CN105292291B - A kind of bionical frog electric robot - Google Patents
A kind of bionical frog electric robot Download PDFInfo
- Publication number
- CN105292291B CN105292291B CN201510825496.0A CN201510825496A CN105292291B CN 105292291 B CN105292291 B CN 105292291B CN 201510825496 A CN201510825496 A CN 201510825496A CN 105292291 B CN105292291 B CN 105292291B
- Authority
- CN
- China
- Prior art keywords
- foreleg
- block
- pin
- back leg
- pass
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Seats For Vehicles (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of bionical frog electric robot, including back leg hopping mechanism, foreleg damping, transmission mechanism, trunk support and slide block mechanism, leg mechanism is connected by pin with the front and rear leg contiguous block of slide block mechanism afterwards, and back leg rocking bar is connected by pin with the back leg contiguous block of trunk support；Front leg mechanism is connected by pin with the foreleg fixed block of trunk support, and front leg mechanism is connected by pin with the front and rear leg contiguous block of trunk support；High speed shaft and slow-speed shaft are fixed on trunk support by bearing block；Two sliding blocks of slide block mechanism are arranged on the slide bar of left and right, and energy-storaging spring, which is enclosed on slide bar, to be placed between sliding block and foreleg fixed block.The present invention can solve the problem that take-off and the landing problem of jump humanoid robot, with good jump performance, different earth's surfaces are can adapt to, realizes and crosses over irrigation canals and ditches and obstacle, it can be moved in outdoor varying environment, carry the detected event that can be used for after different detectors in the complex environment of field.
Description
Technical field
The present invention relates to one kind jump humanoid robot, more particularly to a kind of bionical frog electric robot belongs to detection
Class mechanical equipment technical field.
Background technology
Detection and pick-up operation in wild environment, intensity are big, and environmental hazard coefficient is big, and people is replaced using robot technology
Power is a good developing direction, and bio-robot is popular direction therein again, and hop robot is complicated in face of obstacle
Wild environment it is advantageous；And frog jump have it is explosive strong, apart from it is remote the characteristics of, can easily surmount obstacles, and
With good environmental suitability.Its organism structure and behavior are rationally, flexibly, efficiently.Based on to frog biological characteristic
With the analysis of jumping mechanism, simplify for complicated structure, it is proposed that a kind of mechanism model towards jumping,
And carry out the design of bionical frog.Frog forelimb is reduced to an active shoulder joint and a passive elbow joint, so as to realize it
Support buffering of landing and the function of pose adjustment.Hind leg uses four-bar mechanism as leg main body, and increases sole to ensure it
Stability.Hind leg realizes jump action by motor control, with larger feasibility, and hind leg five-rod has and frog-jumping
The Laws of Mechanics known each other during jump, so as to realize good skip functionality.The bionical frog that we design, has used the motion of jump
Mode, can adapt to different earth's surfaces, realizes and crosses over irrigation canals and ditches and obstacle, can be moved in outdoor complex environment, should with good
Use prospect.
Existing general bionical frog, it drives the mechanism that has an effect of jump to be usually direct drive back leg, and mechanism is then
It is that structure is relatively new by imitating the energy-storaging spring on frog mechanism trunk come leg mechanism after driving to realize.
The content of the invention
In order to solve the above problems, the technical scheme that the present invention takes is：A kind of bionical frog electric robot, including it is rear
Leg hopping mechanism, foreleg damping, transmission mechanism, slide block mechanism and trunk support composition, it is characterised in that：Described back leg
Hopping mechanism is connected by pin with the front and rear leg contiguous block of slide block mechanism, pin axis and the slide block movement in slide block mechanism
Direction is perpendicular；Back leg rocking bar one is connected by pin with the back leg contiguous block of trunk support, pin central axis and sliding block machine
Slide block movement direction in structure is vertical；Described foreleg damping is connected by pin with the foreleg contiguous block of trunk support,
The axis of pin is vertical with the sliding block moving direction in slide block mechanism；Before and after foreleg damping is by pin and trunk support
Leg contiguous block is connected, and the axis of pin is vertical with the sliding block moving direction in slide block mechanism；Described transmission mechanism is two grades and subtracted
Speed variator, the first order is slowed down for bevel gear, and the second level is slowed down for straight spur gear, and high speed shaft and slow-speed shaft pass through bearing block
Be fixed on the trunk side plate of trunk support, rack is fixed on sliding block crossbeam by tight fixed bolt, on rack length direction with
Sliding block beam vertical in slide block mechanism；Two sliding blocks of the slide block mechanism are symmetrically arranged on the slide bar of left and right, sliding
Block centre bore axis and slide bar axis collinear, energy-storaging spring, which is enclosed on slide bar, to be placed between sliding block and foreleg fixed block.
Described back leg hopping mechanism includes back leg sole, sole connecting rod, back leg rocking bar three, rear leg link, back leg and shaken
Bar one, back leg damper, back leg rocking bar two, described back leg sole are connected by pin with sole connecting rod；Described pin
Palm connecting rod is connected by pin with rear leg link；Described back leg rocking bar three is connected by pin with back leg rocking bar one, is led to
Cross pin with rear leg link to be connected, be connected by pin with front and rear leg contiguous block；Described rear leg link is by pin with after
Leg rocking bar two is connected；Described back leg rocking bar one is connected by pin with the back leg contiguous block of trunk support；After described
Leg damper is connected by pin with back leg sole, is connected by the collar with rear leg link.
Described foreleg damping includes：It is foreleg sole, bumper inner tube, bumper outer tube, preceding
Short legs connecting rod, foreleg long connecting rod, described foreleg sole are connected by pin with bumper inner tube, by pin with
Foreleg short connecting rod is connected；Described bumper outer tube is connected by pin with foreleg short connecting rod；Described foreleg
Short connecting rod is connected by pin with the foreleg fixed block of trunk support；Described foreleg long connecting rod is connected by pin and preceding short legs
Bar is connected, and is connected by pin with front and rear leg contiguous block.
Described transmission mechanism includes：Servomotor, high speed bevel gear, low speed bevel gear, high speed roller gear, low speed circle
Stud wheel, partial gear, rack, high speed shaft, slow-speed shaft, described transmission mechanism are double reduction gear, and the first order is cone
Slow down for straight spur gear The gear deceleration, the second level；Described servomotor is bolted on motor cabinet；Described
High speed bevel gear is connected by key with the motor shaft of servomotor；Described low speed bevel gear is connected by key with high speed shaft,
Upper speed cone gear centre axis and the central axis of low speed bevel gear are mutually perpendicular to；Described high speed roller gear passes through key and height
Fast axle connection；Described low speed roller gear is connected by key with slow-speed shaft, high speed roller gear central axis and low speed cylinder
The central axis of gear is parallel to each other, and high speed roller gear end face and low speed roller gear end face are in one plane；Described
Partial gear is fixed on slow-speed shaft by key；Described rack be then fixed on by tight fixed bolt on sliding block crossbeam and with not
Complete Gear axis direction is perpendicular；Described high speed shaft is fixed on the trunk side plate of trunk support by bearing block；It is described
Slow-speed shaft be fixed on by bearing block on the trunk side plate of trunk support.
Described slide block mechanism includes：Sliding block, sliding block crossbeam, spring, front and rear contiguous block, described sliding block pass through its own
Centre bore be enclosed on slide bar, the central axis of sliding block moving direction and slide bar coincides；Described sliding block crossbeam passes through bolt
It is connected with the sliding block of both sides；Described spring housing is on slide bar；Described front and rear leg contiguous block is fixed by bolt with sliding block,
It is connected, is connected by pin with back leg rocking bar three with foreleg long connecting rod by pin.
Described trunk support includes：Foreleg entablature, foreleg sill, back leg entablature, back leg sill, foreleg are solid
Determine block, back leg fixed block, slide bar, foreleg contiguous block, back leg contiguous block, preceding connecting plate, rear connecting plate, motor cabinet, bearing block, body
Dry side plate, trunk side plate contiguous block, described foreleg entablature are connected by bolt with foreleg fixed block；Under described foreleg
Crossbeam is connected by bolt with foreleg fixed block and foreleg contiguous block, is connected by bolt with preceding connecting plate；After described
Leg entablature is crossed bolt and is connected with back leg fixed block；Described back leg sill is connected by bolt and back leg fixed block and back leg
Connect block to be connected, be connected by bolt with rear connecting plate；Described slide bar two ends are respectively inserted in foreleg fixed block and back leg is fixed
In the cylindrical type hole slot of block；Described trunk side plate is connected by bolt with preceding connecting plate, passes through bolt and rear connecting plate phase
Connection；Described motor cabinet is connected by bolt with trunk side plate contiguous block；Described bearing block passes through bolt and trunk side plate
Connection.
Further, described back leg damper can freely adjust the elevation angle of back leg jump structure by screw rod.
Further, described spring should be connected cooperation using hook hole with foreleg fixed block and sliding block and install.
Because present invention employs above-mentioned technical proposal, the present invention has advantages below：（1）The present invention is by using jump
Motion mode, can adapt to different earth's surfaces, realize and cross over irrigation canals and ditches and obstacle, can move in outdoor complex environment, tool
There is good application prospect；（2）Existing general bionical frog, it drives the mechanism that has an effect of jump to be usually direct drive,
It is of the invention then be by imitate frog trunk support on energy-storaging spring come leg mechanism after driving.
Brief description of the drawings
Fig. 1 is 3-D solid structure schematic diagram of the invention.
Fig. 2 is the 3-D solid structure schematic diagram of another angle of the invention.
Fig. 3 is the 3-D solid structure schematic diagram of back leg damper in the present invention.
Fig. 4 is the 3-D solid structure schematic diagram of back leg fixed block in the present invention.
Fig. 5 is the 3-D solid structure schematic diagram of sliding block in the present invention.
In figure：1- bumper outer tubes；2- bumper inner tubes；3- foreleg soles；4- foreleg short connecting rods；5-
Foreleg long connecting rod；6- back leg soles；7- sole connecting rods；8- back leg dampers；9- back legs rocking bar three；Leg contiguous block before and after 10-；
11- rear leg links；12- back legs rocking bar two；13- back leg contiguous blocks；14- back legs rocking bar one；15- back leg entablatures；Under 16- back legs
Crossbeam；17- back leg fixed blocks；18- servomotors；19- motor cabinets；20- slide bars；21- sliding block crossbeams；22- sliding blocks；23- bearings
Seat；24- low speed roller gears；25- slow-speed shafts；26- energy-storaging springs；27- foreleg entablatures；28- foreleg fixed blocks；29- forelegs
Contiguous block；30- racks；31- foreleg sills；32- partial gears；33- trunk side plates；34- high speed bevel gears；35- low speed
Bevel gear；36- high speed roller gears；37- trunk side plate contiguous blocks；38- trunk side plate fixed seats；39- high speed shafts.
Embodiment
With reference to specific embodiment, the invention will be further described, the illustrative examples and explanation invented herein
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, a kind of bionical frog electric robot, including it is back leg hopping mechanism, preceding
Leg damping, transmission mechanism, slide block mechanism and trunk support.Leg mechanism is connected by the front and rear leg of pin and slide block mechanism afterwards
Block 10 is connected, and with the linkage action realized foreleg and retreated, pin axis mutually hangs down with the slide block movement direction in slide block mechanism
Directly.Back leg rocking bar 1 is connected by pin with the back leg contiguous block 13 of trunk support, in pin central axis and slide block mechanism
Slide block movement direction it is vertical.Foreleg damping is connected by pin with the foreleg contiguous block 29 of trunk support, the axle of pin
Line is vertical with the moving direction of sliding block 22, and foreleg damping is connected by pin with the front and rear leg contiguous block 10 of trunk support, with
Foreleg and the linkage action retreated are realized, the axis of pin is vertical with the moving direction of sliding block 22.Transmission mechanism fills for double reduction
Put, the first order is slowed down for bevel gear, the second level is slowed down for straight spur gear, and high speed shaft 39 and slow-speed shaft 25 pass through bearing block
23 are fixed on the trunk side plate 33 of trunk support, and rack 30 is fixed on sliding block crossbeam 21 by tight fixed bolt, and rack 30 is grown
It is vertical with sliding block crossbeam 21 on degree direction, so that rack 30 can realize interval cooperation with partial gear 32.Slide block mechanism
Two sliding blocks 22 are symmetrically arranged on left and right slide bar 20, the centre bore axis of sliding block 22 and the axis collinear of slide bar 20, accumulation of energy
Spring 26 is enclosed on slide bar 20 and is placed between sliding block 22 and foreleg fixed block 28, so that foreleg damping and back leg jump machine
Structure, which coordinates, completes jump action.
Back leg hopping mechanism includes：Back leg sole 6, sole connecting rod 7, back leg rocking bar 39, rear leg link 11, back leg shake
Bar 1, back leg damper（8）, back leg rocking bar 2 12.Back leg sole 6 is connected by pin with sole connecting rod 7.Sole connects
Extension bar 7 is connected by pin with rear leg link 11, and rear leg link 11 can be pivoted about with pin.Back leg rocking bar 39
It is connected by pin with back leg rocking bar 1, is connected by pin with rear leg link 11, is connected by pin with front and rear leg
Block 10 is connected, back leg rocking bar 39 swing drive back leg hopping mechanism motion up and down, while also with foreleg damping
Form linkage.Rear leg link 11 is connected by pin with back leg rocking bar 2 12, defines the jump amplitude of back leg hopping mechanism
The size of power is stored with take-off.Back leg rocking bar 1 is connected by pin with the back leg contiguous block 13 of trunk support.Back leg damping
Device 8 is connected by pin with back leg sole 6, is connected by the collar 803 with rear leg link 11, for adjust back leg the elevation angle and
The vibrations that buffering jump is brought.
Foreleg damping includes：Foreleg sole 3, bumper inner tube 2, bumper outer tube 1, preceding short legs
Connecting rod 4, foreleg long connecting rod 5.Foreleg sole 3 is connected by pin with bumper inner tube 2, passes through pin and preceding short legs
Connecting rod 4 is connected, the swing for realizing foreleg damping.Bumper outer tube 1 passes through pin and foreleg short connecting rod 4
It is connected, the cushioning effect during playing foreleg take-off and landing.Before foreleg short connecting rod 4 is by pin and trunk support
Leg fixed block 28 is connected.Foreleg long connecting rod 5 is connected by pin with foreleg short connecting rod 4, is connected by pin with front and rear leg
Block 10 is connected, the linkage for front and rear leg.
Transmission mechanism includes：It is servomotor 18, high speed bevel gear 34, low speed bevel gear 35, high speed roller gear 36, low
Fast roller gear 24, partial gear 32, rack 30, high speed shaft 39, slow-speed shaft 25, transmission mechanism is double reduction gear, the
One-level is slowed down for bevel gear, and the second level is slowed down for straight spur gear.Servomotor 18 is bolted on motor cabinet 19.
Described high speed bevel gear 34 is connected by key with the motor shaft of servomotor 18.Low speed bevel gear 35 passes through key and high speed shaft 39
It is connected, the central axis of high speed bevel gear 34 and the central axis of low speed bevel gear 35 are mutually perpendicular to, and realize high speed bevel gear 34
With the primary transmission of low speed bevel gear 35.High speed roller gear 36 is connected by key with high speed shaft 39.Low speed roller gear 24 leads to
Cross key to be connected with slow-speed shaft 25, the central axis of the central axis of high speed roller gear 36 and low speed roller gear 24 is parallel to each other,
The end face of high speed roller gear 36 in one plane, realizes high speed roller gear 36 and low speed circle with the end face of low speed roller gear 24
The secondary transmission of stud wheel 24.Partial gear 32 is fixed on slow-speed shaft 25 by key, and rack 30 is then solid by tight fixed bolt
It is scheduled on sliding block crossbeam 21 and perpendicular with the axis direction of partial gear 32, the transmission between partial gear 32 and rack 30
Discontinuous operation for energy-storaging spring 26.High speed shaft 39 is fixed on the trunk side plate 33 of trunk support by bearing block 23.It is low
Fast axle 25 is fixed on the trunk side plate 33 of trunk support by bearing block 23.
Slide block mechanism includes：Sliding block 22, sliding block crossbeam 21, energy-storaging spring 26, front and rear contiguous block 17.Sliding block 22 by its from
The centre bore 2201 of body is enclosed on slide bar 20, and the moving direction of sliding block 22 is identical with the central axis of slide bar 20, for the edge of sliding block 22
The central axis of slide bar 20 is slided.Sliding block crossbeam 21 is connected by bolt with the sliding block 22 of both sides.Energy-storaging spring 26 is enclosed on cunning
On bar 20, take-off accumulation of energy is carried out when energy-storaging spring 26 is compressed by sliding block 22.Front and rear leg contiguous block 10 passes through bolt and sliding block 22
It is fixed, it is connected, is connected by pin with back leg rocking bar 39 with foreleg long connecting rod 5 by pin, the linkage for front and rear leg.
Trunk support includes：Foreleg entablature 27, foreleg sill 31, back leg entablature 15, back leg sill 16, foreleg
Fixed block 28, back leg fixed block 17, slide bar 20, foreleg contiguous block 29, back leg contiguous block 13, preceding connecting plate 61, rear connecting plate 62,
Motor cabinet 19, bearing block 23, trunk side plate 33, trunk side plate contiguous block 37.Foreleg entablature 27 is fixed by bolt with foreleg
Block 28 is connected.Foreleg sill 31 is connected by bolt with foreleg fixed block 28 and foreleg contiguous block 29, by bolt with
Preceding connecting plate 61 is connected.Back leg entablature 15 is crossed bolt and is connected with back leg fixed block 17.Back leg sill 16 passes through bolt
It is connected with back leg fixed block 17 and back leg contiguous block 13, is connected by bolt with rear connecting plate 62.Insert respectively at the two ends of slide bar 20
In the cylindrical type hole slot 1701 of foreleg fixed block 28 and back leg fixed block 17, assembling essence is ensured for positioning the slide bar 20 of both sides
Degree.Trunk side plate 33 is connected by bolt with preceding connecting plate 61, is connected by bolt with rear connecting plate 62.Motor cabinet 19 leads to
Bolt is crossed to be connected with trunk side plate contiguous block 37.Bearing block 23 is connected by bolt with trunk side plate 33.
The more steady landform different with adaptation in order that back leg jump is got up, back leg damper 8 can be by screw rod 801 certainly
By adjustment back leg jump structure the elevation angle.Released energy in order that energy-storaging spring 26 is stable, energy-storaging spring 26 should be with foreleg
Fixed block 28 and sliding block 22 coordinate installation using hole connection is hooked.
The present invention operation principle be：In the use of the present invention, servo electricity should be adjusted according to different working environments first
The rotating speed of machine 18, the then engagement of high speed bevel gear 34 and low speed bevel gear 35 carries out primary speed-down, the He of high speed roller gear 36
The engagement of low speed roller gear 24 carries out double reduction, and partial gear 32 is rotated under the drive of slow-speed shaft 25, when in
Partial gear 32 is moved with carry-over bar 30 during 30 engagement of rack, rack 30 by be secured to connection sliding block crossbeam 21
Band movable slider 22 is moved along slide bar 20, and the movement of sliding block 22 causes the compressed energy-storage of energy-storaging spring 26, while the movement of sliding block 22 drives
Back leg parallel motion, frog back leg hopping mechanism is squatted down.Partial gear 32 is turned to when being disengaged from rack 30,
The energy-storaging spring 26 compressed is discharged rapidly, and band movable slider 22 is moved, and is pedaled after back leg hopping mechanism, frog takeoffs.Energy-storaging spring
26 recover equipoise, and leg mechanism receives leg in the air after drive.Last frog landing, foreleg damping is slow by spring
Device outer tube 1 and the cooperation buffer shock-absorbing of bumper inner tube 2 are rushed, partial gear 32 is engaged with rack 30 again, entered
Jump process next time.
Claims (3)
1. a kind of bionical frog electric robot, including back leg hopping mechanism, foreleg damping, transmission mechanism, slide block mechanism
With trunk support, it is characterised in that：Described back leg hopping mechanism passes through pin and the front and rear leg contiguous block of slide block mechanism（10）
It is connected, pin axis and slide block movement direction in slide block mechanism are perpendicular；Back leg rocking bar one（14）Pass through pin and trunk
The back leg contiguous block of support（13）It is connected, pin central axis is vertical with the slide block movement direction in slide block mechanism；Before described
Leg damping passes through pin and the foreleg contiguous block of trunk support（29）It is connected, the sliding block in the axis and slide block mechanism of pin
（22）Moving direction is vertical, and foreleg damping passes through pin and the front and rear leg contiguous block of trunk support（10）It is connected, pin
Axis and the sliding block in slide block mechanism（22）Moving direction is vertical；Described transmission mechanism is double reduction gear, and the first order is
Bevel gear is slowed down, and the second level is slowed down for straight spur gear, high speed shaft（39）And slow-speed shaft（25）Pass through bearing block（23）Gu
It is scheduled on the trunk side plate of trunk support（33）On, rack（30）Sliding block crossbeam is fixed on by tight fixed bolt（21）On, rack
（30）With sliding block crossbeam on length direction（21）Vertically；Two sliding blocks of the slide block mechanism（22）Symmetrically it is arranged in a left side
Right slide bar（20）On, sliding block（22）Centre bore axis and slide bar（20）Axis collinear, energy-storaging spring（26）It is enclosed on slide bar（20）On
It is placed in sliding block（22）With foreleg fixed block（28）Between；
Described back leg hopping mechanism includes back leg sole（6）, sole connecting rod（7）, back leg rocking bar three（9）, rear leg link
（11）, back leg rocking bar one（14）, back leg damper（8）, back leg rocking bar two（12）, described back leg sole（6）By pin with
Sole connecting rod（7）It is connected；Described sole connecting rod（7）Pass through pin and rear leg link（11）Connection；Described back leg
Rocking bar three（9）Pass through pin and back leg rocking bar one（14）It is connected, passes through pin and rear leg link（11）It is connected, passes through pin
With front and rear leg contiguous block（10）Connection；Described rear leg link（11）Pass through pin and back leg rocking bar two（12）It is connected；It is described
Back leg rocking bar one（14）Pass through pin and the back leg contiguous block of trunk support（13）It is connected；Described back leg damper（8）
Pass through pin and back leg sole（6）Connection, passes through the collar（803）With rear leg link（11）It is connected；
Described foreleg damping includes：Foreleg sole（3）, bumper inner tube（2）, bumper outer tube
（1）, foreleg short connecting rod（4）, foreleg long connecting rod（5）, described foreleg sole（3）Pass through pin and bumper inner tube
（2）It is connected, passes through pin and foreleg short connecting rod（4）It is connected；Described bumper outer tube（1）By pin with before
Short legs connecting rod（4）It is connected；Described foreleg short connecting rod（4）Pass through pin and the foreleg fixed block of trunk support（28）It is connected
Connect；Described foreleg long connecting rod（5）Pass through pin and foreleg short connecting rod（4）It is connected, passes through pin and front and rear leg contiguous block
（10）Connection；
Described transmission mechanism includes：Servomotor（18）, high speed bevel gear（34）, low speed bevel gear（35）, high speed Cylinder Gear
Wheel（36）, low speed roller gear（24）, partial gear（32）, rack（30）, high speed shaft（39）, slow-speed shaft（25）, it is described
Transmission mechanism is double reduction gear, and the first order is slowed down for bevel gear, and the second level is slowed down for straight spur gear；Described servo
Motor（18）It is bolted on motor cabinet（19）On；Described high speed bevel gear（34）Pass through key and servomotor（18）'s
Motor shaft is connected；Described low speed bevel gear（35）Pass through key and high speed shaft（39）It is connected, high speed bevel gear（34）Central shaft
Line and low speed bevel gear（35）Central axis be mutually perpendicular to；Described high speed roller gear (36) passes through key and high speed shaft（39）
Connection；Described low speed roller gear（24）Pass through key and slow-speed shaft（25）Connection, high speed roller gear（36）Central axis and
Low speed roller gear（24）Central axis be parallel to each other, high speed roller gear（36）End face and low speed roller gear（24）End face
In one plane；Described partial gear（32）Slow-speed shaft is fixed on by key（25）On；Described rack（30）Then lead to
Cross tightening and be bolted to sliding block crossbeam（21）Upper and and partial gear（32）Axis direction is perpendicular；Described high speed shaft
（39）Pass through bearing block（23）It is fixed on the trunk side plate of trunk support（33）On；Described slow-speed shaft（25）Pass through bearing block
（23）It is fixed on the trunk side plate of trunk support（33）On；
Described slide block mechanism includes：Sliding block（22）, sliding block crossbeam（21）, energy-storaging spring（26）, front and rear leg contiguous block（10）, institute
The sliding block stated（22）Pass through the centre bore of its own（2201）It is enclosed on slide bar（20）On, sliding block（22）Moving direction and slide bar（20）
Central axis it is identical；Described sliding block crossbeam（21）Pass through bolt and the sliding block of both sides（22）It is connected；Described accumulation of energy bullet
Spring（26）It is enclosed on slide bar（20）On；Described front and rear leg contiguous block（10）Pass through bolt and sliding block（22）It is fixed, by pin with
Foreleg long connecting rod（5）Connection, passes through pin and back leg rocking bar three（9）It is connected；
Described trunk support includes：Foreleg entablature（27）, foreleg sill（31）, back leg entablature（15）, it is horizontal under back leg
Beam（16）, foreleg fixed block（28）, back leg fixed block（17）, slide bar（20）, foreleg contiguous block（29）, back leg contiguous block（13）、
Preceding connecting plate（61）, rear connecting plate（62）, motor cabinet（19）, bearing block（23）, trunk side plate（33）, trunk side plate contiguous block
（37）, described foreleg entablature（27）Pass through bolt and foreleg fixed block（28）It is connected；Described foreleg sill（31）
Pass through bolt and foreleg fixed block（28）With foreleg contiguous block（29）It is connected, passes through bolt and preceding connecting plate（61）It is connected；
Described back leg entablature（15）Cross bolt and back leg fixed block（17）It is connected；Described back leg sill（16）Pass through bolt
With back leg fixed block（17）With back leg contiguous block（13）It is connected, passes through bolt and rear connecting plate（62）It is connected；Described slide bar
（20）Two ends are respectively inserted in foreleg fixed block（28）With back leg fixed block（17）Cylindrical type hole slot（1701）In；Described trunk
Side plate（33）Pass through bolt and preceding connecting plate（61）It is connected, passes through bolt and rear connecting plate（62）It is connected；Described motor
Seat（19）Pass through bolt and trunk side plate contiguous block（37）Connection；Described bearing block（23）Pass through bolt and trunk side plate（33）
Connection.
2. a kind of bionical frog electric robot as described in claim 1, it is characterised in that：Described back leg damper
（8）Screw rod can be passed through（801）The elevation angle of free adjustment back leg jump structure.
3. a kind of bionical frog electric robot as described in claim 1, it is characterised in that：Described energy-storaging spring
（26）Should be with foreleg fixed block（28）And sliding block（22）Coordinate installation using hole connection is hooked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510825496.0A CN105292291B (en) | 2015-11-24 | 2015-11-24 | A kind of bionical frog electric robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510825496.0A CN105292291B (en) | 2015-11-24 | 2015-11-24 | A kind of bionical frog electric robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105292291A CN105292291A (en) | 2016-02-03 |
| CN105292291B true CN105292291B (en) | 2017-11-03 |
Family
ID=55190291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510825496.0A Expired - Fee Related CN105292291B (en) | 2015-11-24 | 2015-11-24 | A kind of bionical frog electric robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105292291B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184445B (en) * | 2016-07-25 | 2018-03-27 | 西北工业大学 | A kind of micro machine drives the four bionical hopping mechanisms of bar straight line |
| CN107161228B (en) * | 2017-06-28 | 2023-03-31 | 杭州师范大学钱江学院 | Bionic jumping robot |
| CN107161236B (en) * | 2017-06-28 | 2023-03-31 | 杭州师范大学钱江学院 | Sector gear type hopping robot |
| CN108146532A (en) * | 2017-12-19 | 2018-06-12 | 浙江工业大学 | Bionical mobile robot device |
| CN110027642A (en) * | 2018-01-11 | 2019-07-19 | 苏州凡喆科技有限公司 | A kind of drive mechanism of bionical frog robot |
| CN110329384B (en) * | 2019-07-30 | 2024-04-30 | 佛山科学技术学院 | Can avoid barrier climb net robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3853195A (en) * | 1974-01-31 | 1974-12-10 | K Rasanen | Powered jumping stick |
| CN101850794A (en) * | 2010-05-28 | 2010-10-06 | 北京工业大学 | Frog jump robot |
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN202703737U (en) * | 2012-08-07 | 2013-01-30 | 北方工业大学 | Robot capable of imitating jump of frog |
| CN103465989A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Mechanism for simulating jumping of frog rear legs |
| CN103569235A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Five-joint robot imitating frog to jump |
| CN104590412A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Multifunctional bionic jumping and walking robot |
-
2015
- 2015-11-24 CN CN201510825496.0A patent/CN105292291B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3853195A (en) * | 1974-01-31 | 1974-12-10 | K Rasanen | Powered jumping stick |
| CN101850794A (en) * | 2010-05-28 | 2010-10-06 | 北京工业大学 | Frog jump robot |
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN202703737U (en) * | 2012-08-07 | 2013-01-30 | 北方工业大学 | Robot capable of imitating jump of frog |
| CN103465989A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Mechanism for simulating jumping of frog rear legs |
| CN103569235A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Five-joint robot imitating frog to jump |
| CN104590412A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Multifunctional bionic jumping and walking robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105292291A (en) | 2016-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105292291B (en) | A kind of bionical frog electric robot | |
| CN104890759B (en) | A kind of quadruped robot | |
| CN104590412B (en) | Multifunctional bionic jumping and walking robot | |
| CN106828654A (en) | A kind of four-leg bionic robot | |
| CN206343262U (en) | A kind of quick shredding facilities of Chinese herbal medicine | |
| CN102514643B (en) | Hopping robot based on structure of bi-mass model | |
| CN109178137A (en) | Multi-foot robot based on Three Degree Of Freedom pedipulator | |
| CN102328703A (en) | Six-bar bouncing combined-type wheel-leg mobile robot | |
| CN110304166B (en) | Hopping robot bouncing mechanism based on energy meshing conversion | |
| CN207328642U (en) | A kind of motor-driven bio-robot of list | |
| CN107975808A (en) | A kind of deformable portable incinerator | |
| CN208760763U (en) | A kind of stability is convenient for well the wheeled robot of walking | |
| CN208515722U (en) | A kind of quadruped robot with parallel flexible waist structure | |
| CN110001816B (en) | Ground-contact walking exploration vehicle and ground-contact method thereof | |
| CN104627263A (en) | Bionic jumping robot | |
| CN207706699U (en) | A kind of vibration insulating system for vegetable transplanting machine | |
| CN207462550U (en) | A kind of virtual reality body-building bicycle of adjustable body angle | |
| CN109319007B (en) | Four-foot bouncing device based on incomplete gear | |
| CN102114880B (en) | Shape memory alloy spring-driven jumping robot | |
| CN206719349U (en) | A kind of hopping robot of imitative flea beetle | |
| CN214724381U (en) | Protection device of robot | |
| CN103661038A (en) | Suspension damping device for engineering truck seat | |
| CN205549526U (en) | Spring cylinder and active motion platform | |
| CN209286552U (en) | A kind of novel emission fire extinguishing ball fire-fighting robot | |
| CN209232253U (en) | A kind of tunnel construction tunnel face cave-in accident pseudo-experience device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Jiang Fengsheng Inventor before: Liu Yang Inventor before: Du Jinfeng |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170915 Address after: 350000 2-57D room, 1 floor, No. 27 Lake Road, Mawei District, Fujian, Fuzhou province (FTA test area) Applicant after: FUZHOU HUANYA ZHONGZHI COMPUTER CO., LTD. Address before: 066004 East Campus of Yanshan University, No. 438, Hebei Avenue, Qinhuangdao Harbor District, Hebei Applicant before: Liu Yang |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171103 Termination date: 20201124 |