A bouncing robot

Abstract

The utility model discloses a kind of bouncing robots, it is related to bionic robot technical field, including skeleton, the inside rotation of the skeleton is connected with worm, the outside of worm is equipped with connecting mechanism, the outside of connecting mechanism is connected with front leg ratchet wheel, the inside rotation of front leg ratchet wheel is connected with forefoot, the outside of connecting mechanism is connected with hind leg ratchet wheel, the inside rotation of the skeleton is connected with steel wire pull rod, the outside fixed mounting of steel wire pull rod has fine rope, the both sides of the skeleton are rotatably connected with thigh, the outer surface of thigh is rotatably connected with calf, by the cooperation between tensile spring and fine rope, fine rope can control hind leg rotation and store power, when hind limb is completely withdrawn and contacts ground, frog tends to be stable again, the stability of frog is higher in whole take-off process, realize the efficient control when bionic frog jumps, improve the stability when jumping robot jumps.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic robot technology, specifically a bouncing robot. Background Technology

[0002] Bionic robots are based on life forms and mechanisms in biology. They imitate and learn the characteristics and functions of these life forms to design and manufacture robots that can have similar functions. Bionic robots are robots that imitate organisms and work according to their characteristics. They are the best combination of various advanced technologies in bionics and various applications in robotics, such as snake robots, robot cats, robot dogs and bionic frogs.

[0003] Research on biomimetic jumping robots is an important branch of biomimetic robotics research. For example, biomimetic frog robots are designed to enable frogs to use their jumping ability to perform tasks such as terrain exploration and obstacle crossing. However, research on biomimetic frog jumping robots faces challenges related to autonomy and stability. Currently, most research is conducted indoors or in restricted environments, resulting in low autonomous movement and control capabilities, making it difficult to cope with more complex outdoor environments. Jumping robots also struggle to maintain stability during jumps, making them prone to tumbling, spinning, and falling. Overall, jumping robots exhibit low stability during jumps.

[0004] To address these issues, we offer a bouncing robot. Utility Model Content

[0005] 1) Technical problems to be solved

[0006] This invention proposes a bouncing robot that solves the problem of low stability during jumping by using the cooperation between a tension spring and a thin rope.

[0007] (ii) Technical Solution

[0008] To achieve the above objectives, this utility model provides the following technical solution: a bouncing robot, comprising a skeleton, a worm gear rotatably connected inside the skeleton, a connecting mechanism mounted outside the worm gear, a front leg wheel connected outside the connecting mechanism, and a front leg rotatably connected inside the front leg wheel;

[0009] The connecting mechanism is externally connected to a rear leg wheel, and the frame is internally rotatably connected to a steel wire rod, with a thin rope fixedly installed on the outside of the steel wire rod.

[0010] Both sides of the frame are rotatably connected to thighs, the outer surface of the thighs is rotatably connected to calves, the outer surface of the calves is fixedly installed with hind feet, and ceiling screws are detachably connected to the outer surfaces of both thighs and calves, with tension springs fixedly installed between adjacent ceiling screws.

[0011] Furthermore, the connecting mechanism includes a worm gear, the outer surface of the worm gear shaft of the worm gear is rotatably connected to the inside of the frame, the teeth of the worm gear mesh with the teeth of the worm, and one end of the worm gear shaft of the worm gear is fixedly installed on the outer surface of the front leg wheel.

[0012] Furthermore, a second worm gear meshes with the outer surface of the worm gear teeth, the outer surface of the second worm gear is rotatably connected to the inside of the frame, and the worm gear shaft of the second worm gear is fixedly installed on the outer surface of the rear leg wheel.

[0013] Furthermore, the front leg consists of an elastic front leg and a front leg fixing bracket. The front leg fixing bracket has an L-shaped structure and is slidably connected to the lever of the front leg derailleur. The front leg fixing bracket is rotatably connected to the inside of the frame.

[0014] Furthermore, the rear leg derailleur has a fan blade structure, and each set of fan blades has an inclined structure. The steel wire pull rod has a pointer structure and is divided into a front rod and a rear rod. One set of fan blades of the rear leg derailleur is slidably connected to the outer surface of the rear rod, and one end of the thin rope is fixedly installed to the outer surface of the front rod.

[0015] Furthermore, the other end of the thin rope passes through the interior of the ceiling screw above the thigh, and the other end of the thin rope is fixedly installed inside the ceiling screw above the calf.

[0016] Furthermore, a motor plate is detachably connected inside the frame, and a drive motor is installed inside the frame. The output end of the drive motor is detachably connected to the rotating shaft of the worm gear.

[0017] (iii) Beneficial effects:

[0018] Compared with existing technologies, this bouncing robot has the following advantages:

[0019] I. This jumping robot utilizes the coordination between tension springs and thin ropes. The ropes control the rotation of the hind legs to store energy. During takeoff, the tension springs between the thighs and calves, and between the calves and hind feet, transition from the energy storage phase to the tension phase in the air, preparing for the next retraction. The forelimbs oscillate in the air, allowing the frog to maintain balance until the forelimbs touch the ground. Upon landing, the frog gradually lowers its center of gravity, and the hind legs retract rapidly due to the tension springs. When the hind legs are fully retracted and touch the ground, the frog becomes stable again. Overall, the frog's stability during takeoff is higher, achieving efficient and controlled jumping of the biomimetic frog and improving the stability of the jumping robot.

[0020] Second, this bouncing robot, by setting up components such as ceiling screws, has a fixing ring inside the ceiling screw. A thin rope can pass through the inside of the ceiling screw, with one end of the thin rope connected to the top of the lower leg. When the other end of the thin rope moves, it can control the rotation of the lower leg and thigh. At this time, the thigh and lower leg rotate relative to each other, and the thigh and the skeleton rotate relative to each other. When the front leg rotates, the thin rope can control the rotation of the hind leg to store power, making the adjustment process more efficient and stable. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0022] Figure 1 This is a structural diagram of the present invention;

[0023] Figure 2 This is a right-side view of the overall structure of this utility model;

[0024] Figure 3 This is a top view of the overall structure of this utility model;

[0025] Figure 4 This is a structural diagram of the worm gear component of this utility model;

[0026] Figure 5 This is a structural diagram of the front foot component of this utility model.

[0027] In the diagram: 1. Frame; 2. Worm gear; 3. Connecting mechanism; 301. Worm gear one; 302. Worm gear two; 4. Front leg wheel; 5. Front leg; 501. Elastic front leg; 502. Front leg fixing bracket; 6. Rear leg wheel; 7. Steel wire rod; 701. Front rod; 702. Rear rod; 8. Thin rope; 9. Thigh; 10. Lower leg; 11. Rear leg; 12. Ceiling screw; 13. Tension spring; 14. Motor board; 15. Drive motor. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] like Figure 1 - Figure 5As shown, this utility model provides a technical solution: a bouncing robot, including a skeleton 1. Since the frog has a small weight and a compact structure, an integrated structure is chosen. The two holes at the lower left and right corners are used to place bearings and front legs. The hole in the middle is used to place the rotating shaft of the worm gear 2, as well as to place the worm wheel shaft and connect the left and right rear leg dials 6. The rear leg mounting base and the body are integrated. The worm gear 2 is rotatably connected inside the skeleton 1. The motor plate 14 is detachably connected inside the skeleton 1. The drive motor 15 is installed inside the skeleton 1. The output end of the drive motor 15 is detachably connected to the rotating shaft of the worm gear 2. The electrode plate is fixed inside the skeleton 1 by fixing screws. When the drive motor 15 rotates, it can control the rotation of the worm gear 2. The drive motor 15 is preferably model SM40-001-30LFB. The worm gear 2 is made of 20Cr material.

[0030] A connecting mechanism 3 is installed on the outside of the worm 2. A front leg wheel 4 is connected to the outside of the connecting mechanism 3. The connecting mechanism 3 includes a worm wheel 301. The outer surface of the worm wheel shaft of the worm wheel 301 is rotatably connected to the inside of the frame 1. The teeth of the worm wheel 301 mesh with the teeth of the worm 2. One end of the worm wheel shaft of the worm wheel 301 is fixedly installed on the outer surface of the front leg wheel 4. The front leg wheel 4 consists of a rotating disk and a lever. The lever is arranged in a circular array outside the rotating disk. The rotating disk is fixedly installed on the rotating shaft of the worm wheel 301. Two sets of front leg wheels 4 and worm wheels 301 are symmetrically arranged on both sides of the frame 1. The worm wheels 301 and worm wheels 302 are made of ZCuAl1OFe3 and are metal mold cast. Angular contact ball bearings and bearing caps are installed at the rotation positions of the worm 2 and the worm wheel 301 to assist rotation and make rotation more stable.

[0031] The front leg wheel 4 is internally connected to the front leg 5, which consists of an elastic front leg 501 and a front leg fixing bracket 502. The front leg fixing bracket 502 has an L-shaped structure and is slidably connected to the lever of the front leg wheel 4. The front leg fixing bracket 502 is internally connected to the skeleton 1. The front leg fixing bracket 502 is internally connected to the skeleton 1 through an angular contact ball bearing. When a set of levers contacts the front leg fixing bracket 502, it can actuate the elastic front leg 501 to rotate. At this time, the front leg 5 rotates as a whole, and the frog's forelimbs will make full contact with the ground.

[0032] The connecting mechanism 3 is externally connected to the rear leg wheel 6. The outer surface of the teeth of the worm gear 2 is meshed with the worm wheel 302. The outer surface of the worm wheel 302 is rotatably connected to the inside of the frame 1. The worm wheel shaft of the worm wheel 302 is fixedly installed on the outer surface of the rear leg wheel 6. The rear leg wheel 6 has a fan blade structure and each set of fan blades has an inclined structure. The worm wheel 302 can control the rotation of the rear leg wheel 6 under the drive of the worm gear 2. At this time, the two rear leg wheels 6 can rotate at the same speed.

[0033] The frame 1 is internally connected to a steel wire rod 7, and a thin rope 8 is fixedly installed on the outside of the steel wire rod 7. The steel wire rod 7 has a pointer structure and is divided into a front rod 701 and a rear rod 702. A set of fan blades of the rear leg wheel 6 is slidably connected to the outer surface of the rear rod 702. One end of the thin rope 8 is fixedly installed to the outer surface of the front rod 701. The position of the front rod 701 of the steel wire rod 7 is controlled by pulling the thin rope 8. When one end of the thin rope 8 has external tension, it can control the front rod 701 to always face one direction. The rotation of the rear leg wheel 6 can control a set of fan blades to rotate the rear rod 702. Under the pull of the thin rope 8, the rear rod 702 will contact the fan blades of the rear leg wheel 6. Under the rotation of the fan blades, the rear rod 702 and the front rod 701 can rotate around the rotation axis between them. The lower part of the steel wire rod 7 is rotatably connected to the frame 1 through a rotation axis and bearings.

[0034] Both sides of the frame 1 are rotatably connected to thighs 9. Lower legs 10 are rotatably connected to the outer surface of thighs 9. Rear feet 11 are fixedly mounted on the outer surface of lower legs 10. The rear leg section consists of thighs 9, lower legs 10, thigh 9 mounting bases, rear feet 11, pins, and ceiling screws 12. The connections between thighs 9 and their mounting bases, and between thighs 9 and lower legs 10, are all made using pins. There is one eyebolt between each thigh 9 and lower leg 10 in the entire mechanism. The eyebolts are used to connect the front transmission system to the rear leg section to enable jumping. Ceiling screws 12 are detachably connected to the outer surfaces of both thighs 9 and lower legs 10. Tension springs are fixedly installed between adjacent ceiling screws 12. Spring 13, the other end of the thin rope 8 passes through the interior of the ceiling screw 12 above the thigh 9, and the other end of the thin rope 8 is fixedly installed inside the ceiling screw 12 above the calf 10. During the take-off phase, the frog's whole body muscles contract, and at this time the front leg wheel drives the front leg to rotate, and the forelimbs make full contact with the ground. The thigh 9, calf 10, and hind foot 11 of the hind limbs and the steel wire rod 7 are in the power storage phase through the thin rope 8. The tension spring 13 between the thigh 9 and calf 10, and between the calf 10 and hind foot 11, serves as a power storage device. At the moment when the front leg wheel 4 and the front leg lever, and the steel wire rod 7 and the hind leg wheel 6 separate, the tension spring 13 releases energy, providing energy for the forelimbs and hind limbs to jump up, and the forelimbs and flippers gradually leave the ground.

[0035] Working principle: During operation, the drive motor 15 drives the worm gear 2 to rotate continuously. The worm gear 2 drives the two worm wheels 301 and 302 on both sides to rotate continuously. The left worm wheel 302 rotates counterclockwise, and the right worm wheel 302 rotates clockwise. The left worm wheel 302 rotates at the same speed as the left rear leg wheel 6. The left rear leg wheel 6 forms an intermittent motion with the wire rod 7. The right worm wheel 302 rotates at the same speed as the right rear leg wheel 6. The right rear leg wheel 6 also forms an intermittent motion with the wire rod 7. The worm gear 2 drives the front worm wheel 301 to rotate continuously. The front left and right wheels rotate at the same speed as the worm gear 2. The front left and right wheels form an intermittent motion with the front leg lever.

[0036] During the take-off phase, the frog's muscles contract, and the front leg wheel drives the front leg to rotate, making full contact with the ground. The thigh 9, lower leg 10, and hind foot 11 of the hind limbs, along with the steel wire rod 7, are in the power storage phase through the thin rope 8. The tension spring 13 between the thigh 9 and lower leg 10 acts as a power storage device. At the moment when the front leg wheel 4 and the front leg rod, and the steel wire rod 7 and the hind leg wheel 6 separate, the tension spring 13 releases energy, providing energy for the front and hind limbs to leap up, and the front limbs and flippers gradually leave the ground.

[0037] Takeoff phase: The hind legs 11 and forelimbs leave the ground. The tension spring 13 between the thigh 9 and the lower leg 10 changes from the charging phase to the stretching phase in the air, preparing for the next contraction. The forelimbs make oscillating movements in the air, so that the frog can maintain its balance in the air until the forelimbs touch the ground, and the first jump is completed.

[0038] Landing phase: During this phase, the frog gradually lowers its center of gravity, and its hind limbs retract rapidly due to the action of the stretching spring 13. When the hind limbs are fully retracted and touch the ground, the frog becomes stable again, preparing for the next landing.

[0039] In the description of this utility model, it should be understood that the terms "left", "right", "up", "down", "top", "bottom", "front", "back", "inner", "outer", "back", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0040] However, the above description is only a specific embodiment of this utility model and should not be construed as limiting the scope of implementation of this utility model. Therefore, any substitution of equivalent components or equivalent changes and modifications made in accordance with the scope of protection of this utility model should still fall within the scope of the claims of this utility model.

Claims

1. A bouncing robot, comprising a skeleton (1), characterized in that: The frame (1) is rotatably connected to a worm gear (2), and a connecting mechanism (3) is installed on the outside of the worm gear (2). A front leg wheel (4) is connected to the outside of the connecting mechanism (3), and a front foot (5) is rotatably connected to the inside of the front leg wheel (4). The connecting mechanism (3) is externally connected to a rear leg wheel (6), and the frame (1) is internally rotatably connected to a wire rod (7). A thin rope (8) is fixedly installed on the outside of the wire rod (7). Both sides of the frame (1) are rotatably connected to thighs (9), the outer surface of the thighs (9) is rotatably connected to calves (10), the outer surface of the calves (10) is fixedly installed with hind feet (11), the outer surfaces of the thighs (9) and calves (10) are detachably connected to ceiling screws (12), and tension springs (13) are fixedly installed between adjacent ceiling screws (12).

2. The bouncing robot according to claim 1, characterized in that: The connecting mechanism (3) includes a worm gear (301), the outer surface of the worm gear shaft of the worm gear (301) is rotatably connected to the inside of the frame (1), the teeth of the worm gear (301) mesh with the teeth of the worm (2), and one end of the worm gear shaft of the worm gear (301) is fixedly installed on the outer surface of the front leg wheel (4).

3. The bouncing robot according to claim 2, characterized in that: The outer surface of the worm gear (2) is engaged with the worm wheel (302), the outer surface of the worm wheel (302) is rotatably connected to the inside of the frame (1), and the worm wheel shaft of the worm wheel (302) is fixedly installed on the outer surface of the rear leg wheel (6).

4. A bouncing robot according to claim 1, characterized in that: The front leg (5) consists of an elastic front leg (501) and a front leg fixing bracket (502). The front leg fixing bracket (502) has an L-shaped structure and is slidably connected to the lever of the front leg derailleur (4). The front leg fixing bracket (502) is rotatably connected to the inside of the frame (1).

5. A bouncing robot according to claim 1, characterized in that: The rear leg derailleur (6) has a fan blade structure and each set of fan blades has an inclined structure. The steel wire rod (7) has a pointer structure and is divided into a front rod (701) and a rear rod (702). A set of fan blades of the rear leg derailleur (6) is slidably connected to the outer surface of the rear rod (702). One end of the thin rope (8) is fixedly installed to the outer surface of the front rod (701).

6. A bouncing robot according to claim 1, characterized in that: The other end of the thin rope (8) passes through the interior of the ceiling screw (12) above the thigh (9), and the other end of the thin rope (8) is fixedly installed inside the ceiling screw (12) above the calf (10).

7. A bouncing robot according to claim 1, characterized in that: The frame (1) is detachably connected to a motor plate (14), and a drive motor (15) is installed inside the frame (1). The output end of the drive motor (15) is detachably connected to the rotating shaft of the worm (2).

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