CN-116853375-B - Frog-like jumping power device, control method and robot

CN116853375BCN 116853375 BCN116853375 BCN 116853375BCN-116853375-B

Abstract

The application discloses a frog-simulated jumping power device, a control method and a robot, wherein the frog-simulated jumping power device comprises a frame; the electric control system comprises a first driving mechanism, a second driving mechanism, an electric control system module and a control system module, wherein the first driving mechanism comprises a first driving part and a first traction rope part, the first driving part drives the first traction rope part, the first traction rope part drives the front limb mechanism to move, the second driving mechanism comprises a second driving part and a second traction rope part, the second driving part drives the second traction rope part, the second traction rope part drives the rear limb mechanism to move, and the electric control system module is electrically connected with the first driving mechanism and the second driving mechanism respectively. The included angle at the joint of the forelimb mechanism is adjustable through the driving of the first traction rope part, the whole jumping action of the hindlimb mechanism is finished through the driving of the second traction rope part, the whole mass is greatly reduced in a rope driving mode, the device tends to be flexible, the driving design mode is more flexible, and therefore the bionic effect is improved.

Inventors

DENG ZEBIN
ZHANG HAOJIE
WANG XIAOMING
QIU JIAWEN
LU WENBIN
LI JINSHENG
MA SHUANGCHAO
CHEN GUIPENG

Assignees

广州大学

Dates

Publication Date: 20260505
Application Date: 20230726

Claims (9)

1. A frog-like jump power device, comprising: A frame; the forelimb mechanism is arranged on the frame; a hindlimb mechanism arranged on the frame opposite to the forelimb mechanism; The first driving mechanism is arranged on the frame and comprises a first driving part and a first traction rope part, the first driving part is used for driving the first traction rope part, and the first traction rope part is used for driving the forelimb mechanism to act so as to enable the forelimb mechanism to be used for adjusting a jumping path; The second driving mechanism is arranged on the frame and comprises a second driving part and a second traction rope part, the second driving part is used for driving the second traction rope part, and the second traction rope part is used for driving the hindlimb mechanism to act so as to enable the hindlimb mechanism to be used for jumping; the electric control system module is arranged on the rack and is respectively and electrically connected with the first driving mechanism and the second driving mechanism so as to enable the first driving mechanism and the second driving mechanism to cooperatively act; The hindlimb mechanism comprises a hindlimb lower arm, a hindlimb upper arm, a fin, a second torsion spring and a third torsion spring, wherein the hindlimb upper arm is movably arranged on the frame, the hindlimb upper arm is rotationally connected with the hindlimb lower arm, the fin is rotationally connected with the hindlimb lower arm, the second torsion spring is arranged at the joint of the hindlimb upper arm and the hindlimb lower arm, and the third torsion spring is arranged at the joint of the fin and the hindlimb lower arm; when the second traction rope component performs tightening movement, the second traction rope component drives the upper hindlimb arm and the lower hindlimb arm to perform circular movement around the rotating shaft, meanwhile, the included angle between the upper hindlimb arm and the lower hindlimb arm is reduced, and the second torsion spring arranged between the included angles generates elastic deformation; When the second traction rope component performs loosening movement, the second traction rope component drives the upper hind limb arm and the lower hind limb arm to perform reverse circular movement around the rotating shaft, meanwhile, the included angle between the upper hind limb arm and the lower hind limb arm is increased, and the second torsion spring converts elastic potential energy into kinetic energy of the whole machine in the process due to extremely short action time so as to realize the jumping process.
2. The frog-jumping simulation power device of claim 1, wherein the first driving means includes a motor capable of forward or reverse rotation, and the electronic control system module is configured to control the motor to drive the first traction rope means to tighten and loosen.
3. The frog-like jumping power device of claim 2, wherein the forelimb mechanism comprises a forelimb upper arm, a forelimb lower arm and a first torsion spring, wherein the forelimb upper arm is movably arranged on the frame, the forelimb lower arm is rotatably connected with the forelimb upper arm, and the first torsion spring is arranged at the joint of the forelimb lower arm and the forelimb upper arm.
4. The frog-jumping-simulated power device of claim 1, wherein the second driving member comprises an air pump, an air cylinder assembly and a piston rod, the piston rod is disposed on the air cylinder assembly, and the air pump is connected with the air cylinder assembly to drive the piston rod to reciprocate, so that the piston rod drives the second traction rope member to tighten and loosen.
5. The frog-jumping-simulated power device of claim 4, wherein the frame is further provided with a limiting plate, and the limiting plate cooperates with the frame to limit the range of motion of the piston rod.
6. The frog-jumping power device of claim 1, wherein the forelimb mechanism is provided with a first installation space for the first traction rope component to pass through, and the first installation space is used for positioning the first traction rope component; And/or a second installation space for the second traction rope part to pass through is formed in the hind limb mechanism, and the second installation space is used for positioning the second traction rope part.
7. The frog-jumping-simulated power device of claim 1, wherein the housing is provided with a streamline-shaped shell, and the shell is made of waterproof materials.
8. A control method of the frog-jumping-simulated power device as claimed in any one of claims 1 to 7, comprising the steps of; The first driving part drives the first traction rope part to act so as to drive the forelimb mechanism to act and adjust the included angle between the frame and the ground; the second driving part drives the second traction rope part to tighten so as to drive the hind limb mechanism to store energy; the second driving part drives the second traction rope part to relax so as to drive the hind limb mechanism to execute jumping action.
9. A robot comprising the frog-jumping-simulated power device according to any one of claims 1 to 7.

Description

Frog-like jumping power device, control method and robot Technical Field The application relates to the technical field of robots, in particular to a frog-like jumping power device, a control method and a robot. Background With the development of the age, the requirements of human beings on underground detection, archaeological excavation, deep sea collection and the like are higher and higher. The complex and changeable environment has higher requirements on the movement form of the robot, and compared with other robots, the jumping robot has strong maneuvering performance and high moving speed for obstacles which are difficult to pass. At present, jumping robots have been widely studied, but the jumping bionics are difficult to highly restore the motion principle, and the basic mechanism is difficult to realize flexible muscle tissue motion modes. In the prior art, as in the hind limb driving device with the publication number of CN115180037A, an electric control steering engine and an incomplete gear are combined, although the hind limb deflection angle can be accurately controlled by the structure, the dead weight of the whole mechanism is increased by using elements, the manufacturing difficulty is increased, the frog limb movement principle cannot be accurately simulated, and the movement repetition process is slow. In the prior art with the publication number of CN114161441A, a complete gear train mechanism is designed, and power is output through the engagement of a motor, an inner gear, an outer gear and a planet gear, so that the whole mechanism is complex in structure, large in weight, difficult to maintain and insufficient in reliability. Disclosure of Invention The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a frog-like jumping power device, and aims to solve the problems that an existing jumping robot is heavy and the bionic degree in the jumping process is low. The application also provides a control method of the frog-like jumping power device. The application also provides a robot comprising the frog-simulated jumping power device. An embodiment of the frog-jumping-simulated power device according to the first aspect of the present application comprises: A frame; the forelimb mechanism is arranged on the frame; a hindlimb mechanism arranged on the frame opposite to the forelimb mechanism; The first driving mechanism is arranged on the frame and comprises a first driving part and a first traction rope part, the first driving part is used for driving the first traction rope part, and the first traction rope part is used for driving the forelimb mechanism to act so as to enable the forelimb mechanism to be used for adjusting a jumping path; The second driving mechanism is arranged on the frame and comprises a second driving part and a second traction rope part, the second driving part is used for driving the second traction rope part, and the second traction rope part is used for driving the hindlimb mechanism to act so as to enable the hindlimb mechanism to be used for jumping; the electric control system module is arranged on the frame and is respectively and electrically connected with the first driving mechanism and the second driving mechanism so as to enable the first driving mechanism and the second driving mechanism to cooperatively act. The frog-like jumping power device provided by the embodiment of the first aspect of the application has the advantages that the included angle at the joint of the front limb mechanism is adjustable through the driving of the first traction rope component, the whole jumping action of the rear limb mechanism is completed through the driving of the second traction rope component, the whole mass is greatly reduced in a rope driving mode, the device tends to be flexible, and the driving design mode is more flexible, so that the bionic effect is improved. According to an embodiment of the first aspect of the application, the first driving part comprises a motor, the motor can rotate forward or backward, and the electric control system module is used for controlling the motor to drive the first traction rope part to tighten and relax. According to the frog-like jumping power device, the forelimb mechanism comprises a forelimb upper arm, a forelimb lower arm and a first torsion spring, wherein the forelimb upper arm is movably arranged on the frame, the forelimb lower arm is rotatably connected with the forelimb upper arm, and the first torsion spring is arranged at the joint of the forelimb lower arm and the forelimb upper arm. According to the frog-jumping-simulated power device, the second driving part comprises an air pump, an air cylinder assembly and a piston rod, the piston rod is arranged on the air cylinder assembly, and the air pump is connected with the air cylinder assembly to drive the piston rod to reciprocate, so that the piston rod drives the second tra