CN112960045B - Frog-imitated amphibious robot and motion control method - Google Patents
Frog-imitated amphibious robot and motion control method Download PDFInfo
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- CN112960045B CN112960045B CN202110261064.7A CN202110261064A CN112960045B CN 112960045 B CN112960045 B CN 112960045B CN 202110261064 A CN202110261064 A CN 202110261064A CN 112960045 B CN112960045 B CN 112960045B
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- 210000003194 Forelimb Anatomy 0.000 claims abstract description 55
- 210000000689 upper leg Anatomy 0.000 claims abstract description 52
- 210000004394 hip joint Anatomy 0.000 claims abstract description 36
- 210000001699 lower leg Anatomy 0.000 claims abstract description 24
- 238000004146 energy storage Methods 0.000 claims abstract description 21
- 210000003141 Lower Extremity Anatomy 0.000 claims abstract description 14
- 210000000629 knee joint Anatomy 0.000 claims abstract description 14
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 14
- 210000001737 Ankle Joint Anatomy 0.000 claims abstract description 11
- 210000001503 Joints Anatomy 0.000 claims abstract description 8
- 210000001364 Upper Extremity Anatomy 0.000 claims abstract description 7
- 238000005452 bending Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000005381 potential energy Methods 0.000 claims description 10
- 239000003638 reducing agent Substances 0.000 claims description 9
- 210000002414 Leg Anatomy 0.000 claims description 7
- 210000003414 Extremities Anatomy 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims 1
- 239000011664 nicotinic acid Substances 0.000 description 5
- 210000003423 Ankle Anatomy 0.000 description 3
- 230000003139 buffering Effects 0.000 description 3
- 229920001296 polysiloxane Polymers 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 210000000323 Shoulder Joint Anatomy 0.000 description 2
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- 210000002310 Elbow Joint Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
Abstract
A frog-imitating amphibious robot and a motion control method thereof comprise a main body drive stem, two thighs, two shanks, two hip joints, two knee joints, two ankle joints and two flippers, wherein the main body drive stem is connected with the thighs through the hip joints, the thighs are connected with the shanks through the knee joints, and the shanks are connected with the flippers through the ankle joints; the device also comprises two four-bar linkage forelimbs and two sets of elastic energy storage and release driving mechanisms; the four-bar linkage forelimb is rotatably arranged on the main body torso, the power of the four-bar linkage forelimb is provided by a driving source arranged in the main body torso, the four-bar linkage forelimb realizes pitching and stretching actions through a shoulder-elbow joint, and the power of the hip joint is provided by an elastic energy storage release driving mechanism arranged in the main body torso so as to drive the thigh and the shank to be linked and realize the stretching and bending motions of the hind limb. The invention realizes good jumping and swimming, and has the advantages of compact structure, convenient control and motion decoupling.
Description
Technical Field
The invention relates to a bionic robot, in particular to a frog-simulated amphibious robot and a motion control method.
Background
The mobile robot, as an intelligent system with mobility and capable of completing a predetermined task, has started to play more and more important roles in the fields of exploration and reconnaissance, rescue and relief, interplanetary exploration and the like, and in recent years, with the development of marine resource development strategies in China, the amphibious mobile robot can be used as a mobile carrier of detection equipment and a communication system in an amphibious environment, and can better adapt to complex operating environments and task requirements, so that various exploration and detection tasks which cannot be completed by human beings can be executed. The frog integrates excellent land jumping capability and flexible underwater swimming capability, and the current research of the frog-imitating robot does not embody the advantages of the frog-imitating amphibious mobile robot.
At present, the bionic amphibious robot is not applied to practical application. The main reasons are that most of amphibious robots have low speed, efficiency and passing performance of propulsion mechanisms, have large difference from practical use, and have few researches on the performance of the robot in amphibious media, such as sand or slurry, and function conversion in an amphibious environment, and cannot support the practicability of the amphibious robot. In addition, the articulated limbs of the robot are generally provided with driving devices at each joint to realize the movement of the joint. This requires multiple drive sources for driving, which involves the coupling problem of the electromechanical system driving the joint motion. Also, placing the driver over the flipper or leg joint increases the weight of the extremities, resulting in inefficient exercise. Therefore, the development of the amphibious robot capable of adapting to the complex amphibious environment has important practical value and practical significance.
Disclosure of Invention
The invention provides a frog-imitating amphibious robot with a compact structure and reasonable layout and a motion control method for overcoming the prior art.
A frog-imitating amphibious robot comprises a main body drain, two thighs, two calves, two hip joints, two knee joints, two ankle joints and two flippers, wherein the main body drain is connected with the thighs through the hip joints, the thighs are connected with the calves through the knee joints, and the calves are connected with the flippers through the ankle joints; the device also comprises two four-bar linkage forelimbs and two sets of elastic energy storage and release driving mechanisms; the four-bar linkage forelimb is rotatably arranged on the main body torso, the power of the four-bar linkage forelimb is provided by a driving source arranged in the main body torso, the four-bar linkage forelimb realizes pitching and stretching actions through a shoulder-elbow joint, and the power of the hip joint is provided by an elastic energy storage release driving mechanism arranged in the main body torso so as to drive the thigh and the shank to be linked and realize the stretching and bending motions of the hind limb.
A motion control method of an imitated frog amphibious robot comprises the following steps: the power source provides power, the power is transmitted to the intermediate shaft through the transmission assembly, the first incomplete gear rotates to control the second incomplete gear not to rotate, the first incomplete gear is meshed with the first gear, the positions of the first two teeth of the gear, which rotate to the toothless area, are taken as zero positions, when the first incomplete gear reaches the zero position from the meshing, the first gear is ensured to drive the output shaft to rotate, the limb legs connected with the output shaft are contracted, then the power source drives the second incomplete gear to rotate reversely, the second incomplete gear is meshed with the second gear, the first incomplete gear is controlled not to rotate, when the second incomplete gear reaches the zero position from the meshing, the torsion spring is compressed to store elastic potential energy, in the process, the drive source drives the forelimb to do stretching movement, and the pitching attitude of the main body driving rod is adjusted to be a jumping attitude; then, the power source drives the first incomplete gear to rotate, so that the toothless part of the first incomplete gear acts, at the moment, the first gear is not restrained by the meshing force, under the action of the elastic potential energy stored in the torsion spring, the shank can be rapidly extended out to realize land jumping, or the underwater back pedal moves, then the power source continues to drive the second incomplete gear to rotate reversely, so that the toothless part of the second gear acts, the second gear no longer compresses the torsion spring, the torsion spring finishes the restraint, when the power source drives the first incomplete gear to rotate, the first incomplete gear is meshed with the first gear, so that the shank can be rapidly recovered under the action of no spring force, at the moment, a leg-retracting and leg-stretching period is completed, when the jumping and landing device lands on the ground, the driving source drives the forelimb to enable the forelimb contact rod to extend to be in contact with the ground, so that the impact is buffered; when swimming in water, the driving source drives the forelimbs to swing backwards, so as to play the roles of paddling and boosting and recovering to two sides of the body to reduce resistance, such as realizing continuous jumping or swimming, and repeating the processes.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the rotation movement of the hip joint through the elastic energy storage release driving mechanism, thereby driving the hind limb to move, and realizes the adjustment of the posture of the trunk of the main body and the swing in the swimming process through driving the movement of the shoulder joint. The robot adopts the hind limb and the plane four-bar linkage forelimb driven by the elastic energy storage release driving mechanism, realizes good jumping and swimming, has the advantages of compact structure and convenient control, and solves the problems of motion coupling, low motion efficiency and the like. The elastic energy storage and release driving mechanism applies the elastic energy storage principle of the spring, has the functions of energy storage and energy release when needed, can be applied to the limbs of bionic animals such as frogs and the like, and realizes the land jumping and the water swimming of the bionic robot. The planar four-bar forelimb is beneficial to well realizing the adjustment of the pitching attitude and has the function of extending and buffering the forelimb when falling to the ground.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a portion of the present invention viewed in one direction;
FIG. 3 is a schematic view of a portion of the present invention viewed from another direction;
FIG. 4 is a schematic structural view of two sets of elastic energy storage and release driving mechanisms connected with a main body drive stem;
FIG. 5 is a schematic view of an elastic stored energy release drive mechanism;
FIG. 6 is a schematic illustration of a partial explosion of the present invention;
FIG. 7 is a schematic diagram of a hind limb pedaling posture after the frog-imitating amphibious robot of the invention takes off a jump;
fig. 8 is a schematic diagram of the posture of the frog-simulated amphibious robot during walking, namely the rear-limb pedal posture and the front-limb swinging posture.
Detailed Description
Referring to fig. 1, the frog-imitating amphibious robot comprises a main body trunk 34, two thighs 35, two shanks 36, two hip joints 31, two knee joints 33, two ankle joints 37 and two flippers 38, wherein the main body trunk 34 is connected with the thighs 35 through the hip joints 31, the thighs 35 are connected with the shanks 36 through the knee joints 33, and the shanks 36 are connected with the flippers 38 through the ankle joints 37; two four-bar forelimbs 32 and two sets of elastic energy storage and release driving mechanisms 30 are also included; the four-bar linkage forelimb 32 is rotatably arranged on the main body drive stem 34, the power of the four-bar linkage forelimb 32 is provided by a drive source 39 arranged in the main body drive stem 34, the four-bar linkage forelimb 32 realizes pitching and stretching actions through a shoulder-elbow joint, and the power of the hip joint 31 is provided by an elastic energy storage and release drive mechanism 30 arranged in the main body drive stem 34 so as to drive the thigh 35 and the shank 36 to be linked to realize extension and flexion of the hind limb.
The forelimbs adopt a plane four-bar mechanism to realize the connection of the shoulder-elbow joints and the main body 14, and the forelimbs are driven by a driving source 39 to move so as to realize the adjustment of the pitching angle of the main body 14 when jumping; when the vehicle is landed, the four-bar linkage forelimb 32 is stretched and contacts the ground first to play a role in buffering impact; when swimming in water, the four-bar linkage forelimb 32 swings backwards, playing the role of paddling boosting and recovering to the two sides of the main body 14 to reduce resistance. The elastic energy storage and release driving mechanism 30 completes energy storage and power release, realizes the rotary motion of the hip joint 31, drives the thigh 35 to move, realizes the motion of approximate straight line of the flipper 38, and realizes the actions of jumping, water kicking backwards and the like. The flipper 38 is connected to the lower leg 36 by a ball pair arrangement to form an ankle joint 37. The ankle joint 37 is covered with a blue translucent soft silicone material. The silicone material has good stretchability, and tightly wraps the ankle joint 37 and the lower leg 36, thereby restraining the random swing of the flipper 38 and providing sufficient ground friction during jumping.
Further, as shown in fig. 2, each forelimb 32 comprises a first forelimb rod 321, a second forelimb rod 322, a third forelimb rod 323 and a forelimb feeler lever 324; one end of the first forelimb rod 321 is driven by the driving source 39, the other end of the first forelimb rod 321 is hinged with the forelimb feeler lever 324, one end of the third forelimb rod 323 is fixedly connected with the main body drive stem 34, the other end is hinged with one end of the second forelimb rod 322, and the other end of the second forelimb rod 322 is hinged with one end of the forelimb feeler lever 324. The forelimb design is simplified into a plane four-bar structure only with a shoulder joint and an elbow joint, the shoulder-elbow joint is driven by the driving source 39, the pitching posture can be well adjusted through the structure optimization design, and the forelimb plays a role in stretching and buffering when falling to the ground.
Further, as shown in fig. 5, each set of the elastic energy storage and release driving mechanism 30 includes a power source 4, a transmission assembly 3, an intermediate shaft 1, a first ratchet pawl, a second ratchet pawl, a first incomplete gear 7, a second incomplete gear 8, a first gear 14, a second gear 13, a torsion spring 12 and an output shaft 16; the intermediate shaft 1 and the output shaft 16 are respectively and rotatably arranged on the main body drive stem 34, a first ratchet 6 is fixedly connected with a first incomplete gear 7 and is arranged on the intermediate shaft 1 through a one-way bearing, the first ratchet 6 is in constrained one-way transmission by a first pawl 5 arranged on the main body drive stem 34, a second incomplete gear 8 is fixedly connected with a second ratchet 9 and is arranged on the intermediate shaft 1 through a one-way bearing, the second ratchet 9 is in constrained one-way transmission by a second pawl 10 arranged on the main body drive stem 34, a first gear 14 is fixedly arranged on the output shaft 16, a torsion spring 12 and a second gear 13 are sleeved on the output shaft 16, the output shaft 16 is connected with a thigh 35 through a hip joint 31, a torsion arm of the torsion spring 12 is positioned on the first gear 14 and the second gear 13, the power of the transmission assembly 3 and the intermediate shaft 1 is provided by a power source 4 arranged on the main body drive stem 34, the first incomplete gear 7 and the first gear 14 interact with each other, the positive and negative rotation of the output shaft 16 is realized, and the second incomplete gear 8 and the second gear 13 interact to realize the storage and release of elastic potential energy.
Many hopping robots currently use soft silicone elastomers based on pneumatic actuators to achieve robot hopping, and chemical fuels that rapidly release a large amount of gas through combustion and explosion are used as actuators of the hopping robots, but strong nonlinearity of modeling and analysis is difficult, precise control is difficult, and continuous supply of fuel is not convenient for motors, and in addition, characteristics of easy leakage, flammability and explosiveness may bring certain danger in robot experiments. The elastic energy storage and release driving mechanism of the embodiment utilizes the elastic energy storage principle of the spring, the energy storage and release are realized by the matching of the torsion spring and the incomplete gear, the driving energy of the power source is stored, the energy is released when needed, the output shaft 16 is driven to rotate rapidly, the hind limbs of the frog-imitating robot are extended and contracted, the linear motion with approximate large stroke ratio can be realized, and the bionic robot can finish land jumping and swimming in water.
The mechanism adopts two-stage gear transmission, realizes one-way transmission by utilizing the ratchet wheel and the pawl, and solves the problems of complex mechanism, difficult modeling, low control precision and the like of a common driving device. Has the advantages of compact structure, reasonable layout, repeated use and the like
In order to achieve a reliable and effective movement of thigh 35 and lower leg 36, as shown in fig. 3, each thigh 35 comprises thigh bar one 351, thigh bar two 352, and thigh bar three 353; one ends of the first thigh rod 351 and the second thigh rod 352 are rotatably connected with the hip joint 31, the other ends of the first thigh rod 351 and the second thigh rod 352 are rotatably connected with the knee joint 33, one end of the third thigh rod 353 is rotatably connected with the main body trunk 34, and the other end of the third thigh rod 353 is rotatably connected with the knee joint 33. The thigh is a moving leg based on a Stefan II-type six-bar mechanism, compression and release of the torsion spring 12 are realized through meshing of the driving gears, rotation movement of the hip joint 31 is realized, movement of hind limbs (thigh 35 and calf 36) is driven, the flipper 38 realizes movement similar to straight line, jumping and backward water pedaling actions are realized, movement of the shoulder-elbow joint is driven, posture adjustment of a trunk of a main body and swing in a swimming process are realized, and amphibious movement of the robot is realized.
As shown in fig. 4, the hip joint 31 includes a hip joint sleeve 311 and a hip joint lug 312; the hip joint sleeve 311 is arranged on the output shaft 16, the hip joint lugs 312 are respectively arranged at two sides of the hip joint sleeve 311, and one ends of the first thigh rod 351 and the second thigh rod 352 are respectively hinged with the two hip joint lugs 312. The second thigh rod 352 is a parallel double-rod structure, and optionally, the knee joint 33 adopts a triangular frame to realize connection with the thigh rod. The Stevenson II type six-bar mechanism moves according to a certain rule under the drive of the hip joint 31, the lower leg 36 is connected with the knee joint 33 through a revolute pair, the flipper 38 is connected with the lower leg 36 through a ball pair structure, the forelimb is composed of a plane four-bar mechanism and is connected through each forelimb bar through a revolute pair.
Usually, the transmission assembly 3 is a gear pair, usually a spur gear pair, and includes a first gear and a second gear, the first gear is driven by the power source 4, the second gear is mounted on the intermediate shaft 1, and the first gear is engaged with the second gear to transmit power to the intermediate shaft 1.
Alternatively, the power source 4 is a planetary reducer, and the driving source 39 is a steering engine. Due to the presence of the incomplete gear and the ratchet pawl, the first pawl 5 and the second pawl 10 are rotatably provided on the auxiliary shaft between the back body plate and the front body plate fixed to the main body trunk 34.
As shown in fig. 6, to avoid the moment of the torsion spring 12 being too large, the movement is not controllable. The torsion cover 11 is fixedly arranged on an output shaft 16, the torsion cover 11 and a first gear 14 act synchronously, a second gear 13 is arranged between the torsion cover 11 and the first gear 14, and a torsion spring 12 is restrained by the torsion cover 11.
Alternatively, as shown in fig. 6, for convenience of assembly, disassembly and use, the torsion spring 12 employs two single torsion springs, two torsion arms of one torsion spring 12 are respectively positioned on the first gear 14 and the second gear 13, and two torsion arms of the other torsion spring 12 are respectively positioned on the second gear 13 and the torsion spring end cover 11.
When the first incomplete gear 7 is meshed with the first gear 14, force is transmitted to the output shaft 16 to realize unidirectional rotation movement, the hip joint 31 is driven to drive the thigh 35 to move, and when the second incomplete gear 8 is meshed with the second gear 13, the second gear 13 enables the torsion spring 12 to twist, so that elastic potential energy is stored and released. When the toothless part of the first incomplete gear 7 acts, the first gear 14 is not restrained by the meshing force, and the output shaft 16 realizes the reverse fast rotation. When the toothless portion of the second incomplete gear 8 acts, the second gear 13 has no meshing force, and the torsion spring 12 is not restrained.
Another embodiment provides a motion control method of an imitated frog amphibious robot, which is described with reference to fig. 1-8, wherein a cycle of motion is described, a thigh 35 is installed at the end of an output shaft 16, a power source 4 adopts a planetary reducer, and a transmission assembly 3 adopts a gear pair for transmission;
the planetary reducer 4 rotates forwards, the first incomplete gear 7 rotates in the direction of a solid bending arrow, the first incomplete gear 7 is meshed with the first gear 14, the positions of two teeth before the gear rotates to a toothless area are taken as zero positions, when the first incomplete gear 7 reaches the zero position from the meshing, the first gear 14 drives the output shaft 16 to rotate, the hip joint 31 is driven to move, contraction of thighs 35 and shanks 36 is achieved, in the rotating process of the output shaft 16, the second incomplete gear 8 is under the action of a one-way bearing, the second ratchet wheel 9 is under the action of the second pawl 10, the second incomplete gear 8 does not rotate, the output shaft 16 rotates relative to the second incomplete gear 8 and the second gear 13, then the planetary reducer 4 rotates backwards, the second incomplete gear 8 rotates in the direction of a hollow bending arrow, the second incomplete gear 8 is meshed with the second gear 13, when the second incomplete gear 8 reaches the zero position from the meshing, the torsion spring 12 compresses and stores elastic potential energy, similarly, in the rotation process of the output shaft 16, the first incomplete gear 7 does not rotate under the action of a one-way bearing and the first ratchet 6 under the action of the first pawl 5, the output shaft 16 rotates relative to the first incomplete gear 7 and the first gear 14, in the process, the steering engine drives the forelimb 32 to do stretching motion, and the pitching attitude of the main body drive stem 34 is adjusted to be a to-be-jumped attitude;
then, the planetary reducer 4 rotates forward, the first incomplete gear 7 rotates in the direction of the solid arrow, the toothless part of the first incomplete gear 7 acts, at this time, the first gear 14 has no constraint of meshing force, under the action of the elastic potential energy stored in the torsion spring 12, the hind limb is rapidly extended out, the jump on the land is realized, or when the hind limb is underwater, the hind limb is rapidly kicked backward (as shown in fig. 8), the swimming in the water is realized, then, the planetary reducer 4 rotates reversely, the second incomplete gear 8 rotates in the direction of the hollow curved arrow, the toothless part of the second gear 13 acts, the second gear 13 no longer compresses the torsion spring 12, the torsion spring 12 is finished constraining, when the planetary reducer 4 rotates forward again, and when the first incomplete gear 7 rotates in the direction of the solid arrow, the first incomplete gear 7 meshes with the first gear 14, the hind limb is rapidly recovered under the action of no spring force, at the moment, a leg retracting and extending period is completed, and when the robot falls to the ground after jumping, the steering engine drives the forelimb 32 to enable the forelimb feeler lever 324 to extend to be in a ground contact posture, so that the impact is buffered; when swimming in water, the steering engine drives the front limb 32 to swing backwards (as shown in fig. 7), so as to play a role in paddling and boosting and recovering to two sides of the body to reduce resistance, so that continuous jumping or swimming is realized, and the processes are repeated.
In the rotating process of the first incomplete gear 7, the second incomplete gear 8 does not rotate under the action of the one-way bearing and the second ratchet wheel 9 under the action of the second pawl 10, and the output shaft 16 rotates relative to the second incomplete gear 8 and the second gear 13; during the rotation of the second incomplete gear 8, the first incomplete gear 7 is under the action of the one-way bearing, and the first ratchet wheel 6 is under the action of the first pawl 5, the first incomplete gear 7 does not rotate, and the output shaft 16 rotates relative to the first incomplete gear 7 and the first gear 14.
Under the drive of the planetary reducer 4, the compression and extension of the torsion spring 12 are realized through the transmission of the secondary gear, so that the hind limbs (the thighs 35 and the shanks 36) are contracted and extended to form the imitated frog amphibious robot, and the jumping on the land and the swimming in the water are realized.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (13)
1. A frog-imitating amphibious robot comprises a main body drain (34), two thighs (35), two shanks (36), two hip joints (31), two knee joints (33), two ankle joints (37) and two flippers (38), wherein the main body drain (34) is connected with the thighs (35) through the hip joints (31), the thighs (35) are connected with the shanks (36) through the knee joints (33), and the shanks (36) are connected with the flippers (38) through the ankle joints (37);
the method is characterized in that: the robot also comprises two four-bar forelimbs (32) and two sets of elastic energy storage and release driving mechanisms (30); the four-bar linkage forelimb (32) is rotatably arranged on the main body stem (34), the power of the four-bar linkage forelimb (32) is provided by a driving source (39) arranged in the main body stem (34), the four-bar linkage forelimb (32) realizes pitching and stretching actions through a shoulder-elbow joint, and the power of the hip joint (31) is provided by an elastic energy storage and release driving mechanism (30) arranged in the main body stem (34) so as to drive the thigh (35) and the shank (36) to link and realize the stretching and bending movement of the hind limb;
each set of elastic energy storage release driving mechanism (30) comprises a power source (4), a transmission assembly (3), an intermediate shaft (1), a first ratchet pawl, a second ratchet pawl, a first incomplete gear (7), a second incomplete gear (8), a first gear (14), a second gear (13), a torsion spring (12) and an output shaft (16); an intermediate shaft (1) and an output shaft (16) are respectively and rotatably arranged on a main body drive rod (34), a first ratchet wheel (6) is fixedly connected with a first incomplete gear (7) and is arranged on the intermediate shaft (1) through a one-way bearing, the first ratchet wheel (6) is in constrained one-way transmission by a first pawl (5) arranged on the main body drive rod (34), a second incomplete gear (8) is fixedly connected with a second ratchet wheel (9) and is arranged on the intermediate shaft (1) through a one-way bearing, the second ratchet wheel (9) is in constrained one-way transmission by a second pawl (10) arranged on the main body drive rod (34), a first gear (14) is fixedly arranged on the output shaft (16), a torsion spring (12) and a second gear (13) are sleeved on the output shaft (16), the output shaft (16) is connected with a thigh (35) through a hip joint (31), and a torsion arm of the torsion spring (12) is positioned on the first gear (14) and the second gear (13), the power of the transmission assembly (3) and the intermediate shaft (1) is provided by a power source (4) arranged on a main body drive rod (34), the first incomplete gear (7) interacts with the first gear (14) to realize the forward and reverse rotation of the output shaft (16), and the second incomplete gear (8) interacts with the second gear (13) to realize the storage and release of elastic potential energy.
2. The frog-imitating amphibious robot according to claim 1, wherein: each forelimb (32) comprises a first forelimb rod (321), a second forelimb rod (322), a third forelimb rod (323) and a forelimb feeler lever (324); one end of the first forelimb rod (321) is driven by a driving source (39), the other end of the first forelimb rod (321) is hinged with the forelimb feeler lever (324), one end of the third forelimb rod (323) is fixedly connected with the main body drive rod (34), the other end of the third forelimb rod is hinged with one end of the second forelimb rod (322), and the other end of the second forelimb rod (322) is hinged with one end of the forelimb feeler lever (324).
3. The frog-imitating amphibious robot according to claim 1 or 2, wherein: each thigh (35) comprises a thigh lever I (351), a thigh lever II (352) and a thigh lever III (353); one ends of the thigh rod I (351) and the thigh rod II (352) are rotatably connected with the hip joint (31), the other ends of the thigh rod I (351) and the thigh rod II (352) are rotatably connected with the knee joint (33), one end of the thigh rod III (353) is rotatably connected with the main body drive stem (34), and the other end of the thigh rod III (353) is rotatably connected with the knee joint (33).
4. The frog-imitating amphibious robot according to claim 3, wherein: the hip joint (31) comprises a hip joint sleeve (311) and a hip joint lug (312); the hip joint sleeve (311) is arranged on the output shaft (16), the hip joint support lugs (312) are respectively arranged at two sides of the hip joint sleeve (311), and one ends of the thigh rod I (351) and the thigh rod II (352) are respectively hinged with the two hip joint support lugs (312).
5. The frog-imitating amphibious robot according to claim 1, wherein: the transmission component (3) is a gear pair.
6. The frog-imitating amphibious robot according to claim 1, wherein: the power source (4) is a planetary reducer, and the driving source (39) is a steering engine.
7. The frog-imitating amphibious robot according to claim 4, wherein: when the first incomplete gear (7) is meshed with the first gear (14), force is transmitted to the output shaft (16) to realize unidirectional rotation movement.
8. The frog-imitating amphibious robot according to claim 4, wherein: when the second incomplete gear (8) is meshed with the second gear (13), the second gear (13) enables the torsion spring (12) to twist, and elastic potential energy is stored and released.
9. The frog-imitating amphibious robot according to claim 4, wherein: when the toothless part of the first incomplete gear (7) acts, the first gear (14) is not restrained by meshing force, and the output shaft (16) realizes rapid rotation.
10. The frog-imitating amphibious robot according to claim 4, wherein: when the toothless part of the second incomplete gear (8) acts, the second gear (13) has no meshing force, and the torsion spring (12) is not restrained.
11. The frog-imitating amphibious robot according to claim 4, wherein: the torsion spring is characterized by further comprising a torsion cover (11), the torsion cover (11) is fixedly arranged on the output shaft (16), the torsion cover (11) and the first gear (14) act synchronously, the second gear (13) is arranged between the torsion cover (11) and the first gear (14), and the torsion spring (12) is restrained by the torsion cover (11).
12. The frog-imitating amphibious robot according to claim 11, wherein: the torsion springs (12) are two single torsion springs, two torsion arms of one single torsion spring are respectively positioned on the first gear (14) and the second gear (13), and two torsion arms of the other single torsion spring are respectively positioned on the second gear (13) and the torsion cover (11).
13. A motion control method of an imitated frog amphibious robot is characterized by comprising the following steps: the method comprises the following steps: the power source (4) provides power, the power is transmitted to the intermediate shaft (1) through the transmission assembly (3), the first incomplete gear (7) rotates, the second incomplete gear (8) is controlled not to rotate, the first incomplete gear (7) is meshed with the first gear (14), the positions of the first two teeth of the gear rotating to a toothless area are taken as zero positions, when the first incomplete gear (7) reaches the zero position from the meshing, the first gear (14) is ensured to drive the output shaft (16) to rotate, the limb legs (15) connected with the output shaft (16) are contracted, then the power source (4) drives the second incomplete gear (8) to rotate reversely, the second incomplete gear (8) is meshed with the second gear (13), the first incomplete gear (7) is controlled not to rotate, and when the second incomplete gear (8) reaches the zero position from the meshing, the torsion spring (12) is compressed to store elastic potential energy, in the process, the driving source (39) drives the forelimb (32) to do stretching movement, and the pitching attitude of the main body drive stem (34) is adjusted to be a to-be-jumping attitude;
then, the power source (4) drives the first incomplete gear (7) to rotate, so that the toothless part of the first incomplete gear (7) acts, at the moment, the first gear (14) has no constraint of meshing force, the lower leg (36) rapidly extends out under the action of elastic potential energy stored in the torsion spring (12) to realize land jumping or move by pedaling under water, then the power source (4) continuously drives the second incomplete gear (8) to reversely rotate, so that the toothless part of the second gear (13) acts, the second gear (13) no longer compresses the torsion spring (12), so that the torsion spring (12) finishes constraint, when the power source (4) drives the first incomplete gear (7) to rotate, the first incomplete gear (7) is meshed with the first gear (14), so that the lower leg (36) is rapidly recovered under the action of no spring force, at the moment, a leg recovery and leg extension cycle is completed, when the robot lands on the ground after jumping, the driving source (39) drives the forelimb (32) to enable the forelimb contact rod (324) to extend to be in contact with the ground, so that the impact is buffered; when swimming in water, the driving source (39) drives the front limb (32) to swing backwards, so as to realize continuous jumping or swimming, and the process is repeated.
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| CN113459738B (en) * | 2021-07-22 | 2022-07-26 | 燕山大学 | Amphibious quadruped robot based on deformable floating legs and driving method thereof |
| CN113978672B (en) * | 2021-11-22 | 2022-11-22 | 哈尔滨工业大学 | Frog-imitating linkage swimming robot based on rope driving |
| CN114940223A (en) * | 2022-05-31 | 2022-08-26 | 安徽工业大学 | Bionic frog machine |
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