeve is separated from the tail structure.

[0009] Furthermore, a touch block is provided on a side of the trunk shell facing the tail structure. When the trunk shell is close to the tail structure, the touch block can contact the touch pin shaft and apply force to the touch pin shaft.

[0010] Furthermore, the drive device includes two groups of drive components that are mirror-symmetrical; the drive components include a reduction DC motor, a large gear and a small gear, the reduction DC motor is fixed inside the trunk shell, the small gear is fixedly connected to the output end of the reduction DC motor, the large gear is rotatably installed inside the trunk shell, and the large gear and the small gear are engaged with each other; the large gears of the two groups of drive components are parallel to each other, the rotating shaft is vertically arranged between the two groups of large gears, and the two ends of the rotating shaft are respectively fixedly connected to the centers of the two groups of large gears.

[0011] Furthermore, a power supply is provided inside the trunk shell, and the power supply provides electrical energy to the driving device.

[0012] Furthermore, an infrared control module is provided on the outer surface of the trunk shell for controlling the opening and closing of the driving device.

[0013] Furthermore, sliding columns are fixed and symmetrically arranged on both sides of the torso shell, and a sliding hole adapted to the hollow shaft is opened in the center of the sliding column. Two groups of hollow shafts are provided, and the upper ends of the two groups of hollow shafts are slidingly connected to the two groups of sliding columns through the sliding holes respectively; two groups of springs are provided, and the two groups of springs are respectively sleeved on the outside of the two groups of hollow shafts; the tail structure is provided with two groups of fixed columns, and a hole adapted to the hollow shaft is opened in the center of the fixed column, and the lower ends of the two groups of hollow shafts are respectively installed in the holes of the fixed columns.

[0014] Furthermore, the trunk shell is fixedly and symmetrically provided with rear leg connecting pieces on both sides, and the rear leg connecting pieces are provided with a first mounting slot. The rear legs are provided with two groups, and the first connecting rods of the two groups of rear legs are respectively hingedly installed in the first mounting slot; the tail structure is provided with two groups of second mounting slots, and the second connecting rods of the two groups of rear legs are respectively hingedly installed in the second mounting slot.

[0015] Furthermore, two groups of front legs are provided, and rollers are provided at the lower ends of the front legs to ensure that the tail of the bionic frog can maintain stable contact with the ground during the power accumulation process.

[0016] Beneficial effects of the utility model:

[0017] (1) The utility model utilizes a unique winding device and automatic release mechanism. Through the winding device, the mechanism can linearly compress the spring and effectively accumulate energy. When the spring is compressed to a preset distance, the winding release device automatically starts and releases energy instantly, achieving efficient energy storage and powerful jumping;

[0018] (2) The utility model has a stable structure, is easy to operate, has good controllability and stability, and its unique energy storage and release mechanism also provides new ideas and methods for energy conversion and utilization in other fields;

[0019] (3) The utility model has a simple structure and a small size, is easy to carry and operate in actual applications, has low manufacturing and maintenance costs, and is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a bionic frog jumping robot with a winding trigger structure;

[0021] Figure 2 Schematic diagram of the installation structure for the torso parts;

[0022] Figure 3Schematic diagram of the trigger structure;

[0023] Figure 4 Schematic diagram of the tail structure;

[0024] Figure 5 This is a schematic diagram of the distribution of the drive device, spring, and hollow shaft;

[0025] Figure 6 This is a static diagram of the bionic frog jumping robot;

[0026] Figure 7 This is a schematic diagram of the bionic frog jumping robot's take-off posture;

[0027] Figure numerals: 1. power supply; 2. trunk shell; 3. large gear; 4. reduction DC motor; 5. front leg; 6. roller; 7. infrared control module; 8. touch block; 9. hollow shaft; 10. spring; 11. trigger structure; 12. tail structure; 13. hind leg; 14. force-dissipating sheet metal; 15. sliding column; 16. hind leg connector; 17. fixing column; 18. mounting seat; 11-1. pull wire; 11-2. short claw of the buckle; 11-3. barbell sleeve; 11-4. long claw of the buckle; 11-5. connecting end; 11-6. touch pin shaft. DETAILED DESCRIPTION

[0028] 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 drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0029] Example 1

[0030] See also Figures 1 to 7As shown, an embodiment of the present invention provides a bionic frog jumping robot with a winding trigger structure, comprising a trunk housing 2, a spring 10, a hollow shaft 9, a pull wire 11-1, a tail structure 12, and two sets of front legs 5. The hollow shaft 9 is tilted, with its upper end slidingly connected to the trunk housing 2 and its lower end fixedly connected to the tail structure 12. The spring 10 is sleeved onto the outside of the hollow shaft 9 and distributed between the trunk housing 2 and the tail structure 12. The trunk housing 2 is internally provided with a drive device and a rotating shaft for fixing the pull wire. The drive device is drivingly connected to the rotating shaft and can drive the rotating shaft to rotate. The tail structure 12 is detachably fixedly provided with a barbell sleeve 11-3, the bottom of which contacts the ground. One end of the pull wire 11-1 is fixedly connected to the middle of the rotating shaft, and the other end is fixedly connected to the middle of the barbell sleeve 11-3. The pull wire 11-1 and the hollow shaft 9 are parallel to each other. The front leg 5 is fixedly arranged below the torso shell 2. The thigh of the front leg 5 is wider than the calf, which avoids the risk of breakage. A roller 6 is provided at the lower end of the front leg 5 to ensure that the tail of the bionic frog can maintain stable contact with the ground during the power storage process. The roller 6 of the front leg 5 is in contact with the ground. The front leg mechanism ensures that the frog's jumping direction after power storage is consistent with the initial direction, thereby improving the controllability of its jumping direction.

[0031] In this embodiment, two sets of hind legs 13 are provided to tightly connect the trunk and tail during jumping, preventing them from separating. These hind legs 13 are parallel to the hollow shaft 9 and comprise a first connecting rod and a second connecting rod. The upper end of the first connecting rod is hinged to the trunk housing 2, the lower end of the first connecting rod is hinged to the upper end of the second connecting rod, and the lower end of the second connecting rod is hinged to the tail structure 12. When the bionic frog jumps, the hind legs 13 prevent the trunk and tail from separating and provide support during the jump, adjusting the bionic frog's jumping posture angle to approximately 60°.

[0032] In this embodiment, a power source 1 (aviation battery) is further provided inside the trunk shell 2 to provide power to the drive device. An infrared control module 7 is provided on the outer surface of the trunk shell 2 to control the opening and closing of the drive device.

[0033] The application principle of this embodiment is as follows:

[0034] When in use, the driving device is started, and the driving device drives the rotating shaft to rotate, so that the pull wire 11-1 is wound around the rotating shaft, and then drives the torso shell 2 to move toward the tail structure 12. The torso shell 2 applies force to the spring 10 to compress it. When it is compressed to a certain extent, the barbell sleeve 11-3 is detached from the tail structure 12. At the moment when the tension of the pull wire 11-1 disappears, the device takes off.

[0035] Before the bionic frog jumps, the roller 6 of the front leg 13 touches the ground with the tail structure 12, and the force is compressed and stored until the moment before jumping, when the knee joint of the hind leg 13 (the connection between the first connecting rod and the second connecting rod) touches the ground with the tail structure 12. The optimal jumping angle of the bionic frog is between 45° and 70°. At this time, the bionic frog's jumping distance will reach the farthest and it will not slip on the ground and cause kinetic energy loss. The center of gravity of the bionic frog is adjusted to a position close to the force line of the leg and the ground, which is used to improve the conversion of translational kinetic energy, so that the bionic frog can jump farther.

[0036] Example 2

[0037] The main structure of this embodiment is the same as that of embodiment 1, except that this embodiment limits the connection method between the barbell sleeve 11 - 3 and the tail structure 12 .

[0038] Specifically, refer to Figures 3-5 In this embodiment, the barbell sleeve 11 - 3 is detachably connected to the tail structure 12 through the trigger structure 11 .

[0039] The trigger structure 11 includes a contact pin 11-6 and two sets of clasps. The clasps include an integrally formed long claw 11-4, a short claw 11-2, and a connecting end 11-5. The connecting ends 11-5 of the two sets of clasps are fixedly connected via the contact pin 11-6. The tail structure 12 includes a base plate, a mounting base 18 fixedly disposed in the center of the base plate, and force-dispersing sheet metal 14 fixedly disposed on either side of the mounting base 18. The force-dispersing sheet metal 14 is fixed to the base plate. The long claw 11-4 of the two sets of clasps is hingedly connected to the two sets of force-dispersing sheet metal 14. A first groove is provided between the long claw 11-4 and the short claw 11-2, and a second groove is provided at the top of the mounting base 18. When the short claw 11-2 is located at the top of the mounting base 18, the barbell sleeve 11-3 is confined within the space formed by the first and second grooves. When the pull wire 11-1 is pulled, the long claw 11-4 and the short claw 11-2 of the tail pawl utilize the dead point effect to firmly grasp the barbell sleeve 11-3 and fix it in the tail structure 12. A touch block 8 is provided on the side of the torso housing 2 facing the tail structure 12. When the torso housing 2 approaches the tail structure 12, the touch block 8 can contact and apply force to the touch pin 11-6, forcing the trigger structure 11 to rotate, thereby breaking the dead point structure and disengaging the barbell sleeve from the claw, achieving the release function.

[0040] The application principle of this embodiment:

[0041] Before the jump occurs, due to the dead point effect, the barbell sleeve 11-3 is confined in the space formed by the first groove and the second groove and remains fixed. The driving device drives the rotating shaft to rotate, so that the pull wire 11-1 is wrapped around the rotating shaft and generates tension, thereby driving the torso shell 2 to move toward the tail structure 12. When the torso shell 2 moves close to the tail structure 12, the touch block 8 on the torso shell 2 contacts the touch pin 11-6 and generates pressure. When this pressure is greater than the friction force between the trigger structure 11 and the dissipating sheet metal 14, the touch pin 11-6 rotates along the hinge point away from the torso shell 2, the dead point effect disappears, and the barbell sleeve 11-3 is separated from the tail structure 12, so that the tension of the pull wire 11-1 disappears. At the moment the tension of the pull wire 11-1 disappears, the device takes off.

[0042] Example 3

[0043] The main structure of this embodiment is the same as that of embodiment 2, except that this embodiment limits the structure of the driving device.

[0044] Specifically, refer to Figure 1 and Figure 5 In this embodiment, the drive device includes two groups of drive components that are mirror-symmetrical. The drive components include a reduction DC motor 4, a large gear 3 and a small gear. The gear ratio of the large gear 3 and the small gear is 6:23. The reduction DC motor 4 is fixed inside the trunk housing 2, and the small gear is fixedly connected to the output end of the reduction DC motor 4. The large gear 3 is rotatably installed inside the trunk housing 2, and the large gear 3 and the small gear are engaged with each other; the large gears 3 of the two groups of drive components are parallel to each other, and the rotating shaft is vertically arranged between the two groups of large gears 3. The two ends of the rotating shaft are respectively fixedly connected to the centers of the two groups of large gears 3.

[0045] When in use, the reduction DC motor 4 drives the small gear to rotate, and the small gear drives the large gear 3 to rotate, which in turn drives the rotating shaft fixed at the center of the large gear 3 to rotate, so that the pull wire 11-1 is wrapped around the rotating shaft and generates tension. The spring 10 begins to compress linearly due to the movement of the pull wire, thereby realizing the driving effect.

[0046] Example 4

[0047] The main structure of this embodiment is the same as that of embodiment 3, except that this embodiment limits the installation method of the hollow shaft 9 and the rear legs 13.

[0048] Specifically, refer to Figures 1 to 4In this embodiment, slide posts 15 (bullet-shaped) are fixed and symmetrically arranged on both sides of the trunk housing 2. Each slide post 15 has a centrally defined sliding hole that mates with the hollow shaft 9. Two sets of hollow shafts 9 are provided, with the upper ends of the two sets of hollow shafts 9 slidingly connected to the two sets of slide posts 15 through the sliding holes. Two sets of springs 10 are provided, each sleeved around the outer edges of the two sets of hollow shafts 9. The tail structure 12 is provided with two sets of fixed posts 17 (bullet-shaped). Each fixed post 17 has a centrally defined hole that mates with the hollow shaft 9, with the lower ends of the two sets of hollow shafts 9 respectively mounted within the holes of the fixed posts 17.

[0049] Furthermore, rear leg connectors 16 are fixedly and symmetrically mounted on both sides of the trunk shell 2. Two sets of rear leg connectors 16 are symmetrically distributed on either side of the two sets of sliding posts 15. These rear leg connectors 16 are provided with first mounting slots. The rear legs 13 are provided in two sets, and the first connecting rods of the two sets of rear legs 13 are hingedly mounted (via pins) in the two sets of first mounting slots. The tail structure 12 is provided with two sets of second mounting slots, and the second connecting rods of the two sets of rear legs 13 are hingedly mounted (via pins) in the two sets of second mounting slots.

[0050] The above are only preferred implementation methods of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A bionic frog jumping robot with a winding trigger structure, characterized in that: It comprises a trunk shell (2), a spring (10), a hollow shaft (9), a pull line (11-1), a tail structure (12) and at least one set of front legs (5); The hollow shaft (9) is tilted, the upper end of the hollow shaft (9) is slidably connected to the trunk shell (2), and the lower end is fixedly connected to the tail structure (12); the spring (10) is sleeved outside the hollow shaft (9), and the spring (10) is distributed between the trunk shell (2) and the tail structure (12); A driving device and a rotating shaft are provided inside the trunk shell (2), the driving device being in driving connection with the rotating shaft and capable of driving the rotating shaft to rotate; the tail structure (12) is detachably and fixedly provided with a barbell sleeve (11-3); one end of the pull wire (11-1) is fixedly connected to the rotating shaft, and the other end is fixedly connected to the barbell sleeve (11-3); the pull wire (11-1) and the hollow shaft (9) are parallel to each other; The front legs (5) are fixedly arranged below the trunk shell (2), the bottoms of the front legs (5) are in contact with the ground, and the bottom of the tail structure (12) is in contact with the ground.

2. The bionic frog jumping robot with a winding trigger structure according to claim 1 is characterized in that: Also provided is at least one set of hind legs (13); The rear leg (13) comprises a first connecting rod and a second connecting rod, wherein the upper end of the first connecting rod is hinged to the trunk shell (2), the lower end of the first connecting rod is hinged to the upper end of the second connecting rod, and the lower end of the second connecting rod is hinged to the tail structure (12).

3. The bionic frog jumping robot with a winding trigger structure according to claim 1 is characterized in that: The barbell sleeve (11-3) is detachably connected to the tail structure (12) via the trigger structure (11); The trigger structure (11) includes a touch pin shaft (11-6) and two groups of buckle plates, the buckle plates include an integrally formed long claw (11-4), a short claw (11-2) and a connecting end (11-5), and the connecting ends (11-5) of the two groups of buckle plates are fixedly connected via the touch pin shaft (11-6); the tail structure (12) includes a base plate, a mounting seat (18) is fixedly provided at the center of the base plate, and force-dispersing sheet metals (14) are fixedly provided on both sides of the mounting seat (18), the force-dispersing sheet metals (14) are fixed on the base plate, and the long claws (11-4) of the two groups of buckle plates are respectively hinged to the two groups of force-dispersing sheet metals (14); A first groove is provided between the long claw (11-4) and the short claw (11-2), and a second groove is provided on the top of the mounting seat (18). When the short claw (11-2) is distributed on the top of the mounting seat (18), the barbell sleeve (11-3) is confined in a space formed by the first groove and the second groove. When the short claw (11-2) leaves the top of the mounting seat (18), the barbell sleeve (11-3) is separated from the tail structure (12).

4. The bionic frog jumping robot with a winding trigger structure according to claim 3 is characterized in that: A touch block (8) is provided on the side of the trunk shell (2) facing the tail structure (12); when the trunk shell (2) approaches the tail structure (12), the touch block (8) can contact the touch pin shaft (11-6) and apply force to the touch pin shaft (11-6).

5. The bionic frog jumping robot with a winding trigger structure according to claim 1 is characterized in that: The driving device includes two groups of driving components that are mirror-symmetrical; The driving assembly comprises a decelerating DC motor (4), a small gear and a large gear (3); the decelerating DC motor (4) is fixed inside the trunk housing (2); the small gear is fixedly connected to the output end of the decelerating DC motor (4); the large gear (3) is rotatably mounted inside the trunk housing (2), and the large gear (3) and the small gear are meshed with each other; the large gears (3) of the two driving assemblies are parallel to each other, the rotating shaft is vertically arranged between the two large gears (3), and the two ends of the rotating shaft are respectively fixedly connected to the centers of the two large gears (3).

6. The bionic frog jumping robot with a winding trigger structure according to claim 1, characterized in that: A power supply (1) is also provided inside the trunk shell (2), and the power supply (1) provides electrical energy to the driving device.

7. The bionic frog jumping robot with a winding trigger structure according to claim 1, characterized in that: The outer surface of the trunk shell (2) is provided with an infrared control module (7) for controlling the opening and closing of the driving device.

8. The bionic frog jumping robot with a winding trigger structure according to claim 1, characterized in that: Slide posts (15) are fixed and symmetrically arranged on both sides of the trunk shell (2), and a slide hole adapted to the hollow shaft (9) is opened in the center of the slide post (15). The hollow shaft (9) is provided in two groups, and the upper ends of the two groups of hollow shafts (9) are respectively slidably connected to the two groups of slide posts (15) through the slide holes; the springs (10) are provided in two groups, and the two groups of springs (10) are respectively sleeved on the outside of the two groups of hollow shafts (9); The tail structure (12) is provided with two groups of fixing columns (17), the centers of the fixing columns (17) are provided with holes adapted to the hollow shafts (9), and the lower ends of the two groups of hollow shafts (9) are respectively installed in the holes of the fixing columns (17).

9. The bionic frog jumping robot with a winding trigger structure according to claim 2, characterized in that: The trunk shell (2) is fixedly and symmetrically provided with rear leg connecting pieces (16), the rear leg connecting pieces (16) being provided with a first mounting slot, the rear legs (13) being provided in two groups, and the first connecting rods of the two groups of rear legs (13) being hingedly installed in the first mounting slots respectively; The tail structure (12) is provided with two groups of second installation grooves, and the second connecting rods of the two groups of rear legs (13) are respectively hingedly installed in the second installation grooves.

10. The bionic frog jumping robot with a winding trigger structure according to claim 1, characterized in that: The front legs (5) are provided in two groups, and rollers (6) are provided at the lower ends of the front legs (5).

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