A robot jumping mechanism imitating the action of a frog

Abstract

The utility model relates to a robot jumping mechanism, the utility model is equipped with a rotating shaft on the driven wheel, is equipped with two rotating wheels on the rotating shaft, is equipped with fixed screw on the rotating wheel, nylon thread is connected with the movable pulley, the support mechanism includes the foreleg and the fixed rod of connecting foreleg joint, the jumping mechanism includes the hind leg, the hind leg joint, the slide rail pair, the pulley fixing part and the tension spring, the hind leg is connected through the hind leg joint with the slide rail pair, the slide rail pair is connected with the movable pulley through the pulley fixing part and the fixed rod, and the tension spring is connected with the fixed rod, the device provides the original power by the speed reducer motor, by the transmission of the gear cooperation of incomplete tooth engagement, the nylon thread moves with the rotating wheel rotation and further makes the movable pulley move, thereby stretches the tension spring and stores the energy and obtains the power of the bounce, has better ability of crossing the obstacle, can reduce the mechanism structure wear and tear, improves the transmission efficiency.

Description

Technical Field

[0001] This utility model relates to a biomimetic robot mechanism, specifically, to a robot jumping mechanism that mimics the movements of a frog. Background Technology

[0002] Currently, the field of robotics research has expanded to environments such as aerospace, surface and underwater, and underground pipelines. In the future, robots will replace humans in environments where humans cannot work. People require robots not only to adapt to the original basic requirements, but also to adapt to unknown environments, which places high demands on the robot's mobility, adaptability, and survivability.

[0003] Mobility is a crucial capability for future robots in many situations. To accomplish tasks, robots are often required to enter restricted areas inaccessible to humans to perform actions such as reconnaissance, detection, attack, and interference. This biomimetic frog design, utilizing jumping as a means of locomotion, can adapt to diverse terrains, cross ditches and obstacles, has a wide range of activity, strong hazard avoidance capabilities, and outstanding mobility. It can replace humans in entering unpredictable dangerous or restricted environments to perform tasks such as reconnaissance, detection, and mission execution. Summary of the Invention

[0004] The purpose of this invention is to provide a robot jumping mechanism that mimics the movements of a frog. This mechanism transmits the power of the motor to the driven wheel through gear engagement. The driven wheel drives the nylon wire on the shaft to rotate, thereby stretching the tension spring to obtain jumping power, improving transmission efficiency, reducing wear on the robot structure, and extending the robot's service life.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A biomimetic frog-like jumping robot mechanism includes a frame, a power mechanism, a support mechanism, and a jumping mechanism. The frame consists of inner side plates, baffles, and outer side plates connected by bolts. A geared motor of the power mechanism is installed between the outer and inner side plates, with its output fixed to a partially geared drive wheel. Driven wheels and two side wheels are fixed to a rotating shaft, which is mounted on the inner and outer side plates via rolling bearings at both ends. Screws are mounted on the wheels, with one end connected to a nylon thread. The other end of the nylon thread passes over a movable pulley on the fixed rod of the jumping mechanism and connects to the fixed rod of the support mechanism. The support mechanism... The front legs and the fixed rods of the support mechanism are bolted to both sides of the front of the frame; the rear legs of the jumping mechanism are connected to the slide rail pair via the rear leg joints; one end of the rear leg tension spring of the jumping mechanism is connected to the rear leg and is located above the rear leg; the other end of the rear leg tension spring is connected to the frame; the movable pulleys at both ends are respectively installed on the fixed rods of the jumping mechanism at both ends and can rotate; the fixed rods of the jumping mechanism at both ends are respectively connected to the pulley fixing parts; the pulley fixing parts are connected to the front end of the guide rail of the slide rail pair; the slider of the slide rail pair is connected to the frame; the rear end of the guide rail of the slide rail pair is connected to the rear leg joint; a joint pulley is installed on the rear leg joint, and the joint pulley is installed in the long groove of the rear leg.

[0007] The aforementioned biomimetic frog-like robot jumping mechanism comprises a frame slider and a baffle connected by bolts, with several mounting holes respectively provided on the surface of the baffle.

[0008] The aforementioned biomimetic frog-like jumping robot mechanism has its inner and outer side plates mounted on a rotating shaft via rolling bearings.

[0009] The aforementioned biomimetic frog-like jumping robot mechanism connects the front legs to the inner and outer side plates via a support mechanism rod.

[0010] The aforementioned biomimetic frog-like robot jumping mechanism connects the hind legs and the slide rail pair via hind leg joints, and the hind legs are connected to the inner and outer side plates respectively via jumping mechanism tension springs and jumping mechanism fixed rods.

[0011] The aforementioned biomimetic frog-like robot jumping mechanism includes a power mechanism comprising a geared motor, a rotating wheel, an incompletely geared driving wheel, a driven wheel, a movable pulley, a rolling bearing, and a rotating shaft.

[0012] The aforementioned biomimetic frog-like robot jumping mechanism includes hind legs, hind leg joints, slide rail pairs, jumping mechanism tension springs, jumping mechanism fixed rods, pulley fixing components, jumping mechanism hind leg tension springs, hind leg pivots, joint shafts, joint pulleys, slide rail pair sliders, and slide rail pair guide rails.

[0013] The beneficial effects of this utility model are:

[0014] The biomimetic frog jumping mechanism of this invention uses the intermittent meshing between an incomplete gear and a mating gear to provide intermittent rotation to the rotating wheel. In conjunction with a jumping spring, the jumping mechanism is stretched to complete the jump. This structure has a good ability to cross obstacles, operates stably, has a large transmission force, and has low mechanical wear. Attached Figure Description

[0015] Figure 1 This is a perspective view of the biomimetic frog jumping mechanism of this utility model;

[0016] Figure 2 This is the front view of the biomimetic frog jumping mechanism of this utility model;

[0017] Figure 3 This is a side view of the biomimetic frog jumping mechanism of this utility model;

[0018] Figure 4 This is a top view of the biomimetic frog jumping mechanism of this utility model;

[0019] Components in the diagram: Frame 1, inner side plate 11, baffle 12, outer side plate 13; Power mechanism 2, motor 21, rotating wheel 22, incomplete gear drive wheel 23, driven wheel 24, movable pulley 25, rolling bearing 26, rotating shaft 27; Support mechanism 3, support mechanism fixed rod 31, front leg 32; Jumping mechanism 4, rear leg 41, rear leg joint 42, slide rail pair 43, jumping mechanism tension spring 44, jumping mechanism fixed rod 45, pulley fixing part 46, jumping mechanism rear leg tension spring 47, rear leg rotating shaft 48, joint shaft 49, joint pulley 410, slide rail pair slider 411, slide rail pair guide rail 412. Detailed Implementation

[0020] To make the technical solution of this utility model easier to understand, the technical solution of this utility model will now be clearly and completely described in conjunction with the accompanying drawings and specific embodiments. Example 1

[0021] like Figures 1 to 4 As shown, the biomimetic frog jumping mechanism of this embodiment includes a frame 1, a power mechanism 2, a support mechanism 3, and a jumping mechanism 4, wherein:

[0022] The frame 1 includes an inner side plate 11, a baffle 12, and an outer side plate 13; the three are connected to each other by bolts to form the frame part.

[0023] The power mechanism 2 includes a geared motor 21, a rotating wheel 22, a partially geared driving wheel 23, a driven wheel 24, a movable pulley 25, rolling bearings 26, and a rotating shaft 27. The geared motor 21 is installed between the outer side plate 13 and the inner side plate 11. The output end of the geared motor 21 is fixedly connected to the partially geared driving wheel 23. The driven wheel 24 and the two rotating wheels 22 are all fixed to the rotating shaft 27. The rotating shaft 27 is installed on the inner side plate 11 and the outer side plate 13 respectively through the rolling bearings 26 at both ends. The rotating wheel 22 is provided with a screw, which is connected to one end of a nylon line. The other end of the nylon line passes around the movable pulley 25 on the fixed rod 45 of the jumping mechanism and is connected to the fixed rod 31 of the support mechanism.

[0024] The support mechanism 3 includes a support mechanism fixed rod 31 and front legs 32; the two front legs 32 are fixed to the inner side plate 11 and the outer side plate 13 of the frame 1 by bolts.

[0025] The jumping mechanism 4 includes a rear leg 41, a rear leg joint 42, a slide rail pair 43, a jumping mechanism tension spring 44, a jumping mechanism fixed rod 45, a pulley fixing member 46, a jumping mechanism rear leg tension spring 47, a rear leg pivot 48, a joint shaft 49, a joint pulley 410, a slide rail pair slider 411, and a slide rail pair guide rail 412. The rear leg 41 and the slide rail pair 43 are connected through the rear leg joint 42. One end of the jumping mechanism rear leg tension spring 47 is connected to the rear leg (41) and is positioned above the rear leg (41). The other end of the jumping mechanism rear leg tension spring 47 is connected to the frame (1). The movable pulleys 25 at both ends are respectively installed on the jumping mechanism fixed rods 45 at both ends and can rotate. The jumping mechanism fixed rods 45 at both ends are respectively connected to the pulley fixing member 46, and the pulley fixing member 46 is connected to the front end of the guide rail of the slide rail pair 43. The slider 411 of the slide rail pair 43 is connected to the frame 1. The rear end of the guide rail 412 of the slide rail pair 43 is connected to the rear leg joint 42. The joint pulley 410 is installed on the rear leg joint 42, and the joint pulley 410 is installed in the elongated groove of the rear leg 41. Example 2

[0026] like Figures 1 to 4 As shown, the biomimetic frog jumping mechanism of this embodiment includes a frame 1, a power mechanism 2, a support mechanism 3, and a jumping mechanism 4, wherein:

[0027] Energy storage process: After the start of operation, the geared motor 21 drives the incomplete gear drive wheel 23 to rotate. Due to the meshing relationship, it drives the driven wheel 24 to rotate, which in turn drives the rotating wheel 22 to rotate. This causes the nylon line to rotate with the rotating wheel 22, contracting the nylon line and causing the movable pulley 25 to move along the guide rail 412 of the slide rail pair 43, stretching the jumping mechanism spring 44. The guide rail 412 of the slide rail pair 43, along with the rear leg 41, rotates around the joint axis 49, stretching the jumping mechanism rear leg spring 47. When the tooth of the driven wheel 24 rotates to the last tooth of the incomplete gear drive wheel 23, the rotation of the gear set temporarily stops, all transmission components remain static, the nylon rope is at its peak tension, the slide rail pair 43 is fixed at the foremost position, the front leg 32 is bent to its limit angle, and the jumping mechanism spring 44 and the jumping mechanism rear leg spring 47 are fully stretched to store elastic potential energy, completing the energy storage process.

[0028] Release (jump) state: When the driven wheel 24 rotates past the last tooth of the incomplete tooth driving wheel 23, the two temporarily stop meshing. The jumping mechanism tension spring 44 and the jumping mechanism rear leg tension spring 47 contract instantly. The rotating wheel 22 reverses under the action of tension. At this time, the elastic potential energy of the tension spring is converted into kinetic energy. The rear leg 41 pushes the guide rail 412 of the slide rail pair 43 forward under the drive of the jumping mechanism rear leg tension spring 47. The entire mechanism jumps diagonally upward, completing the release.

Claims

1. A robotic jumping mechanism that mimics the movements of a frog, characterized in that, The mechanism includes a frame (1), a power mechanism (2), a support mechanism (3), and a jumping mechanism (4); the frame (1) The inner side plate (11), baffle (12), and outer side plate (13) are bolted together to form the frame. The geared motor (21) of the power mechanism (2) is installed between the outer side plate (13) and the inner side plate (11). The output end of the geared motor (21) is fixedly connected to the incomplete gear drive wheel (23). The driven wheel (24) and the rotating wheel (22) are both fixed on the rotating shaft (27). The rotating shaft (27) is installed on the inner side plate (11) and the outer side plate (13) respectively through rolling bearings (26) at both ends. The rotating wheel (22) is provided with a screw, which is connected to one end of a nylon line. The other end of the nylon line passes around the movable pulley (25) on the fixed rod (45) of the jumping mechanism and is connected to the fixed rod (31) of the support mechanism. The front leg (32) of the support mechanism (3) and the fixed rod (31) of the support mechanism are bolted to both sides of the front of the frame. The jumping mechanism (3) is bolted to the inner side plate (11) and the outer side plate (13) of the power mechanism (2). The rear leg (41) of the mechanism (4) is connected to the slide rail pair (43) through the rear leg joint (42). One end of the rear leg tension spring (47) of the jumping mechanism is connected to the rear leg (41) and is set above the rear leg (41). The other end of the rear leg tension spring (47) of the jumping mechanism is connected to the frame. The movable pulleys (25) at both ends are respectively installed on the fixed rods (45) of the jumping mechanism at both ends and can rotate. The fixed rods (45) of the jumping mechanism at both ends are respectively connected to the pulley fixing parts (46). The pulley fixing parts (46) are connected to the front end of the guide rail of the slide rail pair (43). The slider (411) of the slide rail pair (43) is connected to the frame (1). The rear end of the guide rail (412) of the slide rail pair (43) is connected to the rear leg joint (42). The joint pulley (410) is installed on the rear leg joint (42) and the joint pulley (410) is installed in the long groove of the rear leg (41).

2. The biomimetic frog-like jumping robot mechanism as described in claim 1, characterized in that, The frame (1) slider and the baffle (12) are connected by bolts, and a number of mounting holes are provided on the surface of the baffle (12).

3. The biomimetic frog-like jumping robot mechanism as described in claim 1, characterized in that, The inner side plate (11) and the outer side plate (13) are mounted on the rotating shaft by rolling bearings.

4. The biomimetic frog-like jumping robot mechanism as described in claim 1, characterized in that, The support mechanism (3) connects the front leg (32) to the outer plate of the inner side plate (11) through the support mechanism fixed rod (31).

5. The biomimetic frog-like jumping robot mechanism as described in claim 1, characterized in that, The jumping mechanism (4) connects the rear leg (41) and the slide rail pair (43) together through the rear leg joint (42). The rear leg is connected to the inner side plate (11) and the outer side plate (13) respectively through the jumping mechanism tension spring (44) and the jumping mechanism fixed rod (45).

6. The robot jumping mechanism for biomimetic frog movements according to claim 1, characterized in that, The power mechanism (2) includes a geared motor (21), a rotating wheel (22), an incomplete gear drive wheel (23), a driven wheel (24), a movable pulley (25), a rolling bearing (26), and a rotating shaft (27).

7. The biomimetic frog-like jumping robot mechanism according to claim 1, characterized in that, The jumping mechanism (4) includes a rear leg (41), a rear leg joint (42), a slide rail pair (43), a jumping mechanism tension spring (44), a jumping mechanism fixed rod (45), a pulley fixing piece (46), a jumping mechanism rear leg tension spring (47), a rear leg pivot (48), a joint pivot (49), a joint pulley (410), a slide rail pair slider (411), and a slide rail pair guide rail (412).

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