Bionic frog jumping robot

Abstract

The bionic frog jumping robot comprises a trunk main body, a front leg mechanism, a rear leg jumping mechanism and a power mechanism, the rear leg jumping mechanism comprises a thigh mechanism, a shank mechanism, a sole plate and a posture steering engine, the thigh mechanism comprises a first supporting rod and a second supporting rod, and the shank mechanism comprises at least two third supporting rods and at least two fourth supporting rods. The output end of the attitude steering engine is connected with a steering engine arm, one end of the steering engine arm is hinged to the second supporting rod, and the other end is connected with the first supporting rod. Fourth supporting rods are hinged to the two sides of the other end of the second supporting rod respectively, third supporting rods are hinged to the two sides of the other end of the first supporting rod respectively, and the other ends of the fourth supporting rods are hinged to the other ends of the third supporting rods respectively; at least two energy storage tension springs are connected between the hinged position of the second supporting rod and the fourth supporting rod and the hinged position of the first supporting rod and the third supporting rod. The bionic frog jumping robot can simulate frog jumping motion, the jumping performance is higher, and higher energy storage is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a bionic frog jumping robot. Background Art

[0002] The history of amphibians on Earth spans tens of millions of years, and they are widely distributed in a variety of habitats outside of oceans and large deserts, such as plains, hills, mountains, and plateaus. These organisms are able to move quickly, efficiently, and agilely in diverse environments, mainly due to their unique morphological and structural characteristics. These characteristics enable amphibians to carry out long-term, large-scale activities under complex operating conditions, showing remarkable efficiency, speed, mobility, and concealment. Therefore, the study of bionic frog robots has become an important direction for the future development of jumping mobile robots.

[0003] The bionic frog robot is a jumping propulsion system inspired by frogs. It relies on the coordinated movements of the hind limbs and the body to exert external force on the ground to achieve movement. This bionic system integrates multiple disciplines such as biology, mechanics, control theory and computer science, providing a controllable and scalable robotic platform for research in biology and related fields. Through the research and application of the bionic frog robot, we can see its wide potential applications in narrow environment exploration, underwater exploration, archaeology, earthquake search and rescue, patrol, biological population monitoring and mobile sensing.

[0004] However, existing bionic frog robots still have shortcomings in terms of single jump performance and continuous energy efficiency; these shortcomings limit the performance and efficiency of the robots in practical applications. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention proposes a bionic frog jumping robot which simulates the frog jumping motion and has stronger jumping performance and higher energy storage.

[0006] The technical solution of the present invention is achieved in this way:

[0007] A bionic frog jumping robot comprises a trunk body, a front leg mechanism, a hind leg jumping mechanism and a power mechanism, wherein the front leg mechanism is respectively arranged on both sides of the front end of the trunk body, the hind leg jumping mechanism comprises a thigh mechanism, a shank mechanism, a foot sole and a posture steering gear, the posture steering gear is respectively installed on both sides of the rear end of the trunk body, the thigh mechanism comprises a first support rod and a second support rod, the shank mechanism comprises at least two third support rods and at least two fourth support rods, the output end of the posture steering gear is connected to a steering gear arm, one end of the steering gear arm is hinged to the second support rod , the other end is connected to the first support rod; the second support rod is hinged to the fourth support rod on both sides of the other end, the third support rod is hinged to the third support rod on both sides of the other end of the first support rod, and the other end of the fourth support rod is hinged to the other end of the third support rod; the end of the fourth support rod is hinged to the sole plate; at least two energy storage tension springs are connected between the hinge of the second support rod and the fourth support rod and the hinge of the first support rod and the third support rod, and the at least two energy storage tension springs are respectively located on both sides of the first support rod and the second support rod;

[0008] The trunk body is also provided with a control main board and a power mechanism, the hinges of the third support rod and the fourth support rod are connected with ropes, and transmission mechanisms are respectively provided on both sides of the trunk body, and the other end of the rope is connected to the power mechanism via the transmission mechanism so that the power mechanism drives the rope to be retracted and released; the power mechanism and the attitude servo are respectively connected to the control main board circuit to control the operation of the power mechanism and the attitude servo.

[0009] In a preferred embodiment, the power mechanism includes a power servo, a first bevel gear and a second bevel gear, the output end of the power servo is connected to the first bevel gear, an optical axis is provided on the trunk body, the second bevel gear is fixed on the optical axis, and the first bevel gear and the second bevel gear are meshed with each other; the transmission mechanism is respectively arranged at both ends of the optical axis, and when the power servo drives the first bevel gear to rotate, the optical axis drives the transmission mechanism to rotate to retract and release the rope.

[0010] In a preferred embodiment, the foreleg mechanism includes a forelimb seat, a forelimb and a torsion spring, the forelimb is installed on both sides of the front end of the trunk body through the forelimb seat, and the forelimb is hingedly connected to the forelimb seat; a torsion spring is also provided at the hinge between the forelimb and the forelimb seat.

[0011] In a preferred embodiment, the trunk body includes an upper main board and a lower main board, and the upper main board and the lower main board are connected by a connecting piece to form an upper installation space and a lower installation space, the attitude servos are respectively installed on both sides of the rear end of the lower installation space, and the forelimb seats are respectively located on both sides of the front end of the lower installation space; the power mechanism is located at the front end of the trunk body and runs through the upper installation space and the lower installation space.

[0012] In a preferred embodiment, bearing side walls are respectively provided on both sides of the front end of the upper main board, bearing stoppers are respectively provided on the bearing side walls, deep groove ball bearings are provided in the bearing stoppers, and the two ends of the optical axis are respectively connected to the inner rings of the bearings on the bearing side walls on both sides; baffles are respectively provided at the rear end and both sides of the lower main board.

[0013] In a preferred embodiment, the front end of the upper mainboard is provided with a limiting through hole matching the size of the power servo, and the front end of the lower mainboard is provided with a U-shaped through groove. The power servo is installed on the upper mainboard and passes through the limiting through hole and the U-shaped through groove in sequence.

[0014] In a preferred embodiment, it also includes a power supply component for power supply, and the power supply component includes a first power supply, a second power supply and a third power supply, the first power supply is located at the rear end of the upper installation space, and the second power supply and the third power supply are located on both sides of the front end of the upper installation space; the control main board is installed above the first power supply.

[0015] In a preferred embodiment, the transmission mechanism includes a first pulley for placing the rope and a second pulley for steering, the first pulley is respectively fixed to both ends of the optical axis, and the second pulley is arranged on both sides of the rear end of the trunk body.

[0016] In a preferred embodiment, a bionic frog head is provided at the front end of the upper installation space, and cameras are provided at the eyes of the bionic frog head.

[0017] In a preferred embodiment, a bionic bottom shell is provided below the lower installation space, and the bionic bottom shell is located below the power steering gear.

[0018] Compared with the prior art, the present invention has the following advantages: the bionic frog jumping robot of the present invention comprises a trunk body, a front leg mechanism, a hind leg jumping mechanism and a power mechanism, wherein the hind leg jumping mechanism comprises a thigh mechanism, a shank mechanism, a foot sole and a posture servo, and an energy storage structure of the hind leg jumping mechanism is formed by a first support rod and a second support rod of the thigh mechanism, at least two third support rods and at least two fourth support rods of the shank mechanism, and at least two energy storage tension springs connected between two knee joints, so as to provide sufficient power for the hind leg to jump; and the shank mechanism adopts at least two third support rods and at least two fourth support rods to form an energy storage structure of the hind leg jumping mechanism ... Four support rods, and two third support rods and two fourth support rods are respectively located on both sides of the end of the first support rod and the end of the second support rod. When the hind leg jumping mechanism lands, the support of at least two third support rods and at least two fourth support rods close to the ground is more conducive to the stability of the hind leg jumping mechanism when landing; and the position distribution of the energy storage tension spring and at least two third support rods and at least two fourth support rods is also to balance the supporting force of the sole plate on the trunk body, so as to ensure stability when landing; thereby, the bionic frog jumping robot of the present invention has a stronger jumping movement and a higher jumping performance and has a higher energy storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 This is a schematic diagram of the structure of the bionic frog jumping robot of the present invention;

[0021] Figure 2 A structural schematic diagram of the bionic frog jumping robot of the present invention from another perspective

[0022] Figure 3 It is a structural schematic diagram of the hind leg jumping mechanism;

[0023] Figure 4 It is a schematic diagram of the explosion structure of the bionic frog jumping robot of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the torso.

[0025] Figures: 1 torso body; 101 upper main board; 1011 limit through hole; 102 lower main board; 1021 U-shaped through slot; 103 connecting piece; 104 upper installation space; 105 lower installation space; 106 bearing side wall; 107 bearing block; 108 deep groove ball bearing; 109 baffle; 2 front leg mechanism; 201 forelimb seat; 202 forelimb; 3 hind leg jumping mechanism; 301 thigh mechanism; 3011 first support rod; 3012 second support rod; 302 small Leg mechanism; 3021 the third support rod; 3022 the fourth support rod; 303 the sole plate; 304 the attitude servo; 3041 the servo arm; 305 the energy storage spring; 4 the power mechanism; 401 the power servo; 402 the first bevel gear; 403 the second bevel gear; 404 the optical axis; 5 the control main board; 6 the rope; 7 the transmission mechanism; 701 the first pulley; 702 the second pulley; 801 the first power supply; 802 the second power supply; 803 the third power supply; 9 the bionic frog head; 10 the bionic bottom shell. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", "fourth", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] See also Figures 1 to 5The embodiment of the present invention discloses a bionic frog jumping robot, including a trunk body 1, a front leg mechanism 2, a hind leg jumping mechanism 3 and a power mechanism 4. The front leg mechanism 2 is respectively arranged on both sides of the front end of the trunk body 1. The hind leg jumping mechanism 3 includes a thigh mechanism 301, a shank mechanism 302, a foot sole 303 and a posture steering engine 304. The posture steering engine 304 is respectively installed on both sides of the rear end of the trunk body 1. The thigh mechanism 301 includes a first support rod 3011 and a second support rod 3012. The shank mechanism 302 includes at least two third support rods 3021 and at least two fourth support rods 3022. The output end of the posture steering engine 304 is connected to a steering engine arm 3041. One end of the steering engine arm 3041 is connected to the second support rod 3011. The rods 3012 are hinged, and the other end is connected to the first support rod 3011; the second support rod 3012 is hinged on both sides of the other end with the fourth support rod 3022, the first support rod 3011 is hinged on both sides of the other end with the third support rod 3021, and the other end of the fourth support rod 3022 is hingedly connected to the other end of the third support rod 3021; ​​the end of the fourth support rod 3022 is hingedly connected to the sole plate 303; at least two energy storage tension springs 305 are connected between the hinge of the second support rod 3012 and the fourth support rod 3022 and the hinge of the first support rod 3011 and the third support rod 3021, and the at least two energy storage tension springs 305 are respectively located on both sides of the first support rod 3011 and the second support rod 3012;

[0030] A control main board 5 and a power mechanism 4 are also provided on the trunk body 1. A rope 6 is connected to the hinge of the third support rod 3021 and the fourth support rod 3022. Transmission mechanisms 7 are also provided on both sides of the trunk body 1. The other end of the rope 6 is connected to the power mechanism 4 via the transmission mechanism 7 so that the power mechanism 4 drives the rope 6 to be retracted and released; the power mechanism 4 and the attitude servo 304 are respectively connected to the control main board 5 circuit to control the operation of the power mechanism 4 and the attitude servo 304.

[0031] Specific examples include Figure 3 As shown, the first support rod 3011 and the third support rod 3021, the second support rod 3012 and the fourth support rod 3022 are respectively hinged through the knee joint, the third support rod 3021 and the fourth support rod 3022 are also hinged through the shank connecting joint, and the end of the fourth support rod 3022 and the sole plate 303 are hinged through the ankle joint; wherein the knee joint, the shank connecting joint and the ankle joint can be parent-child rivets. Of course, other connecting members 103 can also be used for hinge connection, and the embodiment of the present invention is not limited here.

[0032] As is known to all, frogs jump forward by the power of their hind legs. Therefore, the hind legs of frogs are the main moving limbs, which are the most important parts for frogs to paddle and jump. Compared with the front legs of frogs, the hind legs of frogs are more sensitive and rapid, and the hind legs are more powerful. Therefore, in the bionic frog jumping robot, the structural operation of the hind leg jumping mechanism 3 directly affects the jumping performance of the bionic frog jumping robot. The hind leg jumping mechanism 3 in the present embodiment, through the first support rod 3011 and the second support rod 3012 of the thigh mechanism 301, at least two third support rods 3021 and at least two fourth support rods 3022 of the shank mechanism 302, and at least two energy storage tension springs 305 connected between the two knee joints, forms the energy storage structure of the hind leg jumping mechanism 3, which can provide enough power for the jumping of the hind legs. In this embodiment, the calf mechanism 302 uses at least two third support rods 3021 and at least two fourth support rods 3022, and the two third support rods 3021 and the two fourth support rods 3022 are respectively located on both sides of the end of the first support rod 3011 and the end of the second support rod 3012. When the hind leg jumping mechanism 3 lands, due to the support of at least two third support rods 3021 and at least two fourth support rods 3022 close to the ground, it is more conducive to the stability of the hind leg jumping mechanism 3 when landing. Moreover, the position distribution of the energy storage tension spring 305 and at least two third support rods 3021 and at least two fourth support rods 3022 is also to balance the support force of the sole plate 303 on the trunk body 1 to ensure stability when landing. In the present invention, the use of two energy storage tension springs 305 can also improve the energy storage performance, so that the jumping performance of the bionic frog jumping robot in the embodiment of the present invention is stronger and can jump farther.

[0033] Among them, the rope 6 driven by the power mechanism 4 to be retracted and released is connected to the calf connecting joint at the hinge of the third support rod 3021 and the fourth support rod 3022 in the calf mechanism 302 after being transmitted by the transmission mechanism 7; when the power mechanism 4 drives to retract the rope 6, the rope 6 pulls the calf connecting joint to drive the third support rod 3021 and the fourth support rod 3022 to retract upward, changing the angle between the third support rod 3021 and the first support rod 3011, and then changing the distance between the two knee joints on the hind leg jumping mechanism 3, pulling the two sets of energy storage springs 305 to extend outward, and this is the charging stage of the hind leg jumping mechanism 3.

[0034] When the power mechanism 4 suddenly stops the tension of the rope 6 on the calf connecting joint, since the distance between the two knee joints on the hind leg jumping mechanism 3 will also reach the limit distance, the two sets of energy storage tension springs 305 will also reach the elongation limit. The sudden disappearance of the tension will cause the two sets of tension springs to shrink instantly, and the distance between the knee joints will also shrink instantly. This is the energy release stage of the hind leg jumping mechanism 3.

[0035] In the embodiment of the present invention, since the energy storage spring 305 will increase with the increase of deformation, the rotation speed of the attitude servo 304 can be controlled by controlling the main board 5 (such as a single-chip microcomputer) to increase the output torque and thus increase the tension of the rope 6. The macroscopic manifestation is that during the elongation of the energy storage spring 305, the speed change speed of the two ends of the energy storage spring 305 is initially the largest and gradually decreases. Since the length of the energy storage spring 305 gradually increases and the first support rod 3011, the second support rod 3012, the third support rod 3021 and the fourth support rod 3022 are hinged to each other, the plane distance between the calf connecting joint and the rotation axis of the attitude servo 304 will decrease with the elongation of the spring. The calf connecting joint and the sole plate 303 are on the same support rod, so the change properties are the same. When in the energy release stage, the first support rod 3011 is considered to be stationary and a motion reference system is established, with the rotation axis of the attitude servo 304 as the origin, the servo arm 3041 as the positive direction of the X-axis, and one side of the second support rod 3012 as the positive direction of the Y-axis passing through the rotation axis and perpendicular to the X-axis. In this coordinate system, when the rope 6 stops providing tension, the energy storage tension spring 305 contracts instantly, the plane distance between the calf connection joint and the rotation axis of the attitude servo 304 increases instantly, and a force is generated along the direction of the line connecting the two points. At this time, the main body is regarded as a static reference system and a plane coordinate system is established with the attitude servo 304 as the origin, the direction of the front leg as the positive direction of the X-axis, the side of the hind leg as the positive direction of the Y-axis, and perpendicular to the X-axis. The motion reference is regarded as the rotation around the axis of the static reference system. By changing the angle of rotation around the axis, the direction of the force in the direction of the line connecting the calf connection joint and the rotation axis of the attitude servo 304 can be adjusted, thereby adjusting the take-off posture. When in the air, the attitude servo 304 can control the angle between the hind leg and the main body to indirectly control the overall center of gravity, thereby adjusting the aerial posture, so that the frog jumping robot is stable when it lands later.

[0036] It can be seen that in the two stages of charging and discharging, the distance between the starting end of the thigh mechanism 301 and the end of the calf mechanism 302 is controlled by the single chip microcomputer on the control main board 5, and the distance is reflected in the initial approach from rapid to slow until the instantaneous bounce; under the cooperation of the first support rod 3011 and the second support rod 3012, the ankle joint and the sole plate 303 are connected to complete the transformation of the distance between the sole plate 303 and the starting end of the thigh mechanism 301, and the attitude servo 304 adjusts the servo arm 3041 to control the angle between the hind leg and the main body to indirectly control the overall center of gravity and thus adjust the aerial posture, so that the frog jumping robot can stably adjust the center of gravity during the bouncing process and then stably complete the bouncing action and finally land stably.

[0037] Furthermore, a torsion spring is arranged on the ankle joint. When the bionic frog jumping robot finishes jumping and lands, the torsion spring on the ankle joint can help the fast frog jumping robot to balance and stabilize the landing action.

[0038] In a preferred embodiment, the power mechanism 4 includes a power steering gear 401, a first bevel gear 402 and a second bevel gear 403, the output end of the power steering gear 401 is connected to the first bevel gear 402, an optical axis 404 is provided on the trunk body 1, the second bevel gear 403 is fixed on the optical axis 404, and the first bevel gear 402 and the second bevel gear 403 are meshed; the transmission mechanism 7 is respectively provided at both ends of the optical axis 404, and when the power steering gear 401 drives the first bevel gear 402 to rotate, the optical axis 404 drives the transmission mechanism 7 to rotate to retract the rope 6. In this embodiment, when the power steering gear 401 drives the first bevel gear 402 to rotate, the optical axis 404 rotates under the meshing action of the first bevel gear 402 and the second bevel gear 403, so that the rope 6 placed at both ends of the optical axis 404 can be retracted.

[0039] Specifically, the foreleg mechanism 2 includes a forelimb seat 201, a forelimb 202 and a torsion spring. The forelimb 202 is installed on both sides of the front end of the trunk body 1 through the forelimb seat 201, and the forelimb 202 is hingedly connected to the forelimb seat 201; a torsion spring is also provided at the hinge of the forelimb 202 and the forelimb seat 201. Because the forelegs of the frog play a supporting, limb balance, landing and positioning role; relative to the hind legs of the frog, the forelegs are shorter and smaller. The forelegs indirectly affect the frog's aerial posture by affecting the frog's center of gravity, thereby affecting the frog's overall long jump performance; therefore, in this embodiment, the forelimb seat 201 provides a medium for the forelimb 202 to be connected to the whole body, and then is directly connected to the lower main board 102 by bolts, so that the center of gravity of the bionic frog robot is biased downward, ensuring the stability of the jumping process. Among them, the hinge of the forelimb 202 and the forelimb seat 201 is also provided with a torsion spring, which provides a buffering effect during the operation of the foreleg mechanism 2, making the center of gravity change process more smooth and smooth.

[0040] The trunk body 1 includes an upper main board 101 and a lower main board 102, which are connected by a connector 103 to form an upper installation space 104 and a lower installation space 105, and the attitude servo 304 is respectively installed on both sides of the rear end of the lower installation space 105, and the forelimb seat 201 is respectively located on both sides of the front end of the lower installation space 105; the power mechanism 4 is located at the front end of the trunk body 1 and runs through the upper installation space 104 and the lower installation space 105. In this embodiment, by dividing the trunk body 1 into an upper main board 101 and a lower main board 102, and then installing the attitude servo 304 and the forelimb seat 201 in the lower installation space 105, so that the front leg mechanism 2 and the hind leg jumping mechanism 4 are respectively located on both sides of the lower installation space 105, it is convenient to complete the jumping action, and it is also beneficial to keep the center of gravity lower during the jumping process to avoid tipping over during the jumping process.

[0041] In a preferred embodiment, bearing side walls 106 are respectively provided on both sides of the front end of the upper main board 101, and bearing blocks 107 are respectively provided on the bearing side walls 106. Deep groove ball bearings 108 are provided in the bearing blocks 107. The two ends of the optical axis 404 are respectively connected to the inner rings of the bearings on the bearing side walls 106 on both sides, providing support for the optical axis 404 while ensuring that the axial position remains unchanged, thereby ensuring the smooth rotation of the optical axis 404, and thereby ensuring the smooth retraction and release of the rope 6, so that the bouncing process of the bionic frog robot is more natural and does not bring a mechanical sense of movement; baffles 109 are respectively provided on the rear end and both sides of the lower main board 102 to form the upper installation space 104 and the lower installation space 105 into a complete trunk as a whole, and also to protect and limit the various mechanisms installed in the trunk body 1.

[0042] In addition, the front end of the upper main board 101 is provided with a limit hole 1011 matching the size of the power steering engine 401, and the front end of the lower main board 102 is provided with a U-shaped through slot 1021. The power steering engine 401 is installed on the upper main board 101 and sequentially penetrates the limit hole 1011 and the U-shaped through slot 1021. In this embodiment, the power steering engine 401 with a heavier volume and weight is installed at one end away from the hind leg jumping mechanism 4, and penetrates the upper main board 101 and the lower main board 102 to balance the center of gravity of the hind leg jumping mechanism 4, so that the overall center of gravity of the bionic frog jumping robot is not too far back (i.e., toward the hind leg jumping mechanism 4). Only when the overall center of gravity of the bionic frog jumping robot is guaranteed, the jumping performance of the bionic frog jumping robot can be guaranteed.

[0043] Furthermore, the frog jumping robot also includes a power supply assembly for power supply, and the power supply assembly includes a first power supply 801, a second power supply 802 and a third power supply 803, the first power supply 801 is located at the rear end of the upper installation space 104, and the second power supply 802 and the third power supply 803 are located at both sides of the front end of the upper installation space 104; the control mainboard 5 is installed above the first power supply 801. In the present application, by setting the first power supply 801, the second power supply 802 and the third power supply 803 three power supplies, and respectively distributed at the rear end of the upper installation space 104 and both sides of the front end of the upper installation space 104, and distributed in a C shape around the power steering engine 401, it is also based on the consideration of the center of gravity of the bionic frog jumping robot to ensure the overall jumping performance of the bionic frog jumping robot.

[0044] In a preferred embodiment, the transmission mechanism 7 includes a first pulley 701 for placing the rope 6 and a second pulley 702 for steering. The first pulley 701 is respectively fixed to the two ends of the optical axis 404, and the second pulley 702 is arranged on both sides of the rear end of the trunk body 1. In this embodiment, the outer side of the optical axis 404 is connected to the first pulley 701, and the first pulley 701 has a fixed spool on the outer side and a coil wound on the inner side. The power is converted from the rotation of the optical axis 404 to the tension of the rope 6, thereby realizing the retraction and release of the rope 6. The second pulley 702 above the hind leg jumping mechanism 4 is a steering pulley, which is used to change the direction of the tension on the mounting plate side so that the angle between the tension direction and the fifth joint position is reasonable, so that the jumping performance is better.

[0045] In a preferred embodiment, a bionic frog head 9 is provided at the front end of the upper installation space 104 , and cameras are provided at the eyes of the bionic frog head 9 for recording or photographing the images of the movement process of the bionic frog jumping robot.

[0046] In a preferred embodiment, a bionic bottom shell 10 is provided below the lower installation space 105. The bionic bottom shell 10 is located below the power servo 401, which can protect the power servo 401 and make the bionic frog jumping robot of the present invention look like a frog.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic frog jumping robot, characterized in that: The invention comprises a trunk body, a front leg mechanism, a hind leg jumping mechanism and a power mechanism, wherein the front leg mechanism is respectively arranged on both sides of the front end of the trunk body, the hind leg jumping mechanism comprises a thigh mechanism, a calf mechanism, a foot sole and a posture servo, and the posture servo is respectively installed on both sides of the rear end of the trunk body, the thigh mechanism comprises a first support rod and a second support rod, the calf mechanism comprises at least two third support rods and at least two fourth support rods, the output end of the posture servo is connected to a servo arm, one end of the servo arm is hinged to the second support rod, and the other end is hinged to the The first support rod is connected to the second support rod; the second support rod is hinged to the fourth support rod on both sides of the other end, the third support rod is hinged to the third support rod on both sides of the other end of the first support rod, and the other end of the fourth support rod is hinged to the other end of the third support rod; the end of the fourth support rod is hinged to the sole plate; at least two energy storage tension springs are connected between the hinge of the second support rod and the fourth support rod and the hinge of the first support rod and the third support rod, and the at least two energy storage tension springs are respectively located on both sides of the first support rod and the second support rod; The trunk body is also provided with a control main board and a power mechanism, the hinges of the third support rod and the fourth support rod are connected with ropes, and transmission mechanisms are respectively provided on both sides of the trunk body, and the other end of the rope is connected to the power mechanism via the transmission mechanism so that the power mechanism drives the rope to be retracted and released; the power mechanism and the attitude servo are respectively connected to the control main board circuit to control the operation of the power mechanism and the attitude servo.

2. The bionic frog jumping robot according to claim 1, characterized in that: The power mechanism includes a power servo, a first bevel gear and a second bevel gear. The output end of the power servo is connected to the first bevel gear. An optical axis is provided on the trunk body. The second bevel gear is fixed on the optical axis. The first bevel gear and the second bevel gear are meshed with each other. The transmission mechanism is respectively arranged at both ends of the optical axis. When the power servo drives the first bevel gear to rotate, the optical axis drives the transmission mechanism to rotate to retract and release the rope.

3. The bionic frog jumping robot according to claim 1, characterized in that: The foreleg mechanism comprises a forelimb seat, a forelimb and a torsion spring. The forelimb is installed on both sides of the front end of the trunk body through the forelimb seat, and the forelimb is hingedly connected to the forelimb seat. A torsion spring is also provided at the hinge between the forelimb and the forelimb seat.

4. The bionic frog jumping robot according to claim 1, characterized in that: The trunk body includes an upper main board and a lower main board, and the upper main board and the lower main board are connected by connecting parts to form an upper installation space and a lower installation space, the attitude servos are respectively installed on both sides of the rear end of the lower installation space, and the forelimb seats are respectively located on both sides of the front end of the lower installation space; the power mechanism is located at the front end of the trunk body and runs through the upper installation space and the lower installation space.

5. The bionic frog jumping robot according to claim 4, characterized in that: The front end of the upper mainboard is provided with bearing side walls on both sides, the bearing side walls are provided with bearing blocks, deep groove ball bearings are arranged in the bearing blocks, and the two ends of the optical axis are respectively connected to the inner rings of the bearings on the bearing side walls on both sides; the rear end and both sides of the lower mainboard are provided with baffles.

6. The bionic frog jumping robot according to claim 4, characterized in that: The front end of the upper mainboard is provided with a limit through hole matching the size of the power servo, the front end of the lower mainboard is provided with a U-shaped through groove, the power servo is installed on the upper mainboard and passes through the limit through hole and the U-shaped through groove in sequence.

7. The bionic frog jumping robot according to claim 4, characterized in that: It also includes a power supply component for power supply, the power supply component includes a first power supply, a second power supply and a third power supply, the first power supply is located at the rear end of the upper installation space, the second power supply and the third power supply are located on both sides of the front end of the upper installation space; the control main board is installed above the first power supply.

8. The bionic frog jumping robot according to claim 1, characterized in that: The transmission mechanism comprises a first pulley for placing a rope and a second pulley for steering, the first pulley is respectively fixed at two ends of the optical axis, and the second pulley is arranged on both sides of the rear end of the trunk body.

9. The bionic frog jumping robot according to claim 1, characterized in that: A bionic frog head is arranged at the front end of the upper installation space, and cameras are arranged at the eyes of the bionic frog head.

10. The bionic frog jumping robot according to claim 1, characterized in that: A bionic bottom shell is provided below the lower installation space, and the bionic bottom shell is located below the power steering gear.

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