CN114889719A

CN114889719A - Bionic frog bouncing robot based on cam mutation

Info

Publication number: CN114889719A
Application number: CN202210487422.0A
Authority: CN
Inventors: 张磊; 赵源潮; 查晓杰; 堵梦燕; 赵南生; 马壮; 郑晨菲
Original assignee: Nantong University
Current assignee: Nantong University
Priority date: 2022-05-06
Filing date: 2022-05-06
Publication date: 2022-08-12
Anticipated expiration: 2042-05-06
Also published as: CN114889719B

Abstract

The invention relates to the technical field of robots, in particular to a bionic frog bouncing robot based on cam mutation, which comprises a shell, a bouncing device and a control device, wherein the bouncing device is arranged in the shell, and the control device is used for controlling the bouncing device to bounce; the shell comprises a shell, a lower bottom plate arranged below the shell and two side baffles used for connecting the shell and the lower bottom plate; the shell is fixedly connected with the two side baffles through bolts, and the two side baffles are fixedly connected with the lower bottom plate through bolts. The invention utilizes the self stroke quantity converted into the spring compression quantity when the cam mechanism rotates to store energy, the cam suddenly changes during the return stroke to instantly release the spring energy and acts on the hind limb to form the action of stepping on the ground to jump; the jumping direction is judged by analyzing the captured color signals through the camera, and the steering engine rotates to control the steering engine arm to drive the forelimb to swing, so that the steering function is realized. The invention has reasonable structure, excellent performance and low cost, meets the market demand and can be used for meeting the entertainment demand of people.

Description

Bionic frog bouncing robot based on cam mutation

Technical Field

The invention relates to the technical field of robots, in particular to a bionic frog bouncing robot based on cam mutation.

Background

In the beginning of the 21 st century, the first frog-shaped jumping device in the world was manufactured under the guidance of Jet Power Laboratories (JPL) of the American national aerospace agency, and the robot realizes the whole process of intermittent jumping motion under the action of a motor by utilizing a six-rod mechanism to fit the characteristics of legs, but has poor motion capability on a plane. After that, the scholars construct a more simple and compact imitation frog model by observing the periodic motion of limbs when the frog swims or jumps and analyzing the kinematic information such as the bone angle and the like during the motion. Related designs are applied to some occasions, and the application value of frog jumping is fully explained.

And the research and the initiation of the bionic frog jumping robot in China are relatively late. Zhang et al, Harbin university, designs a bionic frog robot structure based on pneumatic muscle drive by constructing a frog motion mechanism model, and the hind limb has three joints driven by pneumatic muscle and is reset by a spring to ensure the continuous motion of the robot. However, the artificial price of the bionic frog machine is higher, the structure is complex, the bionic frog machine is generally used for special purposes such as academic research and the like, and the bionic frog machine is not put into market for application. On the other hand, although a frog toy is provided in China for a long time, the mechanical essence of the frog toy is that a sliding block rocker mechanism is adopted to drive legs to swing back and forth, a driving source is from a spring, the frog toy is actually driven in a laborious way, and the spring is only gradually released after energy storage, and the spring is not instantaneously exploded, so that the driving force of the legs is small, the frog is required to be small and light, the expansion of the practical function of the frog is limited, and the frog toy is only limited to toys.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a bionic frog bouncing robot based on cam mutation.

In order to achieve the purpose, the invention adopts the following technical scheme:

a bionic frog bouncing robot based on cam mutation comprises a shell, a bouncing device arranged in the shell and a control device used for controlling the bouncing device to bounce;

the shell comprises a shell, a lower bottom plate arranged below the shell and two side baffles used for connecting the shell and the lower bottom plate; the shell is fixedly connected with the two side baffles through bolts, and the two side baffles are fixedly connected with the lower bottom plate through bolts;

the front end part of the lower bottom plate is provided with a front limb, and the front limb can realize supporting, buffering and steering actions; the inboard rear end portion of shell is equipped with a back lid, back lid passes through bolt and two side shield fixed connection, the hind limb with the contact of back shroud specifically is: the rear cover plate is in contact with the spring but is not fixedly connected with the spring, the inner side wall of the rear cover is abutted against one end of the spring, the other end of the spring is connected with the upper end part of the hind limb through a bolt, and when the spring is elongated, the hind limb can be driven to realize a jumping action by pedaling the ground;

the front side surface of the shell is provided with a camera which can capture color signals and judge the jumping direction.

Preferably, the control device comprises a brush motor and a single chip microcomputer electrically connected with the brush motor, the single chip microcomputer is fixed on the lower base plate through a bolt, and the brush motor is connected with the jumping device through a gear assembly; the gear assembly includes with brush motor output shaft's driving gear and locate driving gear one side and with driving gear engaged with driven gear, be equipped with a battery case on the inside wall of side baffle, the battery case passes through bolt and side baffle fixed connection, the battery case embeds there is the battery for provide the power for the robot.

Preferably, the jumping device comprises a cam mechanism and a spring energy-storing bouncing mechanism which are arranged between the two side baffles, and the spring energy-storing bouncing mechanism is arranged on the rear side part of the cam mechanism;

the cam mechanism comprises a cam shaft connected with a driven gear, two end parts of the cam shaft are fixedly connected with two side edge baffles through bearing supports, a cam is sleeved at the middle position of the cam shaft, and the two side parts of the cam are provided with cam baffles through cam mechanism flanges;

the spring energy storage bouncing mechanism comprises a central rotating shaft which is arranged in parallel with the cam shaft at intervals, two end parts of the central rotating shaft are fixedly connected with two side baffles through bolts, the central rotating shaft is sleeved with a flange bearing, and the hind limb can freely rotate around the central rotating shaft through the flange bearing;

the improved spring-driven mechanism is characterized in that a driven shaft is arranged between the central rotating shaft and the cam shaft, the driven shaft is fixedly connected with the hind limb, the upper end of the hind limb is fixedly connected with one end of a spring through a screw, the other end of the spring is abutted against the inner side wall of the rear cover, a cam follower is sleeved on the driven shaft, and the cam follower is abutted against a cam.

Preferably, the forelimbs comprise a left forelimb and a right forelimb, the left forelimb and the right forelimb have the same structure, the left forelimb is connected with the steering engine on the front side of the lower bottom plate, the right forelimb is connected with the front side of the lower bottom plate through a second bearing support, and a forelimb connecting piece is arranged between the left forelimb and the right forelimb;

the left side forelimb comprises a left side upper forelimb and a left side lower forelimb connected with the left side upper forelimb, the left side upper forelimb is fixedly connected with the steering engine arm through a screw, the steering engine arm is connected with the steering engine, and the steering engine arm is controlled by the steering engine to rotate to drive the left side upper forelimb to swing and drive the left side lower forelimb to move.

Preferably, the forelimb is connected with the square column on the forelimb under the left side through the pin on the left side, the junction of forelimb and the forelimb under the left side all is equipped with the spacing recess of spring that is used for placing the extension spring on the left side, the both ends of extension spring are equallyd divide and are do not got in touch with first couple and second couple and be connected.

Preferably, still be equipped with two and support copper post between two side shield, two support copper post intervals set up, and the tip of two support copper posts all passes through bolt and two side shield fixed connection.

Preferably, the bionic frog bouncing robot comprises the following steps:

step 1, starting a bionic frog bouncing robot, acquiring a color signal from a visual field by a camera, analyzing the color signal, and judging the jumping direction and steering adjustment of the next step;

step 2, according to the obtained signal, the forelimb prepares to adjust the direction, the cam mechanism stores the force for the spring, the steering attitude adjustment is completed, namely the forelimb swings, and the spring is prepared to be released for jumping;

step 3, releasing the spring, kicking the ground by the hind limb to finish jumping, resetting the fore limb after jumping, and then playing a buffer role when the bionic frog jumping robot lands on the ground; after the jump is completed, the camera continues to acquire the front signal to prepare for the next jump.

Compared with the prior art, the invention has the following beneficial effects:

1. the robot has the advantages that the stroke motion amount of the cam mechanism is converted into the spring compression amount, the elastic potential energy of the spring compression is converted into the kinetic energy of the leg, so that the robot realizes bouncing action, the structure is simple, the cost is low, and the automatic control is realized.

2. The jumping robot can realize a simple mechanical jumping function, has controllability, brings more possibility to the development of the jumping robot, and has larger market potential.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic view of the internal structure of the present invention;

FIG. 4 is a schematic view of the forelimb of the present invention;

FIG. 5 is a schematic view of the left forelimb of the present invention;

FIG. 6 is a schematic diagram showing the distribution among the camshaft, the central rotating shaft and the driven shaft according to the present invention;

FIG. 7 is a schematic view of the connection structure between the driven shaft and the hind limb, the hind limb and the central rotating shaft according to the present invention;

FIG. 8 is a schematic view of a cam mechanism of the present invention;

fig. 9 is a schematic diagram of the steering function of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, and thus the scope of the present invention is more clearly defined. The embodiments described herein are only a few embodiments of the present invention, rather than all embodiments, and all other embodiments that can be derived by one of ordinary skill in the art without inventive faculty based on the embodiments described herein are intended to fall within the scope of the present invention.

Referring to fig. 1-9, a bionic frog bouncing robot comprises a shell, a bouncing device arranged in the shell, and a control device used for controlling the bouncing device to bounce.

Referring to fig. 1, the shell includes a shell 1, a lower bottom plate 4 disposed below the shell 1, and two side baffles 3 for connecting the shell 1 and the lower bottom plate 4; the shell 1 is fixedly connected with the two side baffles 3 through bolts, and the two side baffles 3 are fixedly connected with the lower bottom plate 4 through bolts.

The front end part of the lower bottom plate 4 is provided with a front limb 5, and the front limb 5 can realize supporting, buffering and steering actions; the rear end part of the inner side of the shell 1 is provided with a rear cover 6, the rear cover 6 is fixedly connected with the two side baffles 3 through bolts, the inner side wall of the rear cover 6 is abutted against one end of a spring 17, the other end of the spring 17 is connected with the upper end part of the hind limb 2 through bolts, and when the spring 17 is elongated, the hind limb 2 can be driven to realize jumping by pedaling the ground; i.e. the rear limb 2 is kicked down when the spring 17 is reset from the compressed state, whereby the rear limb 2 is able to perform a kicking jump action.

The front side surface of the shell 1 is provided with a camera 31, and the camera 31 can capture color signals and judge the jumping direction; in practical application, the camera 31 judges the jumping direction by analyzing the captured color signals, and controls the rudder horn 25 to drive the forelimb 5 to swing through the rotation of the steering engine 23, so that the steering function of the bionic frog jumping robot is realized.

Specifically, refer to fig. 2, controlling means including brush motor 8 and with brush motor 8 electric connection's singlechip 9, singlechip 9 passes through the bolt fastening on lower plate 4, and this singlechip 9 is the main realization part of the control system of bionical frog spring robot for control bionical frog spring robot carries out the purposive steering. The brush motor 8 is connected with the jumping device through a gear assembly; the gear assembly comprises a driving gear 7-1 connected with an output shaft of the brush motor 8 and a driven gear 7-2 arranged on one side of the driving gear 7-1 and meshed with the driving gear 7-1, a battery box 11 is arranged on the inner side wall of the side baffle 3, the battery box 11 is fixedly connected with the side baffle 3 through bolts, and a battery is arranged in the battery box 11 and used for providing power for the robot.

Specifically, the jumping device comprises a cam mechanism and a spring energy-storage jumping mechanism which are arranged between the two side baffles 3, and the spring energy-storage jumping mechanism is arranged on the rear side part of the cam mechanism.

The cam mechanism comprises a cam shaft 20 connected with a driven gear 7-2, a D-shaped hole is formed in the driven gear 7-2 in practical application, and the driven gear 7-2 is connected with the cam shaft 20 in a matched mode through the D-shaped hole and is reinforced and fixed through a jackscrew; a driving gear 7-1 meshed with the driven gear 7-2 is fixedly connected with a brush motor 8 through a D-shaped hole; the two end parts of the cam shaft 20 are fixedly connected with the two side edge baffle plates 3 through first bearing supports 21, a cam 19 is sleeved at the middle position of the cam shaft 20, and cam baffle plates 18 are arranged on the two side parts of the cam 19 through cam mechanism flanges 16; the brush motor 8 drives the driving gear 7-1 to rotate, so as to drive the driven gear 7-2 to rotate, and the driven gear 7-2 drives the cam shaft 20 connected with the driven gear to rotate, so as to drive the cam 19 to rotate.

Referring to fig. 3, the spring energy-storage bouncing mechanism comprises a central rotating shaft 12 arranged parallel to a camshaft 20 at intervals, two end parts of the central rotating shaft 12 are fixedly connected with two side baffles 3 through bolts, a flange bearing 13 is sleeved on the central rotating shaft 12, and the rear limb 2 can freely rotate around the central rotating shaft 12 through the flange bearing 13; in practice, the central rotational axis 12 is stepped to limit axial movement of the hind limb 2.

A driven shaft 14 is arranged between the central rotating shaft 12 and the camshaft 20, and the driven shaft 14 is fixedly connected with the hind limb 2; in actual application, the driven shaft 14 is sleeved with the cam follower 15, and the cam follower 15 is abutted with the cam 19; the driven shaft 14 and the cam follower 15 are driven by the cam 19, and the driven shaft 14 is fixedly connected with the hind limb 2, and the hind limb 2 is connected with the spring 17, so that when the spring 17 is reset from a compressed state, the hind limb 2 is driven to pedal downwards, and the hind limb 2 can be driven to realize a jumping action of pedaling to the ground.

In practical application, the spring 17 is in a tower shape, and the cam shaft 20 drives the cam 19 to rotate when rotating, so that the cam 19 is abutted against the cam follower 15, and the cam shaft 20 converts the stroke amount of the cam shaft 20 into the compression amount of the spring 17 to store energy.

Specifically, referring to fig. 4-5, the forelimb 5 includes a left forelimb and a right forelimb, the left forelimb and the right forelimb have the same structure, wherein the left forelimb is connected with a steering engine 23 on the front side of the lower plate 4, the right forelimb is connected with the front side of the lower plate 4 through a second bearing support 22, and a forelimb connecting piece 24 is arranged between the left forelimb and the right forelimb.

The left front limb comprises a left upper front limb 26 and a left lower front limb 27 connected with the left upper front limb 26, the left upper front limb 26 is fixedly connected with a steering engine arm 25 through a screw, the steering engine arm 25 is connected with the steering engine 23, and the steering engine 23 rotates to control the steering engine arm 25 to rotate to drive the left upper front limb 26 to swing and drive the left lower front limb 27 to move; meanwhile, the forelimb connecting piece 24 is fixedly connected with the upper forelimbs of the left forelimb and the right forelimb through bolts and is used for transmitting the movement of the left upper forelimb 26 to the right upper forelimb, so that the synchronous swinging of the forelimbs is realized, and the steering function of the robot is realized.

Specifically, the left upper front limb 26 is connected with a square column on the left lower front limb 27 through a pin, spring limiting grooves 29 for placing tension springs are arranged at the joints of the left upper front limb 26 and the left lower front limb 27, and two ends of each tension spring are respectively connected with a first hook 28 and a second hook 30; in practical application, the spring limiting groove 29 is used for placing a tension spring, and two ends of the tension spring are respectively fixed on the first hook 28 and the second hook 30, and the tension spring is stretched along with the height change of the forelimb in the jumping process, so that the forelimb stably lands.

Specifically, two supporting copper columns 10 are further arranged between the two side baffles 3, the two supporting copper columns 10 are arranged at intervals, and the end parts of the two supporting copper columns 10 are fixedly connected with the two side baffles 3 through bolts; during practical application, two support copper posts 10 pass through the bolt fastening in the middle of two side shield 3, play the supporting role to two side shield 3, prevent that two side shield 3 from producing aversion, deformation phenomenon because of the atress is too big when this robot motion.

As shown in figure 8, the cam mechanism is a schematic diagram, a cam 19 is sleeved on a cam shaft 20 and rotates along with the cam shaft 20, a disc-shaped cam is matched with a roller follower on the selection of the cam 19, and in practical application, a groove is added on the cam 19 to ensure that the roller is in contact with the cam 19 in a geometric locking mode. The working process of the cam 19 is divided into three stages of power storage preparation, jump release and leg retraction ending.

During the power-up phase, the cam 19 rotates through the push stroke movement angle, the displacement of the cam follower 15 is maximized (28 mm furthest from the cam revolution center) from the minimum (the minimum cam radius, i.e. the base radius, here specifically 16 mm), while the spring 17 is continuously compressed, the amount of compression also being maximized when the displacement of the cam follower 15 is maximized. At this point the power reserve phase is complete and the spring is ready to be released.

During the release jump phase, the cam 19 rotates through a return motion angle which is much smaller than the push motion angle, so that the spring 17 is released in a short time and the elastic potential energy of the spring 17 is converted into a strong kinetic energy to generate the kickdown action of the hind limb (including the supporting foot). Since the support foot is in contact with the ground, its downward pedaling actually accelerates the upward movement or swing of the upper body, and at this moment, as long as the spring 17 is strong enough, the upper body can have enough upward inertia to prepare for the jumping action.

In the leg-retracting end stage, when the spring 17 is released, the foot is pedaled downwards to directly form the accelerated rising of the upper body, but at the moment, the jumping action of rising upwards can be effectively formed by matching with the leg retraction of the leg. Without the rapid leg-retracting action of the legs, it is possible to see only the upper body up, but the legs have not yet left the ground, so the leg-retracting action is also important. An arc with slightly and rapidly increased cam radius is designed near the near-repose angle of the cam 19, so that the hind limb generates a slight leg-retracting action immediately after kicking the leg to completely separate the leg from the ground, and a complete jumping action is realized. After all the actions are completed, the spring stores the force again to prepare for the next jump.

As shown in fig. 9, the robot is a steering schematic diagram, and the robot guides the robot to steer by means of image recognition or the like, and controls the rotation direction after obtaining image information via a camera. The control process is as follows: in an initial state, when the robot intends to turn in a certain direction (such as leftward), the steering engine controls the forelimb to swing rightward, the reaction force between the forelimb and the ground can drive the body of the robot leftward as the forelimb lands on the ground, and then the robot can realize jumping by the program control cam mechanism; when the robot takes off, the forelimb is immediately reset (recovered to the middle position) because the forelimb is off the ground; when the robot jumps, the forelimbs touch the ground again, and the next steering and jumping action can be prepared. The tension spring is arranged in the rear part of the knee joint of the forelimb, and plays a role in buffering when the frog falls to the ground.

The bionic frog jumping robot comprises a camera, a signal acquisition module, a posture adjustment module and a jumping module, wherein the camera is used for acquiring the signal when the bionic frog jumping robot runs, the posture adjustment module is used for carrying out posture adjustment according to the signal, and the three stages of jumping to a specified position are carried out, and the using steps are as follows:

The description and practice of the disclosure herein will be readily apparent to those skilled in the art from consideration of the specification and understanding, and may be modified and modified without departing from the principles of the disclosure. Therefore, modifications or improvements made without departing from the spirit of the invention should also be considered as the protection scope of the invention.

Claims

1. A bionic frog bouncing robot based on cam mutation is characterized by comprising a shell, a bouncing device arranged in the shell and a control device used for controlling the bouncing device to bounce;

the front end part of the lower bottom plate is provided with a front limb, and the front limb can realize supporting, buffering and steering actions; the rear end part of the inner side of the shell is provided with a rear cover which is fixedly connected with the two side baffles through bolts; the inner side wall of the rear cover is abutted against one end of the spring, the other end of the spring is connected with the upper end part of the hind limb through a bolt, and when the spring is elongated, the hind limb can be driven to realize a stepping jumping action;

2. The bionic frog bouncing robot based on the sudden change of the cam as claimed in claim 1, wherein the control device comprises a brush motor and a single chip microcomputer electrically connected with the brush motor, the single chip microcomputer is fixed on the lower base plate through a bolt, and the brush motor is connected with the jumping device through a gear assembly; the gear assembly includes with brush motor output shaft's driving gear and locate driving gear one side and with driving gear engaged with driven gear, be equipped with a battery case on the inside wall of side baffle, the battery case passes through bolt and side baffle fixed connection, the battery case embeds there is the battery for provide the power for the robot.

3. The bionic frog bouncing robot based on the sudden change of the cam as claimed in claim 2, wherein the bouncing device comprises a cam mechanism and a spring energy-storage bouncing mechanism which are arranged between two side baffles, and the spring energy-storage bouncing mechanism is arranged on the rear side part of the cam mechanism;

the spring energy-storage bouncing mechanism comprises a central rotating shaft which is arranged in parallel with the camshaft at intervals, two end parts of the central rotating shaft are fixedly connected with two side baffles through bolts, the central rotating shaft is sleeved with a flange bearing, and the hind limb can freely rotate around the central rotating shaft through the flange bearing;

a driven shaft is arranged between the central rotating shaft and the cam shaft and fixedly connected with the hind limb, and a cam follower is sleeved on the driven shaft and is abutted against the cam.

4. The bionic frog bouncing robot based on the cam mutation is characterized in that the forelimbs comprise a left forelimb and a right forelimb, the left forelimb and the right forelimb are identical in structure, the left forelimb is connected with a steering engine on the front side of a lower bottom plate, the right forelimb is connected with the front side of the lower bottom plate through a second bearing support, and a forelimb connecting piece is arranged between the left forelimb and the right forelimb;

5. The bionic frog bouncing robot based on the cam mutation is characterized in that the upper front limb on the left side is connected with a square column on the lower front limb on the left side through a pin, the joint of the upper front limb on the left side and the lower front limb on the left side is provided with a spring limiting groove for placing a tension spring, and two ends of the tension spring are equally connected with a first hook and a second hook respectively.

6. The bionic frog bouncing robot based on the sudden change of the cam as claimed in claim 5, wherein two supporting copper pillars are further arranged between the two side baffles, the two supporting copper pillars are arranged at intervals, and the ends of the two supporting copper pillars are fixedly connected with the two side baffles through bolts.

7. The bionic frog bouncing robot based on the sudden change of the cam as claimed in claim 6, wherein the bionic frog bouncing robot is used by the following steps: