CN105292291A - Bionic frog electric robot - Google Patents
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- CN105292291A CN105292291A CN201510825496.0A CN201510825496A CN105292291A CN 105292291 A CN105292291 A CN 105292291A CN 201510825496 A CN201510825496 A CN 201510825496A CN 105292291 A CN105292291 A CN 105292291A
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- 239000011664 nicotinic acid Substances 0.000 title abstract 5
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 96
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 7
- 230000009191 jumping Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000004146 energy storage Methods 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 239000004744 fabric Substances 0.000 abstract 1
- 230000035939 shock Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 239000007787 solid Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000003973 irrigation Methods 0.000 description 2
- 230000002262 irrigation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 208000032369 Primary transmission Diseases 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 210000003194 forelimb Anatomy 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
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Abstract
The invention discloses a bionic frog electric robot comprising a rear leg jumping mechanism, a front leg shock absorption mechanism, a transmission mechanism, a trunk bracket and a sliding mechanism, wherein a rear leg mechanism is connected with a front leg-rear leg connection block of the sliding block mechanism by a pin; a rear rocking bar is connected with a rear leg connection block of the trunk bracket by a pin; a front leg mechanism is connected with a front leg fixing block of the trunk bracket by a pin; the front leg mechanism is connected with a front leg-rear leg connection block of the trunk bracket by a pin; a high-speed shaft and a low-speed shaft are fixed on the trunk bracket by a bearing seat; two pieces of sliding cloth of the sliding block seat are distributed on the left and right sliding rods; an energy storage spring is arranged on each sliding rod in a sleeving manner and then is arranged between the sliding block and the front leg fixing block. The bionic frog electric robot can be used for solving the problems of jumping and landing of a jumping robot, so that a good jumping performance is realized; the bionic frog electric robot can be suitable for different ground surfaces to realize spanning channels and obstacles, and can move in different environments outdoors; the bionic frog electric robot can be used for detection activity in field complex environments after being loaded with different detectors.
Description
Technical field
The present invention relates to a kind of jumping type robot, particularly relate to a kind of bionical frog electric robot, belong to detection class mechanical equipment technical field.
Background technology
Detection in rural atmosphere and pick-up operation, intensity is large, and environmental hazard coefficient is large, uses Robotics to replace manpower to be a good developing direction, bio-robot is again popular direction wherein, and faced by hop robot, the rural atmosphere of obstacle complexity is advantageous; And frog jumps and has feature that is explosive strong, distance, can light clear an obstacle, and there is good compatible with environment.Its organism structure and behavior are rationally, flexibly, efficiently.Based on the analysis to frog biological characteristic and skip motion mechanism, the structure for complexity simplifies, and proposes a kind of mechanism model towards skip motion, and carries out the design of bionical frog.Frog forelimb is reduced to initiatively shoulder joint and a passive elbow joint, thus realizes the function of its land support buffering and pose adjustment.Hind leg adopts four-bar mechanism as leg main body, and increases sole to ensure its stability.Hind leg realizes jump action by electric machine control, has larger feasibility, and hind leg five-rod has the Laws of Mechanics known with frog jump phase, thus realizes good skip functionality.The bionical frog of our design, has used the mode of motion jumped, can adapt to different earth's surface, realizes crossing over irrigation canals and ditches and obstacle, can move, have a good application prospect in outdoor complex environment.
Existing bionical frog generally, it drives the mechanism that has an effect of jumping to be generally Direct driver back leg, and mechanism is then drive rear leg mechanism to realize by the energy-storaging spring on imitative frog mechanism trunk, and structure is more novel.
Summary of the invention
In order to solve the problem, the technical scheme that the present invention takes is: a kind of bionical frog electric robot, comprise back leg hopping mechanism, foreleg damping, transmission device, slide block mechanism and trunk support composition, it is characterized in that: described back leg hopping mechanism is connected with the front and back leg contiguous block of slide block mechanism by pin, the slide block movement direction in pin axis and slide block mechanism is perpendicular; Back leg rocking bar one is connected with the back leg contiguous block of trunk support by pin, and pin central axis is vertical with the slide block movement direction in slide block mechanism; Described front leg mechanism is connected with the foreleg contiguous block of trunk support by pin, and the axis of pin is vertical with the slide block moving direction in slide block mechanism; Front leg mechanism is connected with the front and back leg contiguous block of trunk support by pin, and the axis of pin is vertical with the slide block moving direction in slide block mechanism; Described transmission device is double reduction gear, the first order is that finishing bevel gear cuter slows down, the second stage is that spur wheel slows down, high speed shaft and slow-speed shaft are all fixed on the trunk side plate of trunk support by bearing seat, tooth bar is fixed on slide block crossbeam by tight fixed bolt, with the slide block beam vertical in slide block mechanism on tooth bar length direction; Two slide blocks of described slide block mechanism are arranged on the slide bar of left and right symmetrically, its center axially bored line and slide bar axis collinear, and energy-storaging spring is enclosed within slide bar and is placed between slide block and foreleg fixed block.
Described back leg hopping mechanism comprises back leg sole, sole pipe link, back leg rocking bar three, rear leg link, back leg rocking bar one, back leg bumper, back leg rocking bar two, and described back leg sole is connected with sole pipe link by pin; Described sole pipe link is connected with rear leg link by pin; Described back leg rocking bar three is connected with back leg rocking bar one by pin, is connected with rear leg link by pin, is connected with front and back leg contiguous block by pin; Described rear leg link is connected with back leg rocking bar two by pin; Described back leg rocking bar one is connected with the back leg contiguous block of trunk support by pin; Described back leg bumper is connected with back leg sole by pin, is connected with rear leg link by the collar.
Described foreleg damping comprises: pipe, bumper outer tube, foreleg short connecting rod, foreleg long connecting rod in foreleg sole, bumper, described foreleg sole is connected with pipe in bumper by pin, is connected with foreleg short connecting rod by pin; Described bumper outer tube is connected with foreleg short connecting rod by pin; Described foreleg short connecting rod is connected with the foreleg fixed block of trunk support by pin; Described foreleg long connecting rod is connected with foreleg short connecting rod by pin, is connected with front and back leg contiguous block by pin.
Described transmission device comprises: servomotor, upper speed cone gear, low speed finishing bevel gear cuter, high speed circular stud wheel, low speed cylindrical wheel, partial gear, tooth bar, high speed shaft, slow-speed shaft, described transmission device is double reduction gear, the first order is that finishing bevel gear cuter slows down, and the second stage is that spur wheel slows down; Described servomotor is bolted on motor cabinet; Described upper speed cone gear is connected with the motor shaft of servomotor by key; Described low speed finishing bevel gear cuter is connected with high speed shaft by key, and upper speed cone gear center axis is mutually vertical with the central axis of low speed finishing bevel gear cuter; Described high speed circular stud wheel is connected with high speed shaft by key; Described low speed cylindrical wheel is connected with slow-speed shaft by key, and the central axis of high speed circular stud wheel central axis and low speed cylindrical wheel is parallel to each other, and high speed circular stud wheel end face and low speed cylindrical wheel end face are in one plane; Described partial gear is fixed on slow-speed shaft by key; Described tooth bar to be then fixed on slide block crossbeam by tight fixed bolt and perpendicular with partial gear axis direction; Described high speed shaft is fixed on the trunk side plate of trunk support by bearing seat; Described slow-speed shaft is fixed on the trunk side plate of trunk support by bearing seat.
Described slide block mechanism comprises: slide block, slide block crossbeam, spring, front and back contiguous block, and described slide block is enclosed within slide bar by the centre hole of himself, and the central axis of slide block moving direction and slide bar coincides; Described slide block crossbeam is connected with the slide block of both sides by bolt; Described spring housing is on slide bar; Described front and back leg contiguous block is fixed by bolt and slide block, is connected, is connected by pin with back leg rocking bar three by pin with foreleg long connecting rod.
Described trunk support comprises: foreleg entablatrance, foreleg cross sill, back leg entablatrance, back leg cross sill, foreleg fixed block, back leg fixed block, slide bar, foreleg contiguous block, back leg contiguous block, front connecting panel, rear connecting panel, motor cabinet, bearing seat, trunk side plate, trunk side plate contiguous block, and described foreleg entablatrance is connected with foreleg fixed block by bolt; Described foreleg cross sill is connected with foreleg contiguous block with foreleg fixed block by bolt, is connected with front connecting panel by bolt; Described back leg entablatrance is crossed bolt and is connected with back leg fixed block; Described back leg cross sill is connected with back leg contiguous block with back leg fixed block by bolt, is connected with rear connecting panel by bolt; Described slide bar two ends are inserted in the column type hole slot of foreleg fixed block and back leg fixed block respectively; Described trunk side plate is connected with front connecting panel by bolt, is connected with rear connecting panel by bolt; Described motor cabinet is connected with trunk side plate contiguous block by bolt; Described bearing seat is connected with trunk side plate by bolt.
Further, described back leg bumper adjusts the elevation angle of back leg jump structure freely by screw rod.
Further, described spring should adopt with foreleg fixed block and slide block and hook hole and be connected to coordinate and install.
Owing to present invention employs technique scheme, the present invention has the following advantages: (1) the present invention, by adopting the mode of motion jumped, can adapt to different earth's surface, realizes crossing over irrigation canals and ditches and obstacle, can move in outdoor complex environment, have a good application prospect; (2) existing bionical frog generally, it drives the mechanism that has an effect of jumping to be generally Direct driver, and the present invention drives rear leg mechanism by the energy-storaging spring on imitative frog trunk support.
Accompanying drawing explanation
Fig. 1 is 3-D solid structure schematic diagram of the present invention.
Fig. 2 is the 3-D solid structure schematic diagram of another angle of the present invention.
Fig. 3 is the 3-D solid structure schematic diagram of back leg bumper 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 slide block in the present invention.
In figure: 1-bumper outer tube; Pipe in 2-bumper; 3-foreleg sole; 4-foreleg short connecting rod; 5-foreleg long connecting rod; 6-back leg sole; 7-sole pipe link; 8-back leg bumper; 9-back leg rocking bar three; Leg contiguous block before and after 10-; 11-rear leg link; 12-back leg rocking bar two; 13-back leg contiguous block; 14-back leg rocking bar one; 15-back leg entablatrance; 16-back leg cross sill; 17-back leg fixed block; 18-servomotor; 19-motor cabinet; 20-slide bar; 21-slide block crossbeam; 22-slide block; 23-bearing seat; 24-low speed cylindrical wheel; 25-slow-speed shaft; 26-energy-storaging spring; 27-foreleg entablatrance; 28-foreleg fixed block; 29-foreleg contiguous block; 30-tooth bar; 31-foreleg cross sill; 32-partial gear; 33-trunk side plate; 34-upper speed cone gear; 35-low speed finishing bevel gear cuter; 36-high speed circular stud wheel; 37-trunk side plate contiguous block; 38-trunk side plate permanent seat; 39-high speed shaft.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described, is used for explaining the present invention in this illustrative examples of inventing and explanation, but 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, comprises back leg hopping mechanism, foreleg damping, transmission device, slide block mechanism and trunk support.Rear leg mechanism is connected with the front and back leg contiguous block 10 of slide block mechanism by pin, and to realize the linkage action of foreleg and retrogressing, the slide block movement direction in pin axis and slide block mechanism is perpendicular.Back leg rocking bar 1 is connected with the back leg contiguous block 13 of trunk support by pin, and pin central axis is vertical with the slide block movement direction in slide block mechanism.Front leg mechanism is connected with the foreleg contiguous block 29 of trunk support by pin, the axis of pin is vertical with slide block 22 moving direction, front leg mechanism is connected with the front and back leg contiguous block 10 of trunk support by pin, to realize the linkage action of foreleg and retrogressing, the axis of pin is vertical with slide block 22 moving direction.Transmission device is double reduction gear, the first order is that finishing bevel gear cuter slows down, the second stage is that spur wheel slows down, high speed shaft 39 and slow-speed shaft 25 are all fixed on the trunk side plate 33 of trunk support by bearing seat 23, tooth bar 30 is fixed on slide block crossbeam 21 by tight fixed bolt, vertical with slide block crossbeam 21 on tooth bar 30 length direction, thus make tooth bar 30 energy and partial gear 32 realize interval cooperation.Two slide blocks 22 of slide block mechanism are arranged on left and right slide bar 20 symmetrically, slide block 22 centre hole axis and slide bar 20 axis collinear, energy-storaging spring 26 is enclosed within slide bar 20 and is placed between slide block 22 and foreleg fixed block 28, thus makes foreleg damping and back leg hopping mechanism coordinate jump action.
Back leg hopping mechanism comprises: back leg sole 6, sole pipe link 7, back leg rocking bar 39, rear leg link 11, back leg rocking bar 1, back leg bumper (8), back leg rocking bar 2 12.Back leg sole 6 is connected with sole pipe link 7 by pin.Sole pipe link 7 is connected with rear leg link 11 by pin, and rear leg link 11 can rotate centered by pin.Back leg rocking bar 39 is connected with back leg rocking bar 1 by pin, be connected with rear leg link 11 by pin, be connected with front and back leg contiguous block 10 by pin, the swing of back leg rocking bar 39 drives the motion up and down of back leg hopping mechanism, also forms interlock with foreleg damping simultaneously.Rear leg link 11 is connected with back leg rocking bar 2 12 by pin, defines the size that the jump amplitude of back leg hopping mechanism and take-off store power.Back leg rocking bar 1 is connected with the back leg contiguous block 13 of trunk support by pin.Back leg bumper 8 is connected with back leg sole 6 by pin, is connected with rear leg link 11 by the collar 803, for regulating the elevation angle of back leg and cushioning the vibrations of jumping and bringing.
Foreleg damping comprises: pipe 2, bumper outer tube 1, foreleg short connecting rod 4, foreleg long connecting rod 5 in foreleg sole 3, bumper.Foreleg sole 3 is connected with pipe in bumper 2 by pin, is connected with foreleg short connecting rod 4 by pin, for realizing the swing of foreleg damping.Bumper outer tube 1 is connected with foreleg short connecting rod 4 by pin, plays the cushioning effect in foreleg take-off and the process that lands.Foreleg short connecting rod 4 is connected with the foreleg fixed block 28 of trunk support by pin.Foreleg long connecting rod 5 is connected with foreleg short connecting rod 4 by pin, is connected, for the interlock of front and back leg by pin with front and back leg contiguous block 10.
Transmission device comprises: servomotor 18, upper speed cone gear 34, low speed finishing bevel gear cuter 35, high speed circular stud wheel 36, low speed cylindrical wheel 24, partial gear 32, tooth bar 30, high speed shaft 39, slow-speed shaft 25, transmission device is double reduction gear, the first order is that finishing bevel gear cuter slows down, and the second stage is that spur wheel slows down.Servomotor 18 is bolted on motor cabinet 19.Described upper speed cone gear 34 is connected by the motor shaft of key with servomotor 18.Low speed finishing bevel gear cuter 35 is connected with high speed shaft 39 by key, and upper speed cone gear 34 central axis is mutually vertical with the central axis of low speed finishing bevel gear cuter 35, realizes the primary transmission of upper speed cone gear 34 and low speed finishing bevel gear cuter 35.High speed circular stud wheel 36 is connected with high speed shaft 39 by key.Low speed cylindrical wheel 24 is connected with slow-speed shaft 25 by key, the central axis of high speed circular stud wheel 36 central axis and low speed cylindrical wheel 24 is parallel to each other, high speed circular stud wheel 36 end face and low speed cylindrical wheel 24 end face in one plane, realize the secondary transmission of high speed circular stud wheel 36 and low speed cylindrical wheel 24.Partial gear 32 is fixed on slow-speed shaft 25 by key, tooth bar 30 to be fixed on slide block crossbeam 21 by tight fixed bolt and perpendicular with partial gear 32 axis direction, and the transmission between partial gear 32 and tooth bar 30 is used for the intermittent use of energy-storaging spring 26.High speed shaft 39 is fixed on the trunk side plate 33 of trunk support by bearing seat 23.Slow-speed shaft 25 is fixed on the trunk side plate 33 of trunk support by bearing seat 23.
Slide block mechanism comprises: slide block 22, slide block crossbeam 21, energy-storaging spring 26, front and back contiguous block 17.Slide block 22 is enclosed within slide bar 20 by the centre hole 2201 of himself, and slide block 22 moving direction is identical with the central axis of slide bar 20, slides for the central axis of slide block 22 along slide bar 20.Slide block crossbeam 21 is connected with the slide block 22 of both sides by bolt.Energy-storaging spring 26 is enclosed within slide bar 20, and energy-storaging spring 26 is subject to carrying out take-off accumulation of energy when slide block 22 compresses.Front and back leg contiguous block 10 is fixed by bolt and slide block 22, is connected, is connected by pin with back leg rocking bar 39, for the interlock of front and back leg by pin with foreleg long connecting rod 5.
Trunk support comprises: foreleg entablatrance 27, foreleg cross sill 31, back leg entablatrance 15, back leg cross sill 16, foreleg fixed block 28, back leg fixed block 17, slide bar 20, foreleg contiguous block 29, back leg contiguous block 13, front connecting panel 61, rear connecting panel 62, motor cabinet 19, bearing seat 23, trunk side plate 33, trunk side plate contiguous block 37.Foreleg entablatrance 27 is connected with foreleg fixed block 28 by bolt.Foreleg cross sill 31 is connected with foreleg contiguous block 29 with foreleg fixed block 28 by bolt, is connected with front connecting panel 61 by bolt.Back leg entablatrance 15 is crossed bolt and is connected with back leg fixed block 17.Back leg cross sill 16 is connected with back leg contiguous block 13 with back leg fixed block 17 by bolt, is connected with rear connecting panel 62 by bolt.Slide bar 20 two ends are inserted in the column type hole slot 1701 li of foreleg fixed block 28 and back leg fixed block 17 respectively, ensure assembly precision for the slide bar 20 of locating both sides.Trunk side plate 33 is connected with front connecting panel 61 by bolt, is connected with rear connecting panel 62 by bolt.Motor cabinet 19 is connected with trunk side plate contiguous block 37 by bolt.Bearing seat 23 is connected with trunk side plate 33 by bolt.
In order to make back leg jump more steadily different with adaptation landform, back leg bumper 8 adjusts the elevation angle of back leg jump structure freely by screw rod 801.In order to make stable the releasing energy of energy-storaging spring 26, energy-storaging spring 26 should adopt with foreleg fixed block 28 and slide block 22 and hook hole and be connected to coordinate and install.
Principle of work of the present invention is: the present invention in use, first the rotating speed of servomotor 18 should be regulated according to different working environments, then primary speed-down is carried out in the engagement of upper speed cone gear 34 and low speed finishing bevel gear cuter 35, double reduction is carried out in the engagement of high speed circular stud wheel 36 and low speed cylindrical wheel 24, partial gear 32 rotates under the drive of slow-speed shaft 25, carry-over bar 30 is with to move when being in partial gear 32 during tooth bar 30 engagement, tooth bar 30 is with movable slider 22 to move along slide bar 20 by the slide block crossbeam 21 be fixedly connected with it, the movement of slide block 22 makes energy-storaging spring 26 compressed energy-storage, slide block 22 moves and drives back leg parallel motion simultaneously, frog back leg hopping mechanism is squatted down.Partial gear 32 turns to and to depart from tooth bar 30 when engaging, and discharged rapidly by the energy-storaging spring 26 compressed, band movable slider 22 moves, and pedal after back leg hopping mechanism, frog takeoffs.Energy-storaging spring 26 recovers equipoise, and after driving, leg mechanism receives leg aloft.Last frog lands, and foreleg damping is by the cooperation buffer shock-absorbing of pipe 2 in bumper outer tube 1 and bumper, and partial gear 32 engages with tooth bar 30 again, enters jump process next time.
Claims (3)
1. a bionical frog electric robot, comprise back leg hopping mechanism, foreleg damping, transmission device, slide block mechanism and trunk support, it is characterized in that: described back leg hopping mechanism is connected with front and back leg contiguous block (10) of slide block mechanism by pin, the slide block movement direction in pin axis and slide block mechanism is perpendicular; Back leg rocking bar one (14) is connected with the back leg contiguous block (13) of trunk support by pin, and pin central axis is vertical with the slide block movement direction in slide block mechanism; Described front leg mechanism is connected with the foreleg contiguous block (29) of trunk support by pin, the axis of pin is vertical with slide block (22) moving direction in slide block mechanism, front leg mechanism is connected with front and back leg contiguous block (10) of trunk support by pin, and the axis of pin is vertical with slide block (22) moving direction in slide block mechanism; Described transmission device is double reduction gear, the first order is that finishing bevel gear cuter slows down, the second stage is that spur wheel slows down, high speed shaft (39) and slow-speed shaft (25) are all fixed on the trunk side plate (33) of trunk support by bearing seat (23), tooth bar (30) is fixed on slide block crossbeam (21) by tight fixed bolt, vertical with slide block crossbeam (21) on tooth bar (30) length direction; Two slide blocks (22) of described slide block mechanism are arranged on left and right slide bar (20) symmetrically, slide block (22) centre hole axis and slide bar (20) axis collinear, energy-storaging spring (26) is enclosed within slide bar (20) and is placed between slide block (22) and foreleg fixed block (28);
Described back leg hopping mechanism comprises back leg sole (6), sole pipe link (7), back leg rocking bar three (9), rear leg link (11), back leg rocking bar one (14), back leg bumper (8), back leg rocking bar two (12), and described back leg sole (6) is connected with sole pipe link (7) by pin; Described sole pipe link (7) is connected with rear leg link (11) by pin; Described back leg rocking bar three (9) is connected with back leg rocking bar one (14) by pin, is connected with rear leg link (11) by pin, is connected with front and back leg contiguous block (10) by pin; Described rear leg link (11) is connected with back leg rocking bar two (12) by pin; Described back leg rocking bar one (14) is connected with the back leg contiguous block (13) of trunk support by pin; Described back leg bumper (8) is connected with back leg sole (6) by pin, is connected with rear leg link (11) by the collar (803);
Described foreleg damping comprises: pipe (2), bumper outer tube (1), foreleg short connecting rod (4), foreleg long connecting rod (5) in foreleg sole (3), bumper, described foreleg sole (3) by pin with manage (2) in bumper and be connected, be connected with foreleg short connecting rod (4) by pin; Described bumper outer tube (1) is connected with foreleg short connecting rod (4) by pin; Described foreleg short connecting rod (4) is connected with the foreleg fixed block (28) of trunk support by pin; Described foreleg long connecting rod (5) is connected with foreleg short connecting rod (4) by pin, is connected with front and back leg contiguous block (10) by pin;
Described transmission device comprises: servomotor (18), upper speed cone gear (34), low speed finishing bevel gear cuter (35), high speed circular stud wheel (36), low speed cylindrical wheel (24), partial gear (32), tooth bar (30), high speed shaft (39), slow-speed shaft (25), described transmission device is double reduction gear, the first order is that finishing bevel gear cuter slows down, and the second stage is that spur wheel slows down; Described servomotor (18) is bolted on motor cabinet (19); Described upper speed cone gear (34) is connected by the motor shaft of key with servomotor (18); Described low speed finishing bevel gear cuter (35) is connected with high speed shaft (39) by key, and upper speed cone gear (34) central axis is mutually vertical with the central axis of low speed finishing bevel gear cuter (35); Described high speed circular stud wheel (36) is connected with high speed shaft (39) by key; Described low speed cylindrical wheel (24) is connected with slow-speed shaft (25) by key, the central axis of high speed circular stud wheel (36) central axis and low speed cylindrical wheel (24) is parallel to each other, and high speed circular stud wheel (36) end face and low speed cylindrical wheel (24) end face are in one plane; Described partial gear (32) is fixed on slow-speed shaft (25) by key; It is upper and perpendicular with partial gear (32) axis direction that described tooth bar (30) is then fixed on slide block crossbeam (21) by tight fixed bolt; Described high speed shaft (39) is fixed on the trunk side plate (33) of trunk support by bearing seat (23); Described slow-speed shaft (25) is fixed on the trunk side plate (33) of trunk support by bearing seat (23);
Described slide block mechanism comprises: slide block (22), slide block crossbeam (21), energy-storaging spring (26), front and back leg contiguous block (10), described slide block (22) is enclosed within slide bar (20) by the centre hole (2201) of himself, and slide block (22) moving direction is identical with the central axis of slide bar (20); Described slide block crossbeam (21) is connected with the slide block (22) of both sides by bolt; Described energy-storaging spring (26) is enclosed within slide bar (20); Described front and back leg contiguous block (10) are fixed by bolt and slide block (22), be connected, be connected by pin with back leg rocking bar three (9) by pin with foreleg long connecting rod (5);
Described trunk support comprises: foreleg entablatrance (27), foreleg cross sill (31), back leg entablatrance (15), back leg cross sill (16), foreleg fixed block (28), back leg fixed block (17), slide bar (20), foreleg contiguous block (29), back leg contiguous block (13), front connecting panel (61), rear connecting panel (62), motor cabinet (19), bearing seat (23), trunk side plate (33), trunk side plate contiguous block (37), and described foreleg entablatrance (27) is connected with foreleg fixed block (28) by bolt; Described foreleg cross sill (31) is connected with foreleg contiguous block (29) with foreleg fixed block (28) by bolt, is connected with front connecting panel (61) by bolt; Described back leg entablatrance (15) is crossed bolt and is connected with back leg fixed block (17); Described back leg cross sill (16) is connected with back leg contiguous block (13) with back leg fixed block (17) by bolt, is connected with rear connecting panel (62) by bolt; The column type hole slot (1701) that described slide bar (20) two ends are inserted in foreleg fixed block (28) and back leg fixed block (17) is respectively inner; Described trunk side plate (33) is connected with front connecting panel (61) by bolt, is connected with rear connecting panel (62) by bolt; Described motor cabinet (19) is connected with trunk side plate contiguous block (37) by bolt; Described bearing seat (23) is connected with trunk side plate (33) by bolt.
2. a kind of bionical frog electric robot as claimed in claim 1, is characterized in that: described back leg bumper (8) adjusts the elevation angle of back leg jump structure freely by screw rod (801).
3. a kind of bionical frog electric robot as claimed in claim 1, is characterized in that: described energy-storaging spring (26) should adopt with foreleg fixed block (28) and slide block (22) and hook hole and be connected to coordinate and install.
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| CN201510825496.0A CN105292291B (en) | 2015-11-24 | 2015-11-24 | A kind of bionical frog electric robot |
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| CN201510825496.0A CN105292291B (en) | 2015-11-24 | 2015-11-24 | A kind of bionical frog electric robot |
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| CN105292291A true CN105292291A (en) | 2016-02-03 |
| CN105292291B CN105292291B (en) | 2017-11-03 |
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| CN106184445A (en) * | 2016-07-25 | 2016-12-07 | 西北工业大学 | A kind of micro machine drives the four bionical hopping mechanisms of bar straight line |
| CN107161228A (en) * | 2017-06-28 | 2017-09-15 | 杭州师范大学钱江学院 | Bionic kangaroo-hopping robot |
| CN107161236A (en) * | 2017-06-28 | 2017-09-15 | 杭州师范大学钱江学院 | The wheeled hopping robot of sector |
| 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 |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
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| 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 |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106184445A (en) * | 2016-07-25 | 2016-12-07 | 西北工业大学 | A kind of micro machine drives the four bionical hopping mechanisms of bar straight line |
| 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 |
| CN107161228A (en) * | 2017-06-28 | 2017-09-15 | 杭州师范大学钱江学院 | Bionic kangaroo-hopping robot |
| CN107161236A (en) * | 2017-06-28 | 2017-09-15 | 杭州师范大学钱江学院 | The wheeled hopping robot of sector |
| CN107161236B (en) * | 2017-06-28 | 2023-03-31 | 杭州师范大学钱江学院 | Sector gear type hopping robot |
| CN107161228B (en) * | 2017-06-28 | 2023-03-31 | 杭州师范大学钱江学院 | Bionic jumping 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 |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN110329384B (en) * | 2019-07-30 | 2024-04-30 | 佛山科学技术学院 | Can avoid barrier climb net robot |
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