CN217730611U - Jumping bionic frog hind limb mechanism - Google Patents
Jumping bionic frog hind limb mechanism Download PDFInfo
- Publication number
- CN217730611U CN217730611U CN202221155345.0U CN202221155345U CN217730611U CN 217730611 U CN217730611 U CN 217730611U CN 202221155345 U CN202221155345 U CN 202221155345U CN 217730611 U CN217730611 U CN 217730611U
- Authority
- CN
- China
- Prior art keywords
- hind limb
- gear
- jumping
- rotating shaft
- hind
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 98
- 230000009191 jumping Effects 0.000 title claims abstract description 19
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000010009 beating Methods 0.000 claims description 5
- 230000036544 posture Effects 0.000 description 7
- 241000269350 Anura Species 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Landscapes
- Toys (AREA)
Abstract
The utility model relates to a jumping bionic frog hind limb mechanism, including gesture adjusting device and hind limb jumping device of mutually supporting, gesture adjusting device include the hind limb installation piece that sets up on the main part frame, hind limb installation piece on install the first pivot perpendicular to vertical plane through the bearing frame, the middle part of first pivot cup jointed the rotating sleeve, the rotating sleeve fixedly connected with rotate the seat, the rotating seat be connected with hind limb jumping device, the rotating sleeve fixedly cup jointed with first driven gear, first driven gear meshing cooperation have a first driving gear, first driving gear by the first hind limb steering gear drive of main part shelf location; the hind limb mechanism is set into the hind limb jumping device and the posture adjusting device which are matched with each other, the adjustment of the initial posture of the hind limb can be realized through the specific structure of the posture adjusting device, and then the bionic frog can have the capability of jumping obliquely.
Description
Technical Field
The utility model relates to a bionical machinery especially relates to a bionical frog hind limb mechanism of jump.
Background
The bionic robot learns the biological characteristics of an organism by learning the following characteristics: flexibility, biological motion characteristic, environmental self-adaptation etc. a series of outstanding specialties, thereby reform transform to original mechanized equipment and make it possess the most reasonable, the most advantageous structural feature, and most of the bionic machinery frogs that simulate the lea class jump on the existing market all use the hydraulic cylinder to give the propulsion of jump, this kind of method cost is expensive, require the cylinder precision high, and present bionic frog-shaped robot can only carry out straight line jump mostly, the main problem lies in, the ability that its hind limb mechanism only locally drives the jump, and whole body tilt state is adjusted through the different gestures of two hind limbs to the frog itself, and then can realize the slant and jump.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a bionical frog hind limb mechanism of jump sets hind limb mechanism to the hind limb of mutually supporting and beats device and gesture adjusting device, can realize the adjustment of the initial gesture of hind limb through gesture adjusting device's concrete structure, and then can make bionical frog possess the ability of slant jump.
In order to realize the above purpose, the utility model discloses a technical scheme be: the utility model provides a bionical frog hind limb mechanism of jump, is beated the device including the gesture adjusting device and the hind limb of mutually supporting, gesture adjusting device including setting up the hind limb installation piece on the main part frame, hind limb installation piece on install through the bearing frame with vertical plane vertically first pivot, the middle part of first pivot cup jointed and rotated the cover, rotation cover fixedly connected with rotate the seat, the seat of rotating be connected with the hind limb device of beating, the rotation cover fixed the cup joint have a driven gear, a driven gear meshing cooperation have a driving gear, a driving gear by the first hind limb steering wheel drive of main part shelf location.
Preferably, the hind limb device of beating including installing the gear frame on rotating the seat, the gear frame on install the hind limb loose gear, and install the installation pivot of hind limb loose gear and still cup joint and install the hind limb piece, the hind limb piece on be provided with the hind limb fixed block with hind limb loose gear fixed connection, the hind limb loose gear pass through transmission structure and be connected with second hind limb steering wheel.
Preferably, the first rotating shaft penetrates through the rotating seat and the hind limb installation block, a second driven gear and a first bevel gear are respectively installed at two ends of the first rotating shaft, the second driven gear is meshed and matched with a second driving gear, the second driving gear is driven by a second hind limb steering engine installed on the main body frame, a second rotating shaft perpendicular to the first rotating shaft is installed on the rotating seat, a second bevel gear and a transmission gear are respectively fixedly sleeved at two ends of the second rotating shaft, the second bevel gear is meshed with the first bevel gear, and the transmission gear drives the hind limb movable gear through a transmission gear group on the transmission frame.
The technical effects of the utility model are that:
1. the posture adjusting device of the hind limbs and the specific structural design can enable the two hind limbs to be in different initial states, namely the whole main body frame can be inclined to a certain degree before jumping, so that inclined jumping can be achieved, and the bionic frog has more flexible activity performance.
2. The hind limb block is driven by a gear rotation mode, so that the motion amplitude of the hind limb block can be controlled, and the jumping height of the whole bionic frog can be adjusted.
3. Through the structural design of whole hind limb, can combine together hind limb jumping device and posture adjusting device's structure, and then can make the steering wheel of two drive hind limbs all be in on the main part frame, possess the jump ability when realizing hind limb gesture regulation through multiunit gear drive mode, compare the structure that the steering wheel was installed on rotating the seat, can alleviate the quality of whole hind limb, make whole bionical frog more nimble.
Drawings
FIG. 1 is a perspective view of a hind limb mechanism of a jumping biomimetic frog;
FIG. 2 is a partial perspective view of the hind limb mechanism;
fig. 3 is a perspective view of a portion of the hind limb mechanism with the first driven gear and the first drive gear removed.
The text labels shown in the figures are represented as: 21. a hind limb mounting block; 22. a first rotating shaft; 23. a second driven gear; 24. a second driving gear; 25. a second hind limb steering engine; 26. a first bevel gear; 27. rotating the sleeve; 28. a rotating seat; 29. a first driven gear; 30. a first drive gear; 31. a first hind limb steering engine; 32. a second rotating shaft; 33. a second bevel gear; 34. a transmission gear; 35. a transmission frame; 36. a drive gear set; 37. a hind limb loose gear; 38. a hind limb mass; 39. and a hind limb fixing block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
As shown in fig. 1-3, a jumping bionic frog hind limb mechanism comprises a posture adjusting device and a hind limb jumping device which are mutually matched, the posture adjusting device comprises a hind limb mounting block 21 arranged on a bionic frog main body frame, a first rotating shaft 22 which is vertical to a vertical plane is arranged on the hind limb mounting block 21 through a bearing seat, a rotating sleeve 27 is sleeved in the middle of the first rotating shaft 22, the rotating sleeve 27 is fixedly connected with a rotating seat 28, the rotating seat 28 is connected with the hind limb jumping device, a first driven gear 29 is fixedly sleeved on the rotating sleeve 27, the first driven gear 29 is meshed and matched with a first driving gear 30, the first driving gear 30 is driven by a first hind limb 31 arranged on the main body frame, the hind limb jumping device comprises a transmission frame 35 arranged on the rotating seat 28, a hind limb movable gear 37 is arranged on the second rotating frame 35, a mounting rotating shaft provided with the hind limb movable gear 37 is further provided with a hind limb block 38, the hind limb block 38 is provided with a second rotating shaft 37 fixedly connected with the hind limb gear 37, the second rotating shaft 34 is connected with a second bevel gear 26, two ends of the second rotating shaft 22 and a second bevel gear 26, the second driven gear 26 are respectively meshed with the second rotating shaft 22, the second driven gear 26 is arranged on the second rotating seat, the second driven by the second rotating shaft 33, the second driven gear 23 and the second rotating shaft 33, the second driving gear 26, the second rotating shaft 33, the second driving gear 26 is connected with the second driven gear 26, the second rotating shaft 33, the second rotating shaft 22, the second driving gear 26 is connected with the second rotating shaft 33, the transmission gear 24 drives the hind limb movable gear 37 through the transmission gear set 36 on the transmission frame 35.
The specific beating of the hind limb mechanism of the bionic frog of the application is as follows: the posture of the hind limb is adjusted firstly, specifically, the first driving gear 30 is driven to rotate through the first hind limb steering gear 31, and then the first driven gear 29 is driven to be communicated with the rotating sleeve 27 to rotate together, so that the rotation of the rotating seat 28 can be realized, and then the transmission frame 35 and the whole hind limb block 38 are driven to rotate in the vertical direction, so that the initial posture adjustment can be realized, two hind limbs can have different postures, and further the main body frame can incline correspondingly, and then the second hind limb steering gear 25 drives the second driving gear 24 to rotate, so that the second driven gear 23 is driven to rotate, and the first rotating shaft 22 is driven to rotate, so that the rotation of the first bevel gear 26 can be realized, the first bevel gear 26 can drive the second bevel gear 33 to rotate, so that the second rotating shaft 32 can be driven to rotate, the transmission teeth 34 on the second rotating shaft 32 can rotate together, the transmission teeth 34 transmit power to the hind limb movable gear set 36 through a set of transmission gears 36, so that the hind limb fixed block 39 can rotate, so that the rotation of the hind limb block 38 can be realized, and the beat of the two hind limbs can be simulated by the bionic motion, and the bionic motion of the oblique hind limbs can be realized more flexibly.
The present invention has been described in terms of embodiments, but not limitations, and other variations of the disclosed embodiments, as would be readily apparent to one skilled in the art, are intended to be included within the scope of the present invention as defined in the following claims, in view of the description of the present invention.
Claims (3)
1. The utility model provides a bionical frog hind limb mechanism of jump, its characterized in that is including mutual gesture adjusting device and hind limb device of beating, gesture adjusting device including setting up hind limb installation piece (21) on bionical frog's main part frame, hind limb installation piece (21) on install through the bearing frame with vertical plane vertically first pivot (22), the middle part of first pivot (22) cup jointed and rotated cover (27), rotation cover (27) fixedly connected with rotate seat (28), rotation seat (28) be connected with the hind limb device of beating, rotation cover (27) fixed cover connect first driven gear (29), first driven gear (29) meshing cooperation have first driving gear (30), first driving gear (30) by main part shelf location first hind limb steering wheel (31) drive.
2. The jumping bionic frog hind limb mechanism according to claim 1, wherein the hind limb jumping device comprises a transmission frame (35) installed on a rotating base (28), the transmission frame (35) is provided with a hind limb movable gear (37), an installation rotating shaft of the installed hind limb movable gear (37) is further sleeved with a hind limb block (38), the hind limb block (38) is provided with a hind limb fixing block (39) fixedly connected with the hind limb movable gear (37), and the hind limb movable gear (37) is connected with a second hind limb steering engine (25) through a transmission structure.
3. The jumping bionic frog hind limb mechanism according to claim 2, wherein the first rotating shaft (22) penetrates through the rotating base (28) and the hind limb installation block (21), a second driven gear (23) and a first bevel gear (26) are respectively installed at two ends of the first rotating shaft (22), a second driving gear (24) is meshed and matched with the second driven gear (23), the second driving gear (24) is driven by a second hind limb steering gear (25) installed on the main body frame, a second rotating shaft (32) perpendicular to the first rotating shaft (22) is installed on the rotating base (28), a second bevel gear (33) and a transmission gear (34) are respectively fixedly sleeved at two ends of the second rotating shaft (32), the second bevel gear (33) is meshed with the first bevel gear (26), and the transmission gear (34) drives the hind limb movable gear (37) through a transmission gear set (36) on the transmission frame (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221155345.0U CN217730611U (en) | 2022-05-15 | 2022-05-15 | Jumping bionic frog hind limb mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221155345.0U CN217730611U (en) | 2022-05-15 | 2022-05-15 | Jumping bionic frog hind limb mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217730611U true CN217730611U (en) | 2022-11-04 |
Family
ID=83836618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221155345.0U Expired - Fee Related CN217730611U (en) | 2022-05-15 | 2022-05-15 | Jumping bionic frog hind limb mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217730611U (en) |
-
2022
- 2022-05-15 CN CN202221155345.0U patent/CN217730611U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112936308A (en) | Head structure of humanoid expression robot and robot | |
| CN108724163B (en) | Pneumatic muscle-driven seven-degree-of-freedom humanoid mechanical arm | |
| CN109172060B (en) | Prosthetic hand of upper limb prosthetic | |
| CN217730611U (en) | Jumping bionic frog hind limb mechanism | |
| CN109367643A (en) | A kind of Four-feet creeping bio-robot based on link mechanism | |
| CN116002021A (en) | Rope-driven type X-shaped parallel structure stretching whole flexible bionic fish | |
| CN107972022A (en) | Apery manipulator skeleton | |
| CN217730607U (en) | Novel jumping bionic frog | |
| CN211590183U (en) | Under-actuated joint and pecking device of imitated woodpecker | |
| CN111633669B (en) | Modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and control method | |
| CN105159312A (en) | A waist simulation device of a bionic robot mouse based on differential gears | |
| CN111531525A (en) | Novel multi freedom neck of intelligent robot | |
| CN108972605B (en) | Bionic hand simulating hand movement | |
| CN108784892B (en) | Mechanical transmission type artificial limb arm | |
| CN101045302A (en) | Multi-freedon arm of human imitating robot | |
| CN109109001A (en) | A kind of manipulator restoring magic square | |
| CN105382844B (en) | Multi-degree-of-freedom mechanical arm based on sequential control | |
| CN204800661U (en) | People's wrist device is imitated to two degrees of freedom | |
| CN219563161U (en) | Upper limb pitch motion control structure of humanoid robot | |
| CN210277636U (en) | Robot arm structure and robot | |
| CN210852710U (en) | Simulation robot crotch structure | |
| CN210077959U (en) | Humanoid spherical shoulder joint mechanism | |
| CN200984311Y (en) | Automatic massage device | |
| CN220204360U (en) | Transmission assembly and rotating shaft mechanism | |
| CN213077477U (en) | Drum beating robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221104 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |