CN220262919U - Bounce robot based on frog leg principle - Google Patents
Bounce robot based on frog leg principle Download PDFInfo
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- CN220262919U CN220262919U CN202321740314.6U CN202321740314U CN220262919U CN 220262919 U CN220262919 U CN 220262919U CN 202321740314 U CN202321740314 U CN 202321740314U CN 220262919 U CN220262919 U CN 220262919U
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- 210000000078 claw Anatomy 0.000 claims description 38
- 230000000694 effects Effects 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 abstract description 4
- 239000011664 nicotinic acid Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000009191 jumping Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Abstract
The utility model belongs to the field of bionic robots, and provides a bouncing robot based on a frog leg principle, which comprises a leg trunk body, wherein a foot component, a bouncing component and a triggering component are arranged on the leg trunk body; the leg trunk body comprises a plurality of connecting rod pieces hinged end to end; the bouncing component comprises a bouncing connecting seat and an elastic component, wherein the bouncing connecting seats are respectively arranged on a connecting rod piece at the head end and the tail end, and the elastic component is arranged between the two bouncing connecting seats and hinged with the two bouncing connecting seats; the triggering assembly comprises a triggering driving device arranged on the connecting rod piece at the head end, and the driving end of the triggering driving device acts on the connecting rod piece at the tail end and changes the angle between the driving end and the connecting rod piece at the head end; the foot component is arranged on the connecting rod piece at the tail end. The trigger driving device is used for controlling the elastic component and the mechanism form of the whole leg body by acting on the third connecting rod piece and changing the angle between the third connecting rod piece and the first connecting rod piece, so that the frog-like leg bouncing effect is realized.
Description
Technical Field
The utility model belongs to the field of bionic robots, and particularly relates to a bouncing robot based on a frog leg principle.
Background
In recent years, with the intensive research of biology and robot fields, biomimetic robots are emerging products in the era. However, the robots are often limited by terrain, space position and the like in the practical application environment, the obstacle surmounting problem is difficult to solve by the multi-wheel driving or crawling robot, and the bouncing robot becomes an indispensable branch in the robot field. Meanwhile, in the field of biology, a plurality of living things taking bouncing as a main movement form exist, and the movement principle of the living things has important reference value for the development of the field of bionic robots and is concerned by domestic researchers.
The current bionic bouncing robot at home and abroad has the problems of short jumping distance, low landing stability, insufficient remote control capability, large leg impact force and the like. The frog has good bouncing capability, and the legs of the frog play a vital role. Therefore, by combining the frog with the mechanical structure, the application provides the bouncing robot based on the frog leg principle.
Disclosure of Invention
In order to overcome the defects in the prior art, the utility model aims to provide the bouncing robot based on the frog leg principle.
The technical scheme adopted for solving the technical problems is as follows:
a bouncing robot based on frog leg principle, comprising:
the leg body is provided with a foot component, a bouncing component and a triggering component;
the leg trunk body comprises a plurality of connecting rod pieces hinged end to end;
the bouncing component comprises a bouncing connecting seat and an elastic component, wherein the bouncing connecting seats are respectively arranged on the connecting rod piece at the head end and the tail end, and the elastic component is arranged between the two bouncing connecting seats and hinged with the two bouncing connecting seats;
the triggering assembly comprises a triggering driving device arranged on the connecting rod piece at the head end, wherein the driving end of the triggering driving device acts on the connecting rod piece at the tail end and changes the angle between the driving end and the connecting rod piece at the head end;
the foot component is arranged on the connecting rod piece at the tail end.
Preferably, the link members are rigid link members, and a rotation shaft and a nut member for hinged connection are provided between adjacent link members.
Preferably, the bullet-jump connecting seat is a flange seat, and a ball pair hinge piece hinged with the flange seat is arranged on the flange seat.
Preferably, the elastic component comprises a first spring sleeve, a second spring sleeve and a spring piece, the first spring sleeve and the second spring sleeve are in sliding fit with each other, the spring piece is positioned between the first spring sleeve and the second spring sleeve, and the first spring sleeve and the second spring sleeve are connected with the ball pair hinge piece.
Preferably, one end of the second spring sleeve is sleeved in the first spring sleeve, a limiting groove is formed in the inner wall surface of the first spring sleeve, and a limiting piece matched with the limiting groove is arranged on the second spring sleeve;
the two ends of the spring piece are respectively positioned in the first spring sleeve and the second spring sleeve;
and a pressure sensor is arranged in the first spring sleeve.
Preferably, the trigger assembly comprises a first electric steering engine, a wire spool and a wire body, wherein the driving end of the first electric steering engine is connected with the wire spool, and two ends of the wire body are respectively connected with the wire spool and the connecting rod piece at the tail end.
Preferably, the trigger assembly further comprises a plurality of wire rings arranged on the link member at the head end, and the wire body passes through the wire rings.
Preferably, the foot component comprises a second electric steering engine, a foot supporting plate and a plurality of foldable claw pieces, wherein the foot supporting plate is hinged with the connecting rod piece at the tail end;
the driving end of the second electric steering engine is used for changing the angle between the adjacent foldable claw pieces.
Preferably, the number of the foldable claw pieces is three, and the foldable claw pieces are a first foldable claw piece, a second foldable claw piece and a third foldable claw piece respectively;
the foot support plate is provided with a first straight gear and a second straight gear, the first straight gear and the second straight gear are in relative rotation fit with the foot support plate through a gear shaft, the first straight gear and the second straight gear are meshed with each other, the first foldable claw piece is connected with the first straight gear, and the second foldable claw piece is connected with the second straight gear;
the driving end of the second electric steering engine is provided with a first bevel gear, the second straight gear is provided with a second bevel gear, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is connected with the gear shaft through a connecting key;
the third foldable claw member is connected to the foot support plate.
Preferably, a sponge is arranged at the bottoms of the foldable claw piece and the foot supporting plate.
Compared with the prior art, the utility model has the beneficial effects that:
the trigger driving device that this application set up through the effect third link piece and with take place the angle between the first link piece and change to reach the mechanism form of control elastic component and holistic shank trunk body, realize the effect of class frog leg formula spring.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of the present utility model;
FIG. 2 is a block diagram of a bouncing assembly of the present utility model;
FIG. 3 is a schematic view of the mark A of FIG. 2;
FIG. 4 is a block diagram of a trigger assembly of the present utility model;
FIG. 5 is a block diagram of a foot assembly according to the present utility model
FIG. 6 is a schematic view of the elastic assembly of the present utility model in a natural state;
FIG. 7 is a schematic view of the elastic assembly of the present utility model in a compressed state;
FIG. 8 is a schematic view of an elastic assembly of the present utility model in a stretched state;
FIG. 9 is a schematic diagram of the utility model in a state of full process of jumping over an obstacle;
fig. 10 is a schematic diagram of the overall process of jumping multiple steps according to the present utility model.
Wherein:
1-link member, 2-rotation axis, 3-flange seat, 4-ball pair hinge piece, 5-first spring sleeve, 6-spring piece, 7-locating part, 8-second spring sleeve, 9-wire reel, 10-wire loop, 11-wire body, 12-foot backup pad, 13-first straight gear, 14-first bevel gear, 15-connecting key, 16-can open and close claw piece, 17-gear shaft, 18-sponge, 19-pressure sensor, 20-first electric steering wheel, 21-second electric steering wheel, 22-second straight gear, 23-second bevel gear.
Detailed Description
In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. In addition, embodiments of the present application and features of the embodiments may be combined with each other without conflict. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, and the described embodiments are merely some, rather than all, embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.
Examples:
as shown in fig. 1 to 10, in this embodiment, there is provided a bouncing robot based on the frog leg principle, including:
the leg trunk body is provided with a foot component, a bouncing component and a triggering component;
the leg trunk body comprises a plurality of connecting rod pieces 1 hinged end to end;
the bouncing component comprises a bouncing connecting seat and an elastic component, wherein the bouncing connecting seats are respectively arranged on a connecting rod piece at the head end and the tail end, and the elastic component is arranged between the two bouncing connecting seats and hinged with the two bouncing connecting seats;
the trigger assembly comprises a trigger driving device arranged on the first link rod, and the driving end of the trigger driving device acts on the third link rod and changes the angle between the third link rod and the first link rod;
the foot component is arranged on the third link component.
The trigger driving device provided by the embodiment changes the angle between the third connecting rod piece and the first connecting rod piece through the action, so that the mechanism form of the elastic component and the whole leg trunk body is controlled, and the frog-leg-like bouncing effect is realized.
In this embodiment, the link members are specifically rigid link members, and the rotating shaft 2 and the nut member for hinged connection are disposed between the adjacent link members, while the number of link members in this embodiment is three, and the link members are specifically divided into a first link member, a second link member and a third link member, where the first link member is located at the head end, the second link member is located at the middle, and the third link member is located at the tail end.
As shown in fig. 2 and 3, the specific structure of the bouncing component in this embodiment is as follows:
the jump ball connecting seat is a flange seat 3, and a ball pair hinge piece 4 hinged with the flange seat 3 is arranged on the flange seat. The adopted ball pair hinge is used for connecting the leg trunk body and the bouncing component, so that the flexibility of the bouncing robot can be improved.
Meanwhile, the elastic assembly comprises a first spring sleeve 5, a second spring sleeve 8 and a spring piece 6, the first spring sleeve 5 and the second spring sleeve 8 are in sliding fit with each other, the spring piece 6 is positioned between the first spring sleeve 5 and the second spring sleeve 8, and the first spring sleeve 5 and the second spring sleeve 8 are connected with the ball pair hinge piece 4.
Specifically, one end of the second spring sleeve 8 is sleeved in the first spring sleeve 5, a limiting groove is formed in the inner wall surface of the first spring sleeve 5, and a limiting piece 7 matched with the limiting groove is arranged on the second spring sleeve 8;
both ends of the spring piece 6 are respectively positioned in the first spring sleeve 5 and the second spring sleeve 8;
a pressure sensor 19 is provided in the first spring sleeve 5.
In the above structure, the state of the expansion or stretching of the spring piece 6 is changed after the first spring sleeve 5 and the second spring sleeve 8 are pressed at two ends, and the matching structure of the limiting piece 7 and the limiting groove can prevent the first spring sleeve 5 and the second spring sleeve 8 from sliding and falling off. The pressure sensor 19 is electrically connected with the trigger component, so that pressure feedback can be realized, and the working state of the trigger component can be adjusted.
As shown in fig. 4, the specific structure of the triggering component in this embodiment is as follows:
the trigger assembly comprises a first electric steering engine 20, a wire spool 9 and a wire body 11, wherein the driving end of the first electric steering engine 20 is connected with the wire spool 9, and two ends of the wire body 11 are respectively connected with the wire spool 9 and a third connecting rod piece.
Specifically, the trigger assembly further includes a plurality of wire loops 10 disposed on the first link member, and the wire body 11 passes through the wire loops 10.
The first electric steering engine 20 acts on the wire spool 9 to rotate, so that the winding and unwinding amount of the wire body 11 relative to the wire spool 9 is controlled, the state of the bouncing robot at a certain moment is controlled, and the wire ring 10 can be used for guiding the wire body 11 to prevent wire winding.
As shown in fig. 5, the specific structure of the foot assembly in this embodiment is as follows:
the foot component comprises a second electric steering engine 21, a foot supporting plate 12 and a plurality of foldable claw pieces 16, and the foot supporting plate 12 is hinged with a third connecting rod piece;
the drive end of the second electric steering engine 21 is used to change the angle between adjacent foldable jaw members 16.
The number of the foldable claw members 16 in the present embodiment is three, namely a first foldable claw member, a second foldable claw member and a third foldable claw member;
the foot supporting plate 12 is provided with a first straight gear 13 and a second straight gear 22, the first straight gear 13 and the second straight gear 22 are in relative rotation fit with the foot supporting plate 12 through a gear shaft 17, the first straight gear 13 and the second straight gear 22 are meshed with each other, a first foldable claw piece is connected with the first straight gear 13, and a second foldable claw piece is connected with the second straight gear 22;
a first bevel gear 14 is arranged at the driving end of the second electric steering engine 21, a second bevel gear 23 is arranged on the second straight gear 22, the first bevel gear 14 is meshed with the second bevel gear 23, and the second bevel gear 23 is connected with the gear shaft 17 through a connecting key 15;
the third foldable claw member is connected to the foot support plate 12.
A sponge 18 is provided at the bottom of the foldable claw member 16 and the foot supporting plate 12.
In the above foot assembly structure, the angle between the adjacent foldable claw members 16 is controlled by the cooperation of the bevel gear and the spur gear, the foldable claw members 16 can change the foldable form of the foldable claw members 16 according to different terrain requirements, and meanwhile, the sponge 18 can play a role in damping and buffering.
As shown in fig. 6 to 10, the principle of the bouncing robot based on the frog leg principle in the obstacle crossing scene is as follows:
initially, the bouncing robot is in a natural state, after receiving a signal that a jump obstacle is needed, the processor is used for analyzing the needed elasticity, then the processor transmits the signal to the first electric steering engine 20, the first electric steering engine 20 is used for controlling the wire body 11 to tighten, so that the compression amount of the spring piece 6 is changed, after the compression amount of the needed spring piece 6 is reached, the wire body 11 is immediately released, the first electric steering engine 20 rotates at a high speed, the bouncing robot jumps, along with the recovery of the spring piece 6 to be long, the spring piece 6 still has kinetic energy, the spring piece 6 continues to stretch, when reaching a limit position, namely the kinetic energy of the spring piece 6 is zero, the spring piece 6 is in a stretching state to the two sides of the first spring sleeve 5 and the second spring sleeve 8, the spring piece 6 is retracted, at the moment, the spring piece still has the whole forward motion potential energy, the forward motion is continued, the expansion angle between the stretchable claw pieces 16 is increased through the second electric steering engine 21 before landing, the landing stability of the robot is improved, finally the bouncing robot is successfully landed, the whole process of the bouncing robot is finished, and the bouncing robot is ensured to jump the obstacle, and the limit position between the first spring sleeve 5 and the second spring sleeve 8 is not to fall to the limit position between the limit sleeve 8 and the limit sleeve 8.
Jump multi-layer step scene: since the direction of the spring member 6 of the bouncing robot is inclined upward, the spring member 6 can provide not only forward movement force but also upward movement force, so that the bouncing robot in this embodiment can also be applied to a bouncing multi-step scene. The force accumulation and release processes of the front section of the jumping multilayer step are similar to those of the jumping obstacle, in addition, if the next step is needed to jump, the wire body 11 can be tightened through the first electric steering engine 20 in advance in the air before the previous step is landed, and the elastic component is in a compressed state in advance, so that a fine wire can be immediately released after landing, the first electric steering engine 20 rotates at a high speed, jumps to the next step, and the continuity of jumping is realized.
In summary, the main advantages of the present application are as follows: the trigger driving device that this application set up through the effect third link piece and with take place the angle between the first link piece and change to reach the mechanism form of control elastic component and holistic shank trunk body, realize the effect of class frog leg formula spring. The adopted ball pair hinge is used for connecting the leg trunk body and the bouncing component, so that the flexibility of the bouncing robot can be improved. The pressure sensor 19 arranged in the elastic component can feed back the elastic force of the robot in real time. Simultaneously, the second electric steering engine 21 controls the opening and closing of the openable claw piece 16, and the opening and closing form of the openable claw piece 16 can be changed according to different terrain requirements. The bottoms of the foldable claw piece 16 and the foot supporting plate 12 in the application are provided with the sponge 18, and the damping and buffering effects are achieved in the bouncing process.
The present utility model is not limited to the preferred embodiments, and any modifications, equivalent variations and modifications made to the above embodiments according to the technical principles of the present utility model are within the scope of the technical proposal of the present utility model.
Claims (10)
1. The utility model provides a spring robot based on frog leg principle which characterized in that includes:
the leg body is provided with a foot component, a bouncing component and a triggering component;
the leg trunk body comprises a plurality of connecting rod pieces hinged end to end;
the bouncing component comprises a bouncing connecting seat and an elastic component, wherein the bouncing connecting seats are respectively arranged on the connecting rod piece at the head end and the tail end, and the elastic component is arranged between the two bouncing connecting seats and hinged with the two bouncing connecting seats;
the triggering assembly comprises a triggering driving device arranged on the connecting rod piece at the head end, wherein the driving end of the triggering driving device acts on the connecting rod piece at the tail end and changes the angle between the driving end and the connecting rod piece at the head end;
the foot component is arranged on the connecting rod piece at the tail end.
2. The bouncing robot based on the frog leg principle as claimed in claim 1, wherein the link members are rigid link members, and a rotation shaft and a nut member for hinge connection are provided between the adjacent link members.
3. The bouncing robot based on the frog leg principle as claimed in claim 1, wherein the bouncing connecting seat is a flange seat, and a ball pair hinge member hinged with the flange seat is arranged on the flange seat.
4. The bouncing robot based on the frog leg principle as claimed in claim 3, wherein the elastic assembly comprises a first spring sleeve, a second spring sleeve and a spring member, the first spring sleeve and the second spring sleeve are in sliding fit with each other, the spring member is located between the first spring sleeve and the second spring sleeve, and the first spring sleeve and the second spring sleeve are connected with the ball pair hinge member.
5. The bouncing robot based on the frog leg principle according to claim 4, wherein one end of the second spring sleeve is sleeved in the first spring sleeve, a limiting groove is formed in the inner wall surface of the first spring sleeve, and a limiting piece matched with the limiting groove is arranged on the second spring sleeve;
the two ends of the spring piece are respectively positioned in the first spring sleeve and the second spring sleeve;
and a pressure sensor is arranged in the first spring sleeve.
6. The bouncing robot based on the frog leg principle according to claim 1, wherein the triggering component comprises a first electric steering engine, a wire spool and a wire body, the driving end of the first electric steering engine is connected with the wire spool, and two ends of the wire body are respectively connected with the wire spool and the connecting rod piece at the tail end.
7. The bouncing robot based on the frog leg principle as recited in claim 6, wherein the triggering assembly further comprises a plurality of wire loops arranged on the link member at the head end, the wire body passing through the wire loops.
8. The frog-leg principle-based bouncing robot of claim 1, wherein the foot assembly comprises a second electric steering engine, a foot support plate and a plurality of foldable claw members, wherein the foot support plate is hinged with the connecting rod member at the tail end;
the driving end of the second electric steering engine is used for changing the angle between the adjacent foldable claw pieces.
9. The bouncing robot based on the frog leg principle as claimed in claim 8, wherein the number of the openable claw pieces is three, namely a first openable claw piece, a second openable claw piece and a third openable claw piece;
the foot support plate is provided with a first straight gear and a second straight gear, the first straight gear and the second straight gear are in relative rotation fit with the foot support plate through a gear shaft, the first straight gear and the second straight gear are meshed with each other, the first foldable claw piece is connected with the first straight gear, and the second foldable claw piece is connected with the second straight gear;
the driving end of the second electric steering engine is provided with a first bevel gear, the second straight gear is provided with a second bevel gear, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is connected with the gear shaft through a connecting key;
the third foldable claw member is connected to the foot support plate.
10. The bouncing robot based on the frog leg principle as claimed in claim 9, wherein a sponge is provided at the bottoms of the foldable claw member and the foot supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321740314.6U CN220262919U (en) | 2023-07-04 | 2023-07-04 | Bounce robot based on frog leg principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321740314.6U CN220262919U (en) | 2023-07-04 | 2023-07-04 | Bounce robot based on frog leg principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220262919U true CN220262919U (en) | 2023-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321740314.6U Active CN220262919U (en) | 2023-07-04 | 2023-07-04 | Bounce robot based on frog leg principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220262919U (en) |
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2023
- 2023-07-04 CN CN202321740314.6U patent/CN220262919U/en active Active
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