Bionic frog jumping robot

Abstract

The utility model discloses a bionic frog jumping robot, which belongs to the technical field of bionic robots and comprises a main shell, an integrated board is mounted in the main shell, a bionic front shell is mounted on the front side of the main shell, and front support legs are mounted on the front side of the bottom of the main shell; the linkage jumping mechanism comprises a synchronizing shaft, the synchronizing shaft penetrates through the integrated plate, the two ends of the synchronizing shaft are movably installed on the two sides of the main shell, second gears are fixed to the two ends of the synchronizing shaft, and first gears are meshed with the upper portions of the second gears; and the transmission mechanism comprises a driving motor installed on the integrated board, and a tenth gear is fixed to the output end of the driving motor. The mechanical structure can simulate the leg structure and the mechanics principle of a frog, the jumping mode of a real frog is used for reference, the robot can complete actions more efficiently and flexibly during jumping, and the jumping mechanism can provide better movement performance and adaptability for the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field, concretely is a kind of bionic frog jumping robot. BACKGROUND

[0002] Jumping is a kind of efficient moving mode, in the field of robot, jumping ability can help robot overcome terrain barrier, realize long-distance movement, carry out rescue task etc.Bionic jumping robot research is a front subject in the field of robot.Because robot not only has the structure and behavior mode of organism reasonable, flexible and efficient characteristics, its jumping movement mode can also adapt to different ground, realize crossing ditch and barrier, with wide range of activities, strong risk-avoiding ability characteristics, show excellent moving ability, therefore suitable for replacing human in unstructured, unpredictable environment to complete reconnaissance, detection, rescue and anti-terrorism etc.Task, have important theoretical research significance and broad application prospect.Frog jumping has the characteristics of strong explosiveness and long distance, and the jumping robot with such ability can easily jump over obstacles and has good environmental adaptability.Based on the concept of bionics, we propose a bionic frog jumping robot.

[0003] The above information disclosed in the BACKGROUND section is only for the purpose of increasing the understanding of the background of the application, and therefore, it can include matters known by those skilled in the art but not necessarily represent the prior art. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a kind of bionic frog jumping robot, by imitating the jumping mode of frog, robot can cross barrier, cross water area etc., with greater flexibility and adaptability.

[0005] To achieve the above object, the utility model provides a kind of bionic frog jumping robot, comprising:

[0006] Main shell, integrated board is installed in the main shell, bionic front shell is installed in the front side of the main shell, front support leg is installed in the bottom front side of the main shell;

[0007] Linkage jumping mechanism, the linkage jumping mechanism includes synchronous shaft, which is through integrated board and movably installed at both ends of the main shell, both ends of the synchronous shaft are fixed with gear two, gear one is engaged above the gear two, gear one is fixed with support rod one and gear two is fixed with support rod two, the end of support rod one is hinged with hinged rod one, the end of support rod two is hinged with hinged rod two, the end of hinged rod one and hinged rod two is hinged, both sides hinged rod two are movably connected by connecting shaft, rear support leg is installed in the rear side of hinged rod one;

[0008] Transmission mechanism, the transmission mechanism includes the drive motor installed to the integrated board, the output end of the drive motor is fixed with gear ten, gear ten is engaged with gear nine, the rear side of gear nine is fixed with gear eight, gear eight is engaged with gear seven, the front side of gear seven is fixed with gear six, gear six is engaged with gear five, the front side of gear five is fixed with gear four, gear four is engaged with gear three, gear three is fixed to the synchronous shaft, gear four is half moon gear, gear three is sector gear.

[0009] Preferably, the gear one is movably installed on both sides of the main shell, and the gear two is movably connected to both sides of the main shell through the synchronous shaft.

[0010] Preferably, the gear nine and the gear eight are movably installed on the integrated board.

[0011] Preferably, the gear seven and the gear six are movably installed on the integrated board.

[0012] Preferably, the gear five and the gear four are movably installed on the integrated board and the main shell.

[0013] Preferably, the gear nine, the gear eight, the gear seven, the gear six, the gear five, the gear four and the gear three are located on the inner side of the main shell.

[0014] Compared with the prior art, the mechanical structure of the utility model can imitate the leg structure and mechanical principle of a frog, learn from the jumping mode of a real frog, and make the robot more efficient and flexible in action when jumping. The jumping mechanism can provide the robot with better motion performance and adaptability.

[0015] The foregoing summary is intended only to illustrate the present description and is not intended to limit in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features will be readily apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The main structure of the utility model is shown Figure 1 ;

[0017] Figure 2 The main structure of the utility model is shown Figure 2 ;

[0018] Figure 3 The main structure of the utility model is shown Figure 1 ;

[0019] Figure 4 The main structure of the utility model is shown Figure 2 ;

[0020] Figure 5 It is main casing, linkage jumping mechanism and transmission mechanism main view structure schematic diagram of the utility model.

[0021] In the figure: 1, gear one;2, gear two;3, gear three;4, gear four;5, gear five;6, gear six;7, gear seven;8, gear eight;9, gear nine;10, gear ten;11, integrated board;12, drive motor;13, synchronous shaft;14, connecting shaft;15, main casing;16, bionic front shell;17, front support;18, support rod one;19, articulated rod one;20, rear support;21, support rod two;22, articulated rod two. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. It should be pointed out that the drawings are schematic and not drawn to scale. In order to be clear and convenient in the drawings, the relative size and proportion of the parts shown in the drawings are exaggerated or reduced in size for illustration, and any size is only exemplary, rather than limiting.

[0023] Embodiment one

[0024] Please refer to Figure 1 - Figure 5 A bionic frog jumping robot, comprising a main casing 15, a linkage jumping mechanism and a transmission mechanism.

[0025] The integrated board 11 is installed in the main casing 15, the bionic front shell 16 is installed on the front side of the main casing 15, simulating the body part of the frog, and the front support 17 is installed on the bottom front side of the main casing 15. The front support 17 is of a curved structure, so as to reduce the impact force of landing on the machine and realize stable landing of the frog, and improve the integrity and success rate of model jumping.

[0026] The linkage jumping mechanism comprises a synchronous shaft 13 penetrating the integrated plate 11 and movably mounted at both sides of the main shell 15, both ends of the synchronous shaft 13 are fixed with gear two 2, gear one 1 is movably mounted at both sides of the main shell 15 and engaged with gear two 2, gear two 2 is movably connected to both sides of the main shell 15 through the synchronous shaft 13. Gear one 1 is fixed with a support rod one 18 and gear two 2 is fixed with a support rod two 21, the end of the support rod one 18 is hingedly connected with a hinged rod one 19, the end of the support rod two 21 is hingedly connected with a hinged rod two 22, the ends of the hinged rod one 19 and the hinged rod two 22 are hingedly connected, both sides of the hinged rod two 22 are movably connected through the connecting shaft 14, and the rear side of the hinged rod one 19 is provided with a rear support leg 20. The linkage jumping mechanism is mainly responsible for completing the jumping function of the frog, simulating the leg bending and ground kicking action in the jumping process of the frog.

[0027] The transmission mechanism comprises a driving motor 12 mounted on the integrated plate 11, the output end of the driving motor 12 is fixed with gear ten 10, gear nine 9 is engaged with gear ten 10, gear eight 8 is fixed at the rear side of gear nine 9, and gear nine 9 and gear eight 8 are movably mounted on the integrated plate 11. Gear seven 7 is engaged with gear eight 8, gear six 6 is fixed at the front side of gear seven 7, and gear seven 7 and gear six 6 are movably mounted on the integrated plate 11. Gear five 5 is engaged with gear six 6, gear four 4 is fixed at the front side of gear five 5, and gear five 5 and gear four 4 are movably mounted on the integrated plate 11 and the main shell 15. Gear three 3 is engaged with gear four 4, gear three 3 is fixed on the synchronous shaft 13, gear four 4 is a half-moon gear, and gear three 3 is a sector gear. Gear nine 9, gear eight 8, gear seven 7, gear six 6, gear five 5, gear four 4 and gear three 3 are all located inside the main shell 15.

[0028] The working principle of the embodiment is as follows: when the bionic frog jumping robot is used, first, the driving motor 12 is started, the output end of the driving motor 12 drives gear ten 10 to rotate, gear ten 10 drives gear nine 9 and gear eight 8 to rotate, gear eight 8 drives gear seven 7 and gear six 6 to rotate, gear six 6 drives gear five 5 and gear four 4 to rotate, and gear four 4 drives gear three 3 to rotate. Since gear four 4 is a half-moon gear, it can intermittently drive gear three 3 to rotate, gear three 3 drives both sides of gear two 2 to rotate through the synchronous shaft 13, gear two 2 drives gear one 1 to rotate in the opposite direction, thereby realizing the movement of the hinged rod one 19 and the hinged rod two 22 in opposite directions. When the rear support leg 20 contacts the ground and is subjected to the downward force of the hinged rod one 19, the frog jumps through the reaction of the ground. Through the cooperation of gear four 4 and gear three 3, continuous leg bending and jumping can be realized.

[0029] The bionic frog jumping robot has wide application range.It can be applied to detection and rescue tasks.Through carrying various sensors and cameras, it can jump to places difficult to reach, detect personnel or objects in trapped or dangerous environments, and provide important information for rescue personnel.In the event of natural disasters, it can also be applied to rapid disaster assessment and rescue work.It can jump to collapsed buildings or difficult-to-enter areas, obtain real-time images, and assist rescue personnel in guiding their actions.It can also be applied to environmental monitoring tasks, such as forest and grassland ecological monitoring, water quality detection, etc.Through jumping movement, it can cover a wider area and collect various environmental parameters and data.Benefiting from the size advantage of the robot itself, it can detect more subtle places.It can also be applied to the military field, such as reconnaissance and investigation tasks.It can jump to difficult-to-enter areas, provide real-time intelligence and monitor targets, and perform various tasks on the battlefield without being easily detected.It can also work cooperatively with other robots to provide auxiliary functions.For example, on an industrial production line, it can assist in sampling goods or complete specific tasks in narrow spaces.

[0030] The standard parts used in the utility model can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art, the mechanical parts and equipment adopt the conventional types in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here.The contents not described in detail in the description belong to the prior art known to those skilled in the art.

[0031] In the description of the utility model, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features.The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0032] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated;It can be mechanical connection, or electrical connection;It can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements or the interaction relationship between two elements.The above-mentioned terms in the utility model can be understood according to the specific meaning of the above-mentioned terms by those skilled in the art according to the specific circumstances.

[0033] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0034] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction

[0035] The present application discloses the drawings in the embodiment, only relates to the structure related to the embodiment of the present application, other structures can refer to the usual design, in the case of no conflict, the same embodiment and different embodiments of the present application can be combined with each other.

[0036] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A biomimetic frog jumping robot, characterized in that, The utility model relates to a kind of bionic jumping robot, including: Main shell (15), integrated board (11) is installed in the main shell (15), bionic front shell (16) is installed in the front side of the main shell (15), front support (17) is installed in the bottom front side of the main shell (15); Linkage jumping mechanism, the synchronous shaft (13) that is movably mounted to the both sides of main shell (15) is passed through integrated board (11), gear two (2) is fixed in the both ends of the synchronous shaft (13), gear one (1) is engaged above gear two (2), support rod one (18) is fixed with gear one (1) and support rod two (21) is fixed with gear two (2), hinged rod one (19) is hinged in the end of support rod one (18), hinged rod two (22) is hinged in the end of support rod two (21), the end of hinged rod one (19) and hinged rod two (22) is hinged, both sides hinged rod two (22) are movably connected by connecting shaft (14), rear support (20) is installed in the rear side of hinged rod one (19); Transmission mechanism, drive motor (12) is installed in integrated board (11), gear ten (10) is fixed in the output end of drive motor (12), gear nine (9) is engaged, gear eight (8) is fixed in the rear side of gear nine (9), gear seven (7) is engaged, gear six (6) is fixed in the front side of gear seven (7), gear five (5) is engaged, gear four (4) is fixed in the front side of gear five (5), gear three (3) is engaged, gear three (3) is fixed in synchronous shaft (13), gear four (4) is half-moon gear, gear three (3) is sector gear.

2. The bionic frog jumping robot according to claim 1, characterized in that: Gear one (1) is movably mounted in the both sides of main shell (15), gear two (2) is movably connected in the both sides of main shell (15) by synchronous shaft (13).

3. The bionic frog jumping robot according to claim 1, characterized in that: Gear nine (9) and gear eight (8) are movably mounted in integrated board (11).

4. The bionic frog jumping robot according to claim 1, characterized in that: Gear seven (7) and gear six (6) are movably mounted in integrated board (11).

5. The bionic frog jumping robot according to claim 1, characterized in that: Gear five (5) and gear four (4) are movably mounted in integrated board (11) and main shell (15).

6. The bionic frog jumping robot according to claim 1, characterized in that: Gear nine (9), gear eight (8), gear seven (7), gear six (6), gear five (5), gear four (4) and gear three (3) are all located in the inside of main shell (15).

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