Bionic mechanical frog driven by direct current motor

Abstract

The utility model discloses a bionic mechanical frog driven by a direct current motor, which comprises a frog body, a front support leg is arranged at the front lower part of the frog body, a rear support leg is arranged at the rear part of the frog body, and an energy storage device is arranged on the rear support leg; a transmission device is arranged in the machine body, the energy storage device enables the rear supporting leg to jump through the transmission device, the front supporting leg comprises a front thigh, a front shank and a front sole, the front thigh is connected with the machine body, the front shank is connected to the tail end of the front thigh, the front sole is connected to the tail end of the front shank, and the front thigh is connected with the machine body through a pin. A rear leg beam is arranged on the rear portion of the machine body, the rear supporting leg is hinged to the rear leg beam, the rear supporting leg comprises a rear thigh, a rear shank and a rear sole, the rear thigh is connected with the machine body, the rear shank is connected to the tail end of the rear thigh, the rear sole is connected to the tail end of the rear shank, and the rear thigh is fixed to the rear end in the machine body through the rear leg beam. The bionic frog jumping robot is simple in structure and convenient to produce and use.

Description

Technical Field

[0001] The utility model belongs to the field of bionic machinery, in particular to a bionic mechanical frog driven by a DC motor. Background Art

[0002] In nature, many animals exhibit remarkable leaping abilities, particularly frogs, which can leap several times their own length, easily surmounting obstacles and swiftly escaping predators. This unique locomotion has inspired scientists and engineers to develop robots that mimic frog-like leaping abilities, capable of performing various tasks in confined or complex environments. Such robots could not only play a vital role in disaster relief and military reconnaissance, but also provide new solutions for exploring unknown environments and conducting scientific research.

[0003] Although some bionic frog-like jumping robots have been developed, they still face numerous challenges in design and performance. Currently, most robots rely on electric actuators, springs, or traditional motors to drive complex transmission and linkage mechanisms to achieve their jumps. While this design can simulate the frog's jumping motion, it also presents numerous problems. Existing bionic frog-like jumping robots often consist of multiple components and are complex in structure. This not only increases manufacturing costs but also makes assembly more difficult. The complex structure requires precise assembly and debugging, which undoubtedly prolongs the development cycle. More importantly, this complexity directly leads to a series of problems in actual use. First, due to the numerous internal parts of the robot, each part consumes power during the transmission process, resulting in a high energy requirement for each jump. Long-term use is often limited by battery life, resulting in poor performance in scenarios requiring continuous jumping. In particular, in environments requiring frequent jumping, the robot may not be able to complete its intended task. Second, existing robots experience certain energy losses during energy transfer, resulting in low overall efficiency. This energy loss not only affects the robot's jumping height and distance, but also reduces its ability to perform tasks in complex environments. This means that the robot requires more frequent charging or battery replacement, reducing its practicality. Furthermore, these complex transmission mechanisms often result in a robot with a large overall size and weight, significantly limiting its application in confined spaces or environments requiring rapid movement. Lightweight and compact designs are crucial for disaster relief and military reconnaissance missions. The robot's large size and weight can make it difficult to navigate narrow passages or quickly maneuver into dangerous areas. Therefore, existing bionic frog-inspired jumping robots still have significant room for improvement in both design and performance.

[0004] In the Dynamics and Simulation Analysis of the Frog-like Robot's Take-off Stage (Dynamics and Simulation Analysis of the Frog-like Robot's Take-off Stage by Lu Chenjun), in order to achieve the frog's indirect continuous jumping, a rotary crank is used in the frog's hind legs to drive the one-way bearing to store energy. This structure allows the frog to jump indirectly and continuously, but the critical point of the change in the force direction of the one-way bearing is difficult to grasp and control, which may lead to incomplete spring energy storage and a decrease in the frog's jumping height. The designed frog's hind legs use incompletely engaged gears to achieve indirect continuous jumping, which not only makes the variables easier to control, but also has a simple structure and lighter weight, which better reduces the energy loss when the elastic potential energy is released. Utility Model Content

[0005] The purpose of the utility model is to provide a bionic mechanical frog driven by a DC motor to solve the problems of high energy consumption and low efficiency of robot movement caused by defects such as a large number of parts and a complex structure caused by traditional designs.

[0006] The present invention is achieved through at least one of the following technical solutions.

[0007] A bionic mechanical frog driven by a DC motor, comprising:

[0008] The fuselage is provided with front supporting legs at the front lower part and rear supporting legs at the rear, and an energy storage device is provided on the rear supporting legs; a transmission device is provided inside the fuselage, and the energy storage device causes the rear supporting legs to jump through the transmission device.

[0009] In some embodiments, the front supporting leg includes a front thigh, a front calf and a front sole, the front thigh is connected to the fuselage, the front calf is connected to the end of the front thigh, and the front sole is connected to the end of the front calf.

[0010] In some embodiments, the front thigh is connected to the fuselage via pins.

[0011] In some embodiments, a rear leg beam is provided at the rear portion of the fuselage, and the rear support legs are hinged to the rear leg beam.

[0012] In some embodiments, the rear supporting leg includes a rear thigh, a rear calf and a rear sole, the rear thigh is connected to the fuselage, the rear calf is connected to the end of the rear thigh, the rear sole is connected to the end of the rear calf, and the rear thigh is fixed to the rear end inside the fuselage through a rear leg beam.

[0013] In some embodiments, the energy storage device includes a winding wheel, a spring baffle, a spring, and a thin wire. The winding wheel is cooperatively connected to the gear shaft of the transmission device. The side of the spring baffle is fixedly connected to one end of the rear thigh. The bottom of the spring baffle is connected to the rear sole of the foot through a connecting rod. The spring is sleeved in the connecting rod. One end of the thin wire is wound around the winding wheel, and the other end is wound around the small hole in the rear sole of the rear supporting leg.

[0014] In some embodiments, the side surface of the spring baffle is coaxially connected to one end of the rear thigh through a rear leg beam.

[0015] In some embodiments, the thin wire is made of nylon and has a cross-sectional diameter of not less than 1 mm.

[0016] In some embodiments, the transmission device includes a DC motor, a bearing, a large gear and a gear shaft, the large gear is connected to the DC motor, the large gear is meshed with the small gear on the gear shaft, the bearing is located in the bearing hole inside the fuselage, and the gear shaft is cooperatively connected with the bearing.

[0017] In some embodiments, the winding wheel is coaxially connected to the pinion on the gear shaft, and the winding wheel and the pinion rotate simultaneously, so that the thin wire on the winding wheel is wound on the winding wheel 16.

[0018] During use, the present invention has the following beneficial effects compared with the prior art:

[0019] The bionic frog jumping robot of this utility model features a simplified structure and a reduced number of parts, which not only reduces overall manufacturing and assembly costs but also improves production efficiency. The complex structure of traditional bionic frog robots often results in time-consuming and labor-intensive assembly and commissioning. However, this utility model simplifies this process by reducing the number of parts, making assembly faster and more convenient.

[0020] The main structural components of this utility model are all produced using 3D printing technology. This innovative manufacturing method not only supports rapid prototyping but also enables the creation of complex geometric shapes through precise printing processes, thereby better simulating the biological structure of frogs. Furthermore, the flexibility of 3D printing allows designers to easily adjust between different functional and dimensional requirements, helping to achieve the goal of miniaturization.

[0021] This utility model uses a DC motor as its drive system. Compared to traditional servo motors or stepper motors, DC motors have a higher energy efficiency ratio and lower energy consumption. While achieving the same action, this robot can complete the jump with less power consumption, thereby improving overall work efficiency. At the same time, due to the simplified structure and optimized component configuration, the bionic frog jumping robot's movements become more smooth. Traditional robots often experience jerking or uncoordinated movements when jumping. However, through the rational design of this utility model, the robot performs complex movements such as jumping more naturally, reducing energy waste.

[0022] In summary, compared to traditional bionic frog robots, the robot of this utility model has higher reliability. Due to the reduced number of parts and simplified design, the number of failure points is reduced, thereby improving the robot's stability and durability in long-term use. Furthermore, the simplified structure also makes maintenance and repair more convenient, allowing users to more easily perform necessary inspections and maintenance, reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To help those skilled in the art better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described are only a portion of the present invention, not all of the embodiments. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0024] Figure 1 This is a schematic diagram of a transmission device according to an embodiment of the present utility model;

[0025] Figure 2 This is a schematic diagram of the rear support leg device according to an embodiment of the present utility model;

[0026] Figure 3 This is a schematic diagram of an energy storage device according to an embodiment of the present utility model;

[0027] Figure 4 This is a schematic diagram of the front support leg device according to an embodiment of the present utility model;

[0028] In the figure: fuselage-1, front supporting leg-2, front thigh-3, front calf-4, front foot-5, rear supporting leg-6, rear thigh-7, rear calf-8, rear foot-9, transmission device-10, DC motor-11, bearing-12, large gear-13, gear shaft-14, energy storage device-15, winding reel-16, spring baffle-17, spring-18, thin wire-19. DETAILED DESCRIPTION

[0029] To help those skilled in the art better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described are only a portion of the present invention, not all of the embodiments. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0030] like Figures 1 to 4As shown in the figure, a DC motor-driven bionic mechanical frog of this embodiment specifically includes: a body 1, two front support legs 2, two rear support legs 6, a transmission device 10, and an energy storage device 15. The front support legs 2 are provided at the front lower portion of the body 1, and the rear support legs 6 are provided at the rear. The energy storage device 15 is provided on the rear support legs 6. The transmission device 10 is provided inside the body 1, and the rear support legs 6 enable jumping through the energy storage device 15 and the transmission device 10. The body 1, two front support legs 2, and two rear support legs 6 can all be 3D printed.

[0031] Each front support leg 2 is located at the front end of the fuselage 1 and is connected to the fuselage 1 via a pin. The internal structure of each front support leg 2 includes a front thigh 3, a front calf 4, and a front foot 5. The front thigh 3 is connected to the fuselage 1, the front calf 4 is connected to the end of the front thigh 3, and the front foot 5 is connected to the end of the front calf 4. This segmented design ensures good flexibility and stability for the front support legs 2 during movement.

[0032] Each rear supporting leg 6 includes a rear thigh 7, a rear calf 8 and a rear sole 9. The rear thigh 7 is connected to the fuselage 1, the rear calf 8 is connected to the end of the rear thigh 7, and the rear sole 9 is connected to the end of the rear calf 8.

[0033] The rear sole 9 is provided with a spring groove and a small hole, which are connected to the spring baffle 17 and the spring 18 respectively. Such a design can effectively improve the jumping performance of the robot.

[0034] One end of the rear thigh 7 of the two rear support legs 6 is connected by a rear leg beam so that the jump can be carried out simultaneously. The two ends of the rear leg beam are fixed to the rear end of the fuselage 1. Each rear support leg 6 is provided with an energy storage device 15.

[0035] like Figure 2As shown, the energy storage device 15 includes a reel 16, a spring baffle 17, a spring 18, and a thin wire 19. The reel 16 is connected to the gear shaft 14. The side of the spring baffle 17 is fixedly connected to one end of the rear thigh 7 through the rear leg beam. The bottom of the spring baffle 17 is connected to the rear sole 9 through a connecting rod. The spring 18 is sleeved in the connecting rod. One end of the thin wire 19 is wound around the reel 16, and the other end is wound around the small hole of the rear sole 9 of the rear supporting leg 6. The thin wire 19 is used for jumping and energy storage. The reel 16 is located above the rear supporting leg 6. Since the thin wire 19 is wound around the reel 16, the reel 16 is connected to the gear shaft 14. At the beginning, the gear 13 drives the pinion to rotate in the forward direction. The gear shaft rotates and compresses the spring 18 at the same time to store energy. The electrical energy is converted into spring potential energy and stored. When the pinion mates with the toothless portion of gear 13, the reel 16 is freed from the constraints of gear 13, and the elastic potential energy stored in the spring 18 begins to release, pushing the spring baffle 17 to move. This stored elastic potential energy is converted into kinetic energy for the entire machine, ultimately driving the robot to jump, completing a cycle of movement. Subsequently, the pinion mates with the toothed portion of gear 13, initiating a new cycle of movement. The spring 18 and spring baffle 17 form an elastic energy storage system that provides additional thrust to the robot during the jump.

[0036] The thin line used in this experiment is made of nylon, with a cross-sectional diameter of 1mm. Nylon's high strength and wear resistance are perfectly suited to the bionic frog design, effectively preventing the thin line from being damaged by the high-frequency friction with the winding reel, which could affect the jumping accuracy.

[0037] As an embodiment, the transmission device 10 includes a DC motor 11, a bearing 12, a large gear 13, and a gear shaft 14. The large gear 13 is connected to the DC motor 11 and uses the mechanical energy generated by the motor to drive the large gear to rotate. The large gear 13 meshes with the small gear on the gear shaft 14. The bearing 12 is placed in a bearing hole inside the body 1 to ensure smooth operation of the transmission system. The gear shaft 14 and the bearing 12 are connected in a coordinated manner, making the entire transmission process more efficient.

[0038] This mechanical structure is provided with mechanical energy by a DC motor, which drives the gear to rotate, and then transmits the energy to the pinion through the gear engagement. The winding wheel 16 rotating coaxially with the pinion then transmits the energy to the rear thigh 7 and compresses the spring 18 to realize energy storage.

[0039] The bionic mechanical frog of this embodiment is driven by a DC motor and incorporates mechanical transmission, spring energy storage and other designs, which greatly improves the performance of the bionic frog, allowing it to have a longer jumping distance and better jumping stability.

[0040] In one embodiment, the large gear 13 uses a toothed gear that is not fully engaged. This allows the large gear 13 to transfer mechanical energy to the spring 18 for storage during one rotation. The non-engaged spring releases energy, driving the small gear on the gear shaft 14 to reset, thereby enabling the frog to jump. The motor continuously provides mechanical energy, causing the frog spring to repeatedly compress and release, thus achieving continuous jumping.

[0041] Preferably, during the design, the mechanical structure is mainly concentrated in the rear half. This design makes the overall center of gravity shift backward. When the spring is compressed, the overall center of gravity will move backward, thereby lifting the frog's head and increasing the angle of the frog's jumping direction. After optimized design, this mechanism can significantly increase the frog's jumping distance.

[0042] Preferably, the fuselage adopts a streamlined design, which greatly and effectively reduces the air resistance generated during the jumping process and improves the movement efficiency.

[0043] Preferably, to further enhance the frog's stability, the frog's feet (5, 9) adopt a bionic structure. This design not only reduces the use of materials but also significantly increases the contact area with the ground, allowing the frog to have better stability when jumping and landing. This type of design takes into account the principles of mechanics and bionics, ensuring that the robot's performance remains efficient and stable in various environments.

[0044] Advantageously, due to the simplicity of the mechanical structure, the bionic frog's jumping time and distance are also relatively simple to control. The time it takes for the gear 13 to rotate once is the time it takes for the bionic frog to perform one jump. The frog's initial kinetic energy upon takeoff is the elastic potential energy stored by the spring when it compresses the circumference of the toothed portion of the gear 13. Therefore, if the time required to perform one jump needs to be changed, simply add a gear train between the gear 13 and the motor and change the transmission ratio. If the jumping distance needs to be changed, the circumference of the toothed portion of the gear can be increased or a spring with a different elastic coefficient can be used.

[0045] Finally, it should be noted that the preferred embodiments of the present invention disclosed above are intended only to illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, numerous modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A bionic mechanical frog driven by a DC motor, characterized in that: include: A fuselage (1), wherein the fuselage (1) is provided with a front support leg (2) at the front lower portion, and a rear support leg (6) at the rear, and an energy storage device (15) is provided on the rear support leg (6); a transmission device (10) is provided inside the fuselage (1), and the energy storage device (15) causes the rear support leg (6) to jump through the transmission device (10); The energy storage device (15) includes a winding wheel (16), a spring baffle (17), a spring (18), and a thin wire (19). The winding wheel (16) is connected to the gear shaft (14) of the transmission device (10). The side of the spring baffle (17) is fixedly connected to one end of the rear thigh (7). The bottom of the spring baffle (17) is connected to the rear sole (9) through a connecting rod. The spring (18) is sleeved in the connecting rod. One end of the thin wire (19) is wound around the winding wheel (16), and the other end is wound around the small hole of the rear sole (9) of the rear supporting leg (6). The transmission device (10) includes a DC motor (11), a bearing (12), a large gear (13) and a gear shaft (14), wherein the large gear (13) is connected to the DC motor (11), the large gear (13) is meshed with a small gear on the gear shaft (14), the bearing (12) is located in a bearing hole inside the body (1), and the gear shaft (14) is cooperatively connected to the bearing (12); The winding wheel (16) is coaxially connected to a pinion on the gear shaft (14), and the winding wheel (16) and the pinion rotate simultaneously, so that the thin wire (19) on the winding wheel (16) is wound around the winding wheel (16).

2. A bionic mechanical frog driven by a DC motor according to claim 1, characterized in that: The front supporting leg (2) comprises a front thigh (3), a front calf (4) and a front sole (5); the front thigh (3) is connected to the fuselage (1); the front calf (4) is connected to the end of the front thigh (3); and the front sole (5) is connected to the end of the front calf (4).

3. A bionic mechanical frog driven by a DC motor according to claim 2, characterized in that: The front thigh (3) is connected to the fuselage (1) via pins.

4. The bionic mechanical frog driven by a DC motor according to claim 1, characterized in that: The rear part of the fuselage (1) is provided with a rear leg beam, and the rear support legs (6) are hinged to the rear leg beam.

5. The bionic mechanical frog driven by a DC motor according to claim 4, characterized in that: The rear supporting leg (6) comprises a rear thigh (7), a rear calf (8) and a rear sole (9); the rear thigh (7) is connected to the fuselage (1); the rear calf (8) is connected to the end of the rear thigh (7); the rear sole (9) is connected to the end of the rear calf (8); and the rear thigh (7) is fixed to the rear end inside the fuselage (1) through a rear leg beam.

6. The bionic mechanical frog driven by a DC motor according to claim 1, characterized in that: The side surface of the spring baffle (17) is coaxially connected to one end of the rear thigh (7) through a rear leg beam.

7. The bionic mechanical frog driven by a DC motor according to claim 1, characterized in that: The thin wire (19) is made of nylon and has a cross-sectional diameter of not less than 1 mm.

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