High-energy storage water surface jumping robot and jumping method

Abstract

The application provides a high-energy storage water surface jumping robot and a jumping method, and belongs to the field of bionic robots. In order to solve the problem that the existing water surface jumping robot uses a spring as an energy storage element, the energy density is low, the deformation is obvious after long-time use, and the service life is short. The application comprises a main support frame, a water surface support system, an efficient transmission system, an energy storage system and a driving system. Through optimization analysis, the energy storage energy density is increased. The driving system is symmetrically distributed on the left and right sides of the robot. The water surface support system is located at the lowermost part of the robot. The efficient transmission system is installed inside the water surface support system. The efficient transmission system drives the energy storage system to store and release energy of carbon fiber sheets and latex strips, provides energy required for jumping, drives the driving system to move and realizes water surface jumping movement. The motor shaft direct drive mode greatly improves the energy storage efficiency. The carbon fiber sheets and the latex strips are used as energy storage elements, and have the characteristics of light weight and high energy storage density.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, and more specifically, to a high-energy-storage water surface jumping robot and a jumping method. Background Technology

[0002] Currently, robots capable of floating and even walking on water have been developed. Common water-jumping robots typically mimic aquatic insects, such as water striders and water spiders. Compared to land-based jumping, the force model between water-jumping robots and the water surface is more complex, constituting a highly nonlinear system. Furthermore, water surface support differs from rigid ground support and cannot provide the necessary instantaneous support force for the robot's jump; otherwise, it would splash water excessively or even capsize. Factors such as the robot's mass, the layout of the water surface support system, the energy storage capacity of the jumping mechanism, and its release efficiency all affect the robot's water jump height. Water-jumping robots face the challenge of meticulously configuring their center of mass to ensure stable floating on the water, preventing flipping during the jump, and landing stably back on the water.

[0003] Existing patents, such as a water-jumping robot (patent number: CN202110855899.5), include a main support frame, a water surface support system, a transmission system, an energy storage system, and a drive system. The main support frame is located in the middle of the robot, the energy storage system is located at the top, the drive system is symmetrically distributed on the left and right sides, the water surface support system is located at the bottom, and the transmission system is installed inside the water surface support system. The robot achieves stable floating on the water surface through the water surface support system. The transmission system drives the energy storage system to store and release energy in the springs, providing the energy required for jumping, and driving the drive system to achieve water-jumping motion. Existing patents mainly utilize springs as energy storage elements, which have the characteristics of light weight and excellent jumping performance. However, using springs as energy storage elements results in a greater mass due to the spring itself compared to the material described in this paper when storing the same amount of energy, i.e., lower energy density. Furthermore, after prolonged use, the deformation is more significant, leading to a gradual decrease in energy storage capacity and a shorter lifespan. Summary of the Invention

[0004] The technical problem to be solved by this invention is:

[0005] To address the issues that existing water surface jumping robots use springs as energy storage elements, which have low energy density, significant deformation after prolonged use leading to gradually reduced energy storage capacity and short lifespan, and whose energy release methods are conventional and also result in low energy density.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] This invention provides a high-energy-storage water-jumping robot, comprising a water surface support system, a transmission system, a main support frame, an energy storage system, and a drive system. The transmission system is mounted on the water surface support system, and the main support frame is hinged above the water surface support system. The energy storage system is housed within the main support frame, and the drive system is mounted on the main support frame. The drive system enables stable buoyancy on the water surface via the water surface support system. The transmission system drives the energy storage system to store and release energy, providing the energy required for jumping, and drives the drive system to achieve the water-surface jumping motion.

[0008] The energy storage system includes a main support frame, guide wheels, carbon sheets, support rails, carbon sheet seats, and energy storage sliders. The main support frame includes a main support front seat and a main support rear seat inserted into both ends of the main support front seat. The middle of the main support front seat is connected to the front support base of the water surface support system via a pitch axis. A guide wheel mounting port is provided in the middle of the main support front seat near the rectangular foam leg. A guide wheel is mounted at the guide wheel mounting port via a rotating shaft. The two main support rear seats are connected by at least two support rails. The energy storage slider is sleeved on the support rail near the spherical foam leg. The number of carbon sheets is even and evenly distributed on both sides of the support rails. Crossed latex strips are provided on the carbon sheets on both sides. The two ends of the carbon sheets are hinged to one main support rear seat and the other energy storage slider via carbon sheet seats. A pull rope passes around the guide wheel and is connected to the center of the energy storage slider.

[0009] Furthermore, the installation distance of the latex strip from the midpoint of the carbon sheet is 'a', and the installation distance between the carbon sheets on the left and right sides is 'b'. The maximum output force is set to 30N, the compression distance is 60mm, a = 10mm, b = 20mm, and the latex strip thickness is 1.5mm. Under the conditions that the carbon sheet thickness is 0.5mm and 0.6mm respectively, and the carbon sheet length is 110mm, 100mm and 90mm respectively, the carbon sheet length can be 110mm, the width can be 3mm, the thickness can be 0.5mm, and the latex strip width can be 12mm.

[0010] Furthermore, the water surface support system includes spherical foam legs, a fixing frame, a front support base, a rear support base, support carbon rods, and rectangular foam legs. Both the front and rear support bases are portal-shaped structures, and each of the two free ends of the front and rear support bases is provided with at least two insertion holes. The front and rear support bases are connected by inserting pins into the corresponding insertion holes. The two corners of the front support base are connected to the spherical foam legs through support carbon rods, and the two corners of the rear support base are connected to the rectangular foam legs through support carbon rods.

[0011] Furthermore, the transmission system includes gear one, carbon rod shaft one, spline shaft one, gear two, gear three, gear four, spring, single-sided winding wheel, motor, spline shaft two, cam, and positioning shaft. The motor is fixed on the front support base. The drive end of the motor is connected to gear one via a D-shaped shaft. Spline shaft one and spline shaft two are both mounted in the shaft holes of the front support base via bearings. Spline shaft one has a hollow structure and carbon rod shaft one is inserted inside. The portion of spline shaft one extending outside the front support base is sequentially fitted with gear three and gear two. Gear two meshes with gear one. A single-sided winding wheel is fitted onto the portion of the spline shaft extending into the front support base. A spring is fitted onto the single-sided winding wheel, with both ends of the spring contacting the inner wall of the front support base and the single-sided wall of the single-sided winding wheel, respectively. A gear four is fitted onto the portion of the spline shaft extending out of the front support base. The gear four meshes with the gear three. A cam is fitted onto the portion of the spline shaft extending into the front support base. The other end of the cam, away from the gear four, is connected to a positioning shaft via a spline. The positioning shaft is mounted in the shaft hole of the front support base via a bearing. A pull rope is fixed onto the single-sided winding wheel.

[0012] Furthermore, the drive system includes a drive plate, a connecting rod, a right slide bar, a carbon rod shaft, and a left slide bar. The middle parts of the left and right slide bars are connected to the main support front seat. One end of the left and right slide bars is connected to the energy storage slider through the carbon rod shaft. The other end of the left and right slide bars is connected to the connecting rod and the drive plate in sequence.

[0013] Furthermore, the materials of gear one, spline shaft one, gear two, gear three, gear four, single-sided winding wheel, spline shaft two, cam, positioning shaft, energy storage slider, guide wheel, carbon sheet seat, drive plate, right slide rail and left slide rail are all photosensitive resin, and the materials of the supporting guide rail and connecting rod are carbon rods.

[0014] Furthermore, the connecting rod is fixed to the corresponding drive plate and the corresponding slide bar by hot melt adhesive.

[0015] Furthermore, there are four carbon sheets and four carbon sheet holders, and two sets of latex strips are arranged in a cross pattern. The two sets of latex strips are respectively arranged on two opposite carbon sheets.

[0016] Furthermore, the position of the main support rear seat on the main support front seat is adjustable to adjust the length of the carbon sheet.

[0017] A jumping method for a high-energy-storage water surface jumping robot includes the following steps:

[0018] The pull rope continuously winds around the single-sided cylinder at the right end of the single-sided winding wheel as the motor drives the second gear to rotate. The rotation of the second gear drives the coaxial third gear to rotate, which in turn drives the meshing fourth gear to rotate, which in turn drives the cam coaxial with the fourth gear to rotate, pulling the energy storage slider and thus compressing the carbon sheet. When the single-sided winding wheel reaches the number of turns, the cam presses down on the single-sided winding wheel, compresses the spring and causes it to move axially, so that the pull rope is released from the single-sided winding wheel, and the pull rope is released to the energy storage system, providing the energy required for jumping. During the energy storage and compression of the energy storage system, the movement of the energy storage slider drives the two sliding rods to swing back and forth, and the drive plate moves back and forth to achieve the jumping motion.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. The main parts of this invention are manufactured using high-precision 3D printing, which reduces manufacturing time and cost. Carbon fiber sheets and latex strips are used as energy storage elements, which improves energy storage density compared to existing water jumping robots that use springs as energy storage elements. A symmetrical drive system is adopted to improve the stability of the robot's water surface movement. Foam is used as the robot's water surface support to reduce the drag force of the water surface during the jump and improve jumping performance.

[0021] 2. The robot in this invention has the ability to jump continuously on the water surface, which effectively expands the robot's movement space and improves its movement flexibility.

[0022] 3. In this invention, the robot uses carbon sheets and intersecting latex strips on the carbon sheets as energy storage elements. The supporting legs and the carbon fiber latex energy storage system adopt different characteristic parameters to achieve different jumping motion effects. By optimizing the distribution of the supporting legs, the shape of the supporting legs, and the size and performance parameters of the carbon fiber and latex, the jumping efficiency, jumping height and jumping distance can be improved.

[0023] 4. This invention has a wide range of applications. When used with corresponding sensor modules, it can be applied to military reconnaissance, water surface obstacle search and communication nodes, and can be used for exploration of unknown or dangerous waters, water quality inspection and other tasks.

[0024] 5. The high-energy-storage water-jumping robot of this invention weighs approximately 95g. It uses buoyancy foam as its supporting legs, and both its support and actuation mechanisms utilize water pressure. The robot's energy storage element is a combination of carbon fiber sheets and latex strips, which offers better energy storage density and support stiffness compared to springs. Experiments show that the high-energy-storage water-jumping robot of this invention achieves a single jump height of approximately 285mm, which is 1.1 times the robot's body length, and a single jump distance of approximately 797mm, which is 3.07 times the robot's body length. Attached Figure Description

[0025] Figure 1This is an isometric view of a high-energy-storage water surface jumping robot according to an embodiment of the present invention;

[0026] Figure 2 This is a front view of a high-energy-storage water surface jumping robot according to an embodiment of the present invention;

[0027] Figure 3 This is a top view of a high-energy-storage water surface jumping robot according to an embodiment of the present invention;

[0028] Figure 4 This is a left view of a high-energy-storage water surface jumping robot according to an embodiment of the present invention;

[0029] Figure 5 This is a structural diagram of the water surface support system in an embodiment of the present invention;

[0030] Figure 6 This is a structural diagram of the transmission system in an embodiment of the present invention;

[0031] Figure 7 This is a structural diagram of the energy storage system in an embodiment of the present invention;

[0032] Figure 8 This is a structural diagram of the drive system in an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram showing the installation and positioning of the main support frame and the support base in an embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the installation of the energy storage element in an embodiment of the present invention;

[0035] Figure 11 This is an optimized diagram showing the installation position of the energy storage element in an embodiment of the present invention;

[0036] Figure 12 This is an optimized diagram of the size parameters of the energy storage element in an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Water surface support system; 2. Transmission system; 3. Main support frame; 4. Energy storage system; 5. Drive system; 6. Spherical foam leg; 7. Fixing frame; 8. Front support base; 9. Support carbon rod; 10. Rectangular foam leg; 11. Gear 1; 12. Carbon rod shaft 1; 13. Spline shaft 1; 14. Gear 2; 15. Gear 3; 16. Gear 4; 17. Spring; 18. Single-sided winding wheel; 19. Motor; 20. Spline shaft 2; 21. Cam; 22. Positioning shaft; 23. Main support rear seat; 24. Guide wheel; 25. Carbon sheet; 26. Support guide rail; 27. Main support front seat; 28. Carbon sheet seat; 29. ​​Energy storage slider; 30. Drive plate; 31. Connecting rod; 32. Right slide bar; 33. Carbon rod shaft 3; 34. Left slide bar; 35. Pitch axis; 36. Rear support base; 37. Latex strip. Detailed Implementation

[0039] In the description of this invention, it should be noted that the terms used in the various embodiments, such as "upper," "lower," "front," "rear," "left," and "right," which indicate orientation, are only used to simplify the description of the positional relationships based on the accompanying drawings and do not mean that the components and devices referred to must be operated in accordance with the specific orientations and defined operations, methods, and structures in the specification. Such directional terms do not constitute a limitation of this invention.

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Specific Implementation Plan 1: Combining Figures 1 to 10 As shown, this invention provides a high-energy-storage water-jumping robot, comprising a water surface support system 1, a transmission system 2, a main support frame 3, an energy storage system 4, and a drive system 5. The transmission system 2 is mounted on the water surface support system 1, and the main support frame 3 is hinged above the water surface support system 1. The energy storage system 4 is housed within the main support frame 3, and the drive system 5 is mounted on the main support frame 3. The water surface support system 1 enables stable buoyancy on the water surface, while the transmission system 2 drives the energy storage system 4 to store and release energy, providing the energy required for jumping, and driving the drive system 5 to achieve water-surface jumping motion.

[0042] The water surface support system 1 includes a spherical foam leg 6, a fixing frame 7, a front support base 8, a rear support base 36, a support carbon rod 9, and a rectangular foam leg 10. The front support base 8 and the rear support base 36 are both portal-shaped structures, and each of the two free ends of the front support base 8 and the two free ends of the rear support base 36 is provided with at least two insertion holes. The two free ends are connected by inserting pins into the corresponding insertion holes of the front support base 8 and the rear support base 36. The two corners of the front support base 8 are connected to the spherical foam leg 6 through the support carbon rod 9, and the two corners of the rear support base 36 are connected to the rectangular foam leg 10 through the support carbon rod 9.

[0043] The transmission system 2 includes gear 11, carbon rod shaft 12, spline shaft 13, gear 14, gear 15, gear 16, spring 17, single-sided winding wheel 18, motor 19, spline shaft 20, cam 21, and positioning shaft 22. The motor 19 is fixed to the front support base 8 of the water surface support system 1. The drive end of the motor 19 engages with gear 11 via a D-shaped shaft. Spline shaft 13 and spline shaft 20 are both mounted in the shaft holes of the front support base 8 via bearings. The spline shafts are hollow structures and... A carbon rod shaft 12 is inserted inside. A gear 15 and a gear 14 are sequentially fitted onto the portion of the splined shaft 13 extending beyond the front support base 8. The gear 14 meshes with the gear 11. A single-sided winding wheel 18 is fitted onto the portion of the splined shaft 13 extending into the front support base 8. A spring 17 is fitted onto the single-sided winding wheel 18, with both ends of the spring 17 contacting the inner wall of the front support base 8 and the single-sided wall of the single-sided winding wheel 18, respectively. A toothed gear is fitted onto the portion of the splined shaft 20 extending beyond the front support base 8. Gear 4 16 meshes with gear 3 15. A cam 21 is fitted onto the portion of the splined shaft 20 extending into the front support base 8. The other end of the cam 21, away from gear 4 16, is connected to a positioning shaft 22 via a spline. The positioning shaft 22 is mounted in the shaft hole of the front support base 8 via a bearing, serving as an axial positioning cam 21. A pull rope is fixed to the single-sided winding wheel 18. When the motor 19 drives gear 2 14 to rotate, the pull rope continuously winds around the single-sided cylinder at the right end of the single-sided winding wheel 18. Energy is stored in the energy storage system 4. The rotation of gear 2 14 drives the coaxial gear 3 15 to rotate. The rotation of gear 3 15 drives the meshing gear 4 16 to rotate, which in turn drives the cam 21 coaxial with gear 4 16 to rotate. When the single-sided winding wheel 18 reaches the number of turns, the cam 21 just presses down on the single-sided winding wheel 18, compresses the spring 17 and makes it move axially. Due to the baffle missing on one side of the single-sided winding wheel 18, the pull rope is released from the single-sided winding wheel and released to the energy storage system 4, providing the energy required for jumping.

[0044] The energy storage system 4 includes a main support frame 3, guide wheels 24, carbon sheets 25, support rails 26, carbon sheet seats 28, and energy storage sliders 29. The main support frame 3 includes a main support front seat 27 and main support rear seats 23 inserted into both ends of the main support front seat 27. The main support front seat 27 is connected to the front support base 8 at its middle position via a pitch axis 35. A guide wheel mounting port is provided at the middle of the main support front seat 27 near the rectangular foam leg 10, and a guide wheel 24 is mounted via a rotating shaft. The two main support rear seats 23 are connected by at least two support rails 26. The energy storage slider 29 is sleeved on the support rail 26 near the spherical foam leg 6. The number of carbon sheets 25 is even and they are evenly distributed on both sides of the support rail 26. The carbon sheets 25 on both sides are provided with intersecting latex strips 37. The two ends of the carbon sheets 25 are respectively hinged to the main support seat 23 on one side and the energy storage slider 29 on the other side through carbon sheet seats 28. The pull rope passes around the guide wheel 24 and is connected to the center of the energy storage slider 29. By pulling the pull rope, the energy storage slider 29 slides on the support rail 26. The movement of the energy storage slider 29 compresses the carbon sheets 25 on both sides. Due to the hinged installation and rotation limit of the carbon sheet seats 28, the carbon sheets 25 on both sides bend and deform outward. At the same time, the latex strips 37 bound to the left and right carbon sheets 25 are stretched and stored due to the deformation of the carbon sheets 25, realizing the storage and release of energy.

[0045] The drive system 5 includes a drive plate 30, a connecting rod 31, a right sliding rod 32, a carbon rod shaft 33, and a left sliding rod 34. The middle parts of the left sliding rod 34 and the right sliding rod 32 are connected to the main support front seat 27. One end of the left sliding rod 34 and the right sliding rod 32 is connected to the energy storage slider 29 through the carbon rod shaft 33. The other end of the left sliding rod 34 and the right sliding rod 32 is connected to the connecting rod 31 and the drive plate 30 in sequence. It is used to drive the two sliding rods to swing back and forth through the movement of the energy storage slider 29, so as to realize the forward and backward movement of the drive plate 30 and achieve jumping motion.

[0046] Specific Implementation Plan Two: Combining Figures 10 to 12 As shown, the installation positions of the latex strip 37 and carbon sheet 25 refer to two parameters: the installation distance 'a' of the latex strip on the carbon sheet 25 from the midpoint of the carbon sheet 25 and the installation distance 'b' of the carbon sheets 25 on the left and right sides. The latex strip 37 is arranged in a cross pattern to achieve greater latex deformation and store more energy. With a fixed energy storage compression distance of 60mm, the deformation of the latex strip 37 is obtained by changing different installation parameters 'a' and 'b', thus obtaining the optimal installation parameters. The analysis results are as follows... Figure 11As shown, the smaller a and b are, the greater the latex deformation. The optimization design of the dimensional parameters of the latex strip 37 and carbon sheet 25 includes the relationship between different combinations of the width of the latex strip 37 and the length, width, and thickness of the carbon sheet 25 and the maximization of energy storage. The maximum output force is set to 30N, the compression distance to 60mm, and considering installation space, a = 10mm, b = 20mm, and the thickness of the latex strip 37 is set to 1.5mm. The relationship between the width of the carbon sheet 25 and the width of the latex strip 37 and the energy storage is analyzed when the thickness of the carbon sheet 25 is 0.5mm and 0.6mm, and the length of the carbon sheet 25 is 110mm, 100mm, and 90mm, respectively. The analysis results are as follows: Figure 12 As shown, the maximum energy storage occurs at a point where the carbon composite fiber is 110 mm long, 3 mm wide, and 0.5 mm thick, and the latex is 12 mm wide, at which point the energy storage reaches 3.4 J.

[0047] The stress on a deformed carbon sheet is related to its dimensional parameters—width, thickness, and length—as well as its elastic modulus. Similarly, the stress on a deformed latex sheet is also related to its dimensional parameters—width, thickness, and length—and its own performance parameters. First, after the carbon sheet and latex are compressed together, the relationship between the output force and the compressive displacement can be obtained. By integrating the output force, the energy of the combined deformation can be obtained, which can then be mapped to the corresponding dimensions of the carbon sheet and latex. The analytical method involves enumerating different dimensions of the carbon sheet and latex to derive the corresponding variation patterns.

[0048] The other combinations and connections in this implementation scheme are the same as in Specific Implementation Scheme 1.

[0049] Preferably, the gear 11, spline shaft 13, gear 2 14, gear 3 15, gear 4 16, single-sided winding wheel 18, spline shaft 20, cam 21, positioning shaft 22, energy storage slider 29, guide wheel 24, carbon sheet seat 28, drive plate 30, right slide bar 32 and left slide bar 34 are all made of photosensitive resin, the supporting guide rail 26 and connecting rod 31 are made of carbon rod, and the connecting rod 31 is bonded and fixed to the corresponding drive plate 30 and the corresponding slide bar by hot melt adhesive.

[0050] Preferably, there are four carbon sheets 25 and four carbon sheet holders 28, and two sets of latex strips 37 are arranged in a cross pattern, with the two sets of latex strips 37 respectively arranged on two opposite carbon sheets 25.

[0051] Preferably, the position of the main support rear seat 23 on the main support front seat 27 is adjustable to adjust the length of the carbon sheet 25.

[0052] Specific Implementation Plan Three: Combining Figures 1 to 10 As shown, the present invention provides a jumping method for a high-energy-storage water surface jumping robot, comprising the following steps:

[0053] The pull rope continuously winds around the single-sided cylinder at the right end of the single-sided winding wheel 18 when the motor 19 drives the gear 2 14 to rotate. The rotation of the gear 2 14 drives the coaxial gear 3 15 to rotate, and the rotation of the gear 3 15 drives the meshing gear 4 16 to rotate, which in turn drives the cam 21 coaxial with the gear 4 16 to rotate, pulling the energy storage slider 29 and thus compressing the carbon sheet 25. When the single-sided winding wheel 18 reaches the number of turns, the cam 21 presses down on the single-sided winding wheel 18, compresses the spring 17 and causes it to move axially, so that the pull rope is released from the single-sided winding wheel 18, and the pull rope is released to the energy storage system 4 to provide the energy required for jumping. When the energy storage system 4 stores and compresses energy, the movement of the energy storage slider 29 drives the two sliding rods to swing back and forth, and the drive plate 30 moves back and forth to achieve the jumping motion.

[0054] The other combinations and connections in this implementation scheme are the same as those in specific implementation scheme one or two.

[0055] Preferably, the reel radius is set to R = 3.6 mm, the energy storage mechanism needs to compress h = 60 mm, and the number of perturbation cycles is... The number of disturbance cycles can be calculated based on the radius of the fixed-line wheel and the required compression height of the energy storage mechanism.

[0056] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A high-energy storage water surface jumping robot, characterized in that: The device includes a water surface support system (1), a transmission system (2), a main support frame (3), an energy storage system (4), and a drive system (5). The transmission system (2) is mounted on the water surface support system (1), and the main support frame (3) is hinged above the water surface support system (1). The energy storage system (4) is located inside the main support frame (3), and the drive system (5) is mounted on the main support frame (3). The device is used to achieve stable floating on the water surface through the water surface support system (1). The transmission system (2) drives the energy storage system (4) to store and release energy, providing the energy required for jumping, and drives the drive system (5) to move to achieve water surface jumping. The energy storage system (4) includes a main support frame (3), a guide wheel (24), carbon sheets (25), a support rail (26), a carbon sheet seat (28), and an energy storage slider (29). The main support frame (3) includes a main support front seat (27) and a main support rear seat (23) inserted into both ends of the main support front seat (27). The main support front seat (27) is connected to the front support base (8) of the water surface support system (1) through a pitch axis (35) at its middle position. A guide wheel mounting port is provided in the middle of the main support front seat (27) on the side near the rectangular foam leg (10). The guide wheel mounting port is connected to the water surface support system (1) through a rotary axis (25). The shaft is equipped with a guide wheel (24), and the two main support rear seats (23) are connected by at least two support rails (26). The energy storage slider (29) is sleeved on the support rail (26) near the spherical foam leg (6). The number of carbon sheets (25) is even and they are evenly distributed on both sides of the support rail (26). The carbon sheets (25) on both sides are provided with intersecting latex strips (37). The two ends of the carbon sheets (25) are hinged to the main support rear seat (23) on one side and the energy storage slider (29) on the other side through carbon sheet seats (28). The pull rope passes around the guide wheel (24) and is connected to the center of the energy storage slider (29).

2. The high-energy storage water surface jumping robot according to claim 1, characterized in that: The installation distance of the latex strip (37) from the midpoint of the carbon sheet (25) is a, and the installation distance of the carbon sheets (25) on the left and right sides is b. The maximum output force, compression distance, value of a, value of b and the thickness of the latex strip (37) are set. Under different carbon sheet (25) thickness and length conditions, the length, width and thickness of the carbon sheet (25) and the width of the latex strip (37) are optimized.

3. The high-energy water surface jumping robot according to claim 2, characterized in that: The maximum output force is set to 30N, the compression distance is 60mm, a=10mm, b=20mm, and the thickness of the latex strip (37) is 1.5mm. Under the conditions that the thickness of the carbon sheet (25) is 0.5mm and 0.6mm respectively, and the length of the carbon sheet (25) is 110mm, 100mm and 90mm respectively, the length of the carbon sheet (25) can be 110mm, the width can be 3mm, the thickness can be 0.5mm, and the width of the latex strip (37) can be 12mm.

4. The high-energy storage water surface jumping robot according to claim 3, characterized in that: The water surface support system (1) includes a spherical foam leg (6), a fixing frame (7), a front support base (8), a rear support base (36), a support carbon rod (9), and a rectangular foam leg (10). The front support base (8) and the rear support base (36) are both portal-shaped structures. The two free ends of the front support base (8) and the two free ends of the rear support base (36) are provided with at least two insertion holes. The corresponding insertion holes of the front support base (8) and the rear support base (36) are inserted by inserting pins. The two corners of the front support base (8) are connected to the spherical foam leg (6) by the support carbon rod (9), and the two corners of the rear support base (36) are connected to the rectangular foam leg (10) by the support carbon rod (9).

5. The high-energy water surface jumping robot according to claim 4, characterized in that: The transmission system (2) includes gear one (11), carbon rod shaft one (12), spline shaft one (13), gear two (14), gear three (15), gear four (16), spring (17), single-sided winding wheel (18), motor (19), spline shaft two (20), cam (21), and positioning shaft (22). The motor (19) is fixed on the front support base (8). The drive end of the motor (19) is connected to gear one (11) through a D-shaped shaft. Spline shaft one (13) and spline shaft two (20) are both installed in the shaft hole of the front support base (8) through bearings. Spline shaft one (13) is a hollow structure and carbon rod shaft one (12) is inserted inside. The part of spline shaft one (13) extending out of the front support base (8) is successively fitted with gear three (15) and gear two (14). Gear two (14) and gear one (11) are connected in series. 11) Engaging connection: The part of the spline shaft one (13) extending into the front support base (8) is fitted with a single-sided winding wheel (18). A spring (17) is fitted on the single-sided winding wheel (18). The two ends of the spring (17) are in contact with the inner wall of the front support base (8) and the single-sided wall of the single-sided winding wheel (18), respectively. The part of the spline shaft two (20) extending out of the front support base (8) is fitted with a gear four (16). The gear four (16) is meshed with the gear three (15). The part of the spline shaft two (20) extending into the front support base (8) is fitted with a cam (21). The other end of the cam (21) away from the gear four (16) is connected to a positioning shaft (22) via a spline. The positioning shaft (22) is installed in the shaft hole of the front support base (8) via a bearing. A pull rope is fixed on the single-sided winding wheel (18).

6. The high-energy storage water surface jumping robot according to claim 5, characterized in that: The drive system (5) includes a drive plate (30), a connecting rod (31), a right slide bar (32), a carbon rod shaft (33), and a left slide bar (34). The middle parts of the left slide bar (34) and the right slide bar (32) are connected to the main support front seat (27). One side of the left slide bar (34) and the right slide bar (32) are connected to the energy storage slider (29) through the carbon rod shaft (33). The other side of the left slide bar (34) and the right slide bar (32) are connected to the connecting rod (31) and the drive plate (30) in sequence.

7. The high-energy water surface jumping robot according to claim 6, characterized in that: The gear 1 (11), spline shaft 1 (13), gear 2 (14), gear 3 (15), gear 4 (16), single-sided winding wheel (18), spline shaft 2 (20), cam (21), positioning shaft (22), energy storage slider (29), guide wheel (24), carbon sheet seat (28), drive plate (30), right slide bar (32) and left slide bar (34) are all made of photosensitive resin, and the supporting guide rail (26) and connecting rod (31) are made of carbon rod.

8. The high-energy water surface jumping robot according to claim 7, characterized in that: The connecting rod (31) is fixed to the corresponding drive plate (30) and the corresponding sliding rod by hot melt adhesive; the number of carbon sheet (25) and carbon sheet seat (28) is four, and the cross-arranged latex strips (37) are in two sets, and the two sets of latex strips (37) are respectively set on the upper and lower opposite carbon sheets (25).

9. The high-energy water surface jumping robot according to claim 8, characterized in that: The position of the main support rear seat (23) on the main support front seat (27) is adjustable, and is used to adjust the length of the carbon sheet (25).

10. A method of jumping of a high-energy water surface jumping robot according to any one of claims 1-9, characterized in that, Includes the following steps: The pull rope continuously winds around the single-sided cylinder at the right end of the single-sided winding wheel (18) when the motor (19) drives the gear two (14) to rotate. The rotation of the gear two (14) drives the coaxial gear three (15) to rotate. The rotation of the gear three (15) drives the meshing gear four (16) to rotate, which in turn drives the cam (21) coaxial with the gear four (16) to rotate, pulling the energy storage slider (29) and compressing the carbon sheet (25). When the single-sided winding wheel (18) reaches the number of turns, the cam (21) presses down on the single-sided winding wheel (18), compresses the spring (17) and moves it axially, so that the pull rope is released from the single-sided winding wheel (18), and the pull rope is released to the energy storage system (4) to provide the energy required for jumping. When the energy storage system (4) stores energy and compresses, the movement of the energy storage slider (29) drives the two sliding rods to swing back and forth, and the drive plate (30) moves back and forth to achieve the jumping motion.

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