Bionic frog jumping robot and use method thereof

Abstract

The bionic frog jumping robot can highly simulate and restore the appearance and jumping mode of a frog; the robot comprises a trunk, front limbs and rear limbs. The trunk is provided with a motor serving as a power source and an incomplete gear transmission mechanism serving as power transmission; the front limb is composed of simple rod pieces and used for supporting before jumping and landing buffering after jumping. A planar four-bar mechanism is adopted by the rear limb as an executing mechanism, and a rigid spring is installed and used for storing and discharging elastic potential energy. When the frog energy storage device is used, meshing and non-meshing of the incomplete gear are utilized to drive the winding disc to enable the pull rope to contract or loosen, stretching or contracting of the rigid spring is completed, energy storage and instant release of elastic potential energy are achieved, forward and upward bouncing movement of a frog is simulated, the pull rope is connected with the posterior limb ankle connecting piece, and in the energy storage process, the elastic potential energy can be stored and released instantly. When the frog jumping bionic robot is used, the ankle connecting piece is stressed, the jumping mode that the posterior limbs step on the ground can be simulated, the jumping explosive force of the frog jumping bionic robot is increased, and the frog jumping bionic robot has the farther jumping distance.

Description

Technical Field

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

[0002] Compared with wheeled and tracked mobile robots, jumping robots have stronger mobility and can cross obstacles that are several times their own height. The suddenness and explosiveness they possess are unmatched by the other two mobile robots. With its small size and long jump, bionic jumping robots have a very broad application prospect. By learning and imitating the biological anatomical structure and movement mechanism of animals that mainly jump in nature (usually kangaroos, grasshoppers, frogs, fleas, etc.), inspiration and reference can be provided for the design of bionic jumping robots. Among them, frogs are outstanding jumping experts in nature, and their jumping has the characteristics of strong explosiveness and long distance (the jumping distance can reach about 15 times the length of the body). From the perspective of bionics, taking frogs as the object, by learning and imitating the appearance, jumping method and other characteristics of frogs, the bionic frog jumping robot is developed, which can apply the rationality and scientificity of the frog's biological structure and movement method to the design of robots, which is of great significance to the research and application of jumping robots.

[0003] In the past 20 years, bionic frog jumping robots have been a hot topic of research at home and abroad. For example, in the early 21st century, NASA and California Institute of Technology cooperated to develop three bionic frog jumping robots for outer space planetary exploration, which were mainly driven by motors and used incomplete gears to control the six-bar mechanism to compress and store energy on the springs; in 2007, Niiyama and others from the University of Tokyo in Japan developed a novel bipedal jumping robot. According to the characteristics of the skeletal muscle structure of frogs, an artificial skeletal muscle system combining pneumatic muscles and rigid skeletons was designed to achieve the jumping function of bionic frogs; in 2009, Wang Meng from Harbin Institute of Technology developed a frog-like jumping robot, which collected and analyzed the biological information of frogs to study their jumping mechanism, combined the results of kinematic and dynamic analysis, and generated jumping trajectory planning based on genetic algorithms; in 2016, Li Tao and Zhang Qinran from the North China University of Technology designed a frog-like jumping robot that achieves jumping through a torsion spring-push rod mechanism, using motors to complete the energy storage process of the torsion spring. However, these bionic frog jumping robots currently involve a large number of parts and a complex structure, which makes the bionic frog jumping robots heavier and larger in size, and have higher manufacturing costs and assembly difficulties. Moreover, under the condition of limited energy storage, the jumping distance is short, which cannot achieve the biological characteristics of frog jumping and the jumping effect is poor. Summary of the invention

[0004] In order to overcome the above-mentioned problems existing in the prior art, the present invention designs a bionic frog jumping robot with ingenious layout, compact structure and small size by learning and imitating the appearance, jumping method and other characteristics of frogs. The bionic frog jumping robot of the present invention has the main body parts of a frog, such as a trunk, forelimbs and hind limbs; wherein, a battery and a motor are installed on the trunk as the power source of the bionic frog, and an incomplete gear transmission mechanism is used for power transmission; the forelimbs are composed of simple rods, which are used for support before take-off and landing cushioning after jumping; the hind limbs use a planar four-bar mechanism as the actuator of the bionic frog, and are equipped with rigid springs for storing and unloading elastic potential energy; when in use, the meshing and non-meshing of the incomplete gears are used to drive the winding disk to contract or relax the tension rope to complete the stretching or contraction of the rigid spring. The robot can store and instantly release elastic potential energy, thereby imitating the forward and upward bouncing movement of a frog. Moreover, the tension rope is connected to the ankle connector of the hind limb. During the energy storage process, the ankle connector is stressed, which can imitate the jumping method of the hind limb pushing off the ground, thereby increasing the jumping explosive power of the bionic frog jumping robot and enabling it to have a longer jumping distance. The bionic frog jumping robot of the present application can maximize the use of motor power and spring energy storage through the optimized design of structure and performance, and can achieve a jumping distance of about 50 to 60 cm, which has important reference value for the research on jumping robots.

[0005] The technical solution of this application is:

[0006] A bionic frog jumping robot comprises a trunk, two forelimbs and two hindlimbs; the trunk comprises two main boards arranged opposite to each other, a winding disk arranged between the two main boards and a motor arranged on the main boards; the motor and the winding disk are connected through an incomplete gear transmission mechanism; the incomplete gear transmission mechanism comprises a driving wheel arranged on the output shaft of the motor, a driven wheel arranged on the winding disk, and an incomplete gear matched with the driven wheel; the incomplete gear is connected to the driving wheel through a transition gear system; the forelimb comprises a front thigh rod, a front shank rod and a front sole; the hind limb comprises a rear thigh rod, a rear shank rod and a rear sole; the rear thigh rod and the rear shank rod are connected through The two legs are connected by a planar four-bar mechanism; the planar four-bar mechanism includes four connecting rods symmetrically arranged on both sides of the rear thigh rod and the rear calf rod, and the two ends of the connecting rods are respectively hinged to the rear thigh rod and the rear calf rod through hinge shafts; a group of rigid springs are symmetrically arranged on both sides of the connecting rod, and the two ends of the rigid springs are respectively connected to two hinge shafts arranged diagonally; the rear thigh rod is hinged to the main board, and the two rear thigh rods are connected by a positioning rod; the rear sole is hinged to the rear calf rod through an ankle connector; two tension ropes are wound on the winding disk corresponding to the two hind limbs; one end of the tension rope is fixed on the winding disk, and the other end is fixed on the corresponding ankle connector.

[0007] Compared with the prior art, the bionic frog jumping robot of the present application has an ingenious layout, a compact structure, and a small size, and highly simulates and restores the appearance and jumping method of a frog; it has the main body parts of a frog, such as a trunk, forelimbs and hind limbs; wherein a battery and a motor are installed on the trunk as the power source of the bionic frog, and an incomplete gear transmission mechanism is used for power transmission; the forelimbs are used for support before take-off and landing cushioning after jumping, and are composed of simple rods, which is conducive to controlling the overall volume of the bionic frog jumping robot; the hind limbs use a planar four-bar mechanism as the actuator of the bionic frog jumping robot, imitating the skeleton of the frog's hind limbs, and are installed with rigid springs for storing and unloading elastic potential energy to imitate the frog's hind limb muscles, so that the bionic frog jumping robot has a simple structure and light movements. When in use, the meshing and non-meshing of the incomplete gears are utilized to drive the winding disk to contract or relax the tension rope, complete the stretching or contraction of the rigid spring, realize the storage and instantaneous release of elastic potential energy, and thus imitate the forward and upward bouncing movement of a frog. Moreover, the tension rope is connected to the ankle connector of the hind limb. During the energy storage process, the ankle connector is stressed, which can simulate the starting method of the hind limb pushing off the ground, thereby increasing the starting explosive power of the bionic frog jumping robot and enabling it to have a longer jumping distance. The bionic frog jumping robot of the present application highly simulates and restores the frog's hind limb structure and the jumping method of the hind leg pushing off through the optimized design of structure and performance, and maximizes the use of motor power and spring energy storage, so as to achieve a jumping distance of about 50 to 60 cm, which has important reference value for the research on jumping robots.

[0008] As an optimization, in the aforementioned bionic frog jumping robot, the transition gear system includes transition gear A, transition gear B and transition gear C; the transition gear A is coaxially arranged with the incomplete gear; the transition gear B is coaxially arranged with the transition gear C, and the transition gear B is meshed with the transition gear A, and the transition gear C is meshed with the driving wheel. At this time, the incomplete gear transmission mechanism uses a three-stage gear transmission pair for transmission, which has a simple structure and smooth transmission, and can achieve a large transmission ratio and a large torque transmission. Furthermore, the transition gear A and the transition gear C are large gears, and the driving wheel and the transition gear B are small gears. The transition gear and the driving wheel adopt different sizes, which can play a role in deceleration, so that the winding disk can be controlled to rotate slowly, so that the tension rope can be contracted, and the tension rope can be prevented from breaking due to the excessive rotation speed of the winding disk.

[0009] As an optimization, in the aforementioned bionic frog jumping robot, in a static state, the forelimbs and hindlimbs form a certain angle with the ground, that is, the bionic frog jumping robot presents a jumping preparation posture when static. The existence of this angle effectively utilizes the release of the elastic potential energy of the rigid spring, which can provide a guarantee for the stability of the bionic frog jumping robot during the take-off and landing stages.

[0010] As an optimization, in the aforementioned bionic frog jumping robot, the ankle connector includes a hinged portion and a rotating portion; the hinged portion is hinged to the rear calf rod, and the rotating portion is embedded in the rear sole and is rotatably connected to the rear sole. In this case, the connection structure is simple and easy to assemble.

[0011] As an optimization, in the aforementioned bionic frog jumping robot, the positioning rod includes a transverse connecting portion and inclined mounting portions symmetrically arranged at both ends of the transverse connecting portion; the inclined mounting portion is provided with a groove for accommodating the end of the rear thigh rod and a wire groove for passing the tension rope. The position of the tension rope is restricted by the wire groove, so that the tension rope will not interfere with other components when it is contracted and relaxed.

[0012] As an optimization, in the aforementioned bionic frog jumping robot, two hollow cup motors are symmetrically arranged on the main board. In order to reduce the overall weight of the bionic frog jumping robot and meet the speed and torque requirements of the transmission mechanism, in this application, two hollow cup motors are selected as the motor. Compared with the iron core motor of the same power, the energy density of the hollow cup motor is greatly improved, but its weight and volume are reduced by about 1 / 3 to 1 / 2. It starts and brakes quickly, responds very quickly, has high sensitivity, and has stable and reliable movement, small speed fluctuations, which can well meet the power source requirements of the bionic frog jumping robot.

[0013] As an optimization, in the aforementioned bionic frog jumping robot, two installation circular holes are respectively provided on both sides of the winding disc, and the ends of the two tension ropes are respectively fixed in the corresponding installation circular holes by glue. In this case, the installation is convenient and easy to implement.

[0014] As an optimization, in the aforementioned bionic frog jumping robot, three rigid springs are respectively provided on both sides of the connecting rod.

[0015] As an optimization, the method for using the bionic frog jumping robot of the present application specifically includes the following steps: S1. The motor is started, and the winding disk is driven to rotate through the incomplete gear transmission mechanism, thereby tightening and contracting the tension rope connected to the hind foot; S2. The relative positions of the four connecting rods in the planar four-bar mechanism change, and the rigid spring is stretched, thereby completing the elastic potential energy storage, so that the overall posture of the bionic frog jumping robot is lowered, and the bionic frog jumping robot's jumping action is completed; S3. When the incomplete gear rotates to cooperate with the driven wheel at the missing tooth position, the tension rope is relaxed, and the rigid spring automatically contracts to complete the instantaneous release of elastic potential energy. The hind limbs use this released elastic potential energy to push the bionic frog jumping robot forward to complete the jumping action of the bionic frog jumping robot; S4. The motor is continuously energized, and the above-mentioned energy storage-release process is repeated to complete the intermittent motion and realize the continuous jumping of the bionic frog jumping robot. In this application, the bionic frog jumping robot completely imitates the entire movement process of the frog from storing energy to jumping through a series of actions such as tightening and contracting the tension rope, stretching the rigid spring, storing elastic potential energy, lowering the center of gravity, relaxing the tension rope, contracting the rigid spring, instantaneous energy unloading, and jumping forward. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the bionic frog jumping robot in this application;

[0017] Figure 2 This is a schematic diagram of the structure of the bionic frog jumping robot in this application after removing one of the main boards;

[0018] Figure 3 is a schematic diagram of the structure of the hind limbs in the embodiment of the present application;

[0019] Figure 4 is a structural schematic diagram of an incomplete gear transmission mechanism in an embodiment of the present application;

[0020] Figure 5 is a schematic structural diagram of a positioning rod in an embodiment of the present application;

[0021] Figure 6 is a schematic structural diagram of an ankle connector in an embodiment of the present application;

[0022] Figure 7 is a schematic diagram of the structure of the winding disc in the embodiment of the present application;

[0023] Figure 8 It is the meshing relationship diagram between the driven wheel and the incomplete gear in the energy storage state;

[0024] Fig. 9 This is a diagram of the coordination between the driven wheel and the incomplete gear in the energy release state.

[0025] The markings in the accompanying drawings are: 1-torso, 11-main board, 12-winding disk, 121-mounting circular hole, 13-motor, 14-incomplete gear transmission mechanism, 141-driving wheel, 142-driven wheel, 143-incomplete gear, 144-A transition gear, 145-B transition gear, 146-C transition gear; 2-forelimb, 21-front thigh rod, 22-front calf rod, 23-front foot; 3-hind limb, 31-rear thigh rod, 32-rear calf rod, 33-rear foot, 34-plane screw mechanism, 341-connecting rod, 342-articulated shaft, 343-rigid spring, 35-ankle connector, 351-hinge part, 352-rotating part; 4-tension rope; 5-positioning rod, 51-lateral connecting part, 52-inclined mounting part, 521-groove, 522-wire groove. DETAILED DESCRIPTION

[0026] The present application is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present application.

[0027] In order to achieve the bionic appearance and jumping of frogs, the applicant studied the appearance characteristics and jumping methods of frogs, used kinematic and dynamic analysis methods for the jumping trajectory of frogs, established a simplified model of frogs for motion simulation, and designed a bionic frog jumping robot with ingenious layout, compact structure and small size. It has the main biological parts such as trunk, forelimbs and hindlimbs in appearance, and is equipped with power source, transmission mechanism and actuator; simple support rods are designed for forelimbs for support before take-off and landing cushion after jumping; for hindlimbs, spring energy storage and release units are designed to complete energy storage and jumping behaviors. The details are as follows.

[0028] Example:

[0029] See also Figures 1 to 3The bionic frog jumping robot of this embodiment comprises a trunk 1, two forelimbs 2 symmetrically arranged on both sides of the front part of the trunk 1, and two hindlimbs 3 symmetrically arranged on both sides of the rear part of the trunk 1; the trunk 1 comprises two main boards 11 arranged opposite to each other, and a winding disk 12 arranged between the two main boards 11 (the winding disk 12 is rotatably connected to the main board 11); a motor 13 is arranged on the main board 11 (in this embodiment, a 4.2V lithium battery is arranged on the main board 11 for powering the motor 13); the motor 13 and the winding disk 12 The forelimbs 2 are connected through an incomplete gear transmission mechanism 14; the incomplete gear transmission mechanism 14 includes a driving wheel 141 arranged on the output shaft of the motor 13, a driven wheel 142 arranged on the winding disk 12, and an incomplete gear 143 connected to the driven wheel 142; the incomplete gear 143 is connected to the driving wheel 141 through a transition gear system; the forelimb 2 includes a front thigh rod 21, a front calf rod 22 and a front sole 23; the two ends of the front calf rod 22 are respectively hinged to the front thigh rod 21 and the front sole 23; the front thigh The other end of the rod 21 is fixed to the main board 11; the hind limb 3 includes a rear thigh rod 31, a rear calf rod 32 and a rear foot 33; the rear thigh rod 31 and the rear calf rod 32 are connected by a planar four-bar mechanism 34; the planar four-bar mechanism 34 includes four connecting rods 341 symmetrically arranged on both sides of the rear thigh rod 31 and the rear calf rod 32, and the two ends of the connecting rod 341 are respectively hinged to the rear thigh rod 31 and the rear calf rod 32 through a hinge shaft 342; three rigid springs 342 are symmetrically arranged on both sides of the connecting rod 341; the rigid springs The two ends of the spring 343 are respectively connected to two diagonally arranged hinge shafts 342; the rear thigh rod 31 is hinged to the main board 11, and the two rear thigh rods 31 are connected by a positioning rod 5; the rear sole 33 is hinged to the rear calf rod 32 through the ankle connector 35; two tension ropes 4 are wound on the winding disk 12 corresponding to the two hind limbs 3 (winding grooves are provided on the outer circumferential surface of the winding disk 12); one end of the tension rope 4 is fixed to the winding disk 12, and the other end is fixed to the corresponding ankle connector 35.

[0030] See also Figure 4 In this embodiment, the transition gear train includes an A transition gear 144, a B transition gear 145 and a C transition gear 146; the A transition gear 144 is coaxially arranged with the incomplete gear 143; the B transition gear 145 is coaxially arranged with the C transition gear 146, and the B transition gear 145 is meshed with the A transition gear 144, and the C transition gear 146 is meshed with the driving wheel 141. At this time, the incomplete gear transmission mechanism uses a three-stage gear transmission pair for transmission, has a simple structure, stable transmission, and can achieve a large transmission ratio and a large torque transmission.

[0031] Furthermore, the A transition gear 144 and the C transition gear 146 are large gears, and the driving wheel 141 and the B transition gear 145 are small gears. The transition gear and the driving wheel 141 are of different sizes, which can play a role in deceleration, so that the winding disk 12 can be controlled to rotate slowly, so that the tension rope 4 can be contracted, and the tension rope 4 can be prevented from breaking due to the excessive rotation speed of the winding disk 12. Specifically, the gear diameter of the A transition gear 144, the C transition gear 146 and the driven wheel 142 is 23 mm, and the gear thickness is 3 mm; the gear diameter of the driving wheel 141 and the B transition gear 145 is 9 mm, and the gear thickness is 3 mm; the gear diameter of the incomplete gear 143 is 16 mm, the gear thickness is 3 mm, and 6 teeth are missing.

[0032] In this embodiment, in a static state, the forelimbs 2 and the hindlimbs 3 form a certain angle with the ground. The existence of this angle effectively utilizes the release of the elastic potential energy of the rigid spring 343, and can provide a guarantee for the stability of the bionic frog jumping robot in the take-off and landing stages. In addition, in a static state, the rods of the forelimbs 2 are arranged upright, so that the center of gravity of the bionic frog jumping robot moves backward, so that it can reach the highest point in the air.

[0033] See also Figure 6 In this embodiment, the ankle connector 35 includes a hinged portion 351 and a rotating portion 352; the hinged portion 351 is hinged to the rear calf rod 32, and the rotating portion 352 is embedded in the rear sole 33 and is rotatably connected to the rear sole 33. At this time, the connection structure is simple and easy to assemble.

[0034] See also Figure 5 In this embodiment, the positioning rod 5 includes a transverse connecting portion 51 and inclined mounting portions 52 symmetrically arranged at both ends of the transverse connecting portion 51; the inclined mounting portion 52 is provided with a groove 521 for accommodating the end of the rear thigh rod 31 and a wire groove 522 for passing the tension rope 4. The wire groove 522 limits the position of the tension rope 4 so that the tension rope 4 will not interfere with other components when it is contracted and relaxed.

[0035] In this embodiment, two coreless motors are symmetrically arranged on the main board 11. Compared with iron core motors of the same power, the energy density of coreless motors is greatly improved, but their weight and volume are reduced by about 1 / 3 to 1 / 2. They start and brake quickly, respond very quickly, have high sensitivity, and move stably and reliably with small speed fluctuations, which can well meet the power source requirements of the bionic frog jumping robot.

[0036] See also Figure 7In this embodiment, two mounting holes 121 are respectively provided on both sides of the winding disk 12, and the ends of the two tension ropes 4 are respectively fixed in the corresponding mounting holes 121 by glue. At this time, the installation is convenient and easy to implement.

[0037] Whether the bionic frog jumping robot can complete the jumping action, the key to the design is that the power source, transmission mechanism and actuator can be reasonable and coordinated with each other. In this embodiment, according to the simulation model and theoretical calculation, the key dimensions of the bionic frog jumping robot are determined as follows:

[0038] (1) The dimensions of the bionic frog jumping robot in the collapsed state are approximately 100 mm long, 100 mm wide, and 100 mm high. The dimensions in the jumping state are 125 mm long, 100 mm wide, and 100 mm high.

[0039] (2) The dimensions of the hind limbs 3 in the retracted state are approximately 42 mm in length, 24 mm in width, and 55 mm in height. In the jumping state, the dimensions are respectively 92 mm in length, 24 mm in width, and 60 mm in height.

[0040] The movement of the bionic frog jumping robot can be divided into two stages of energy storage and energy discharge:

[0041] The status of each key part / component during the energy storage stage and energy discharging stage is shown in the table.

[0042] Key parts / components Energy storage stage Release Phase Incomplete gear Toothed meshing Missing tooth fit Tension rope Retract around the wheel Relaxation around the wheel Back of foot shrink release Planar four-bar linkage Compression (spring extension) Release (spring retracts)

[0043] When the driven wheel 142 is meshed with the incomplete gear 143 (see Figure 8 ), will drive the winding disk 12 coaxially fixed with the driven wheel 142 to rotate, thereby tightening the tension rope 4 connected to the rear sole 33, driving the relative positions of the four connecting rods 341 of the planar four-bar mechanism 34 of the hind limb 3 to change, and the rigid spring 343 is stretched. At this time, the rear sole 33 contracts, and the overall posture of the bionic frog jumping robot is lowered, completing the elastic potential energy storage before taking off.

[0044] When the driven wheel 142 and the incomplete gear 143 are matched at the missing teeth (see Fig. 9 , that is, the driven wheel 142 is not meshed with the incomplete gear 143), the tension rope 4 is relaxed, and the rigid spring 343 automatically contracts, driving the relative positions of the four connecting rods 341 of the planar four-bar mechanism 34 of the hind limb 3 to change again, completing the instantaneous release of elastic potential energy. The hind limb 3 uses the released elastic potential energy to push the bionic frog jumping robot to jump upward and forward.

[0045] The method for using the bionic frog jumping robot of the present application specifically comprises the following steps:

[0046] S1, the motor 13 is started, and drives the winding disc 12 to rotate through the incomplete gear transmission mechanism 14, thereby tightening and contracting the tension rope 4 connected to the rear sole 33;

[0047] S2, the relative positions of the four connecting rods 341 in the planar four-bar mechanism 34 change, and the rigid spring 343 is stretched, thereby completing the elastic potential energy storage, so that the overall posture of the bionic frog is lowered, and the take-off action of the bionic frog jumping robot is completed;

[0048] S3, when the incomplete gear 143 rotates to match the driven wheel 142 at the missing tooth position, the tension rope 4 is relaxed, and the rigid spring 343 automatically contracts, completing the instant release of elastic potential energy. The hind limb 3 uses the released elastic potential energy to push the bionic frog jumping robot forward to complete the jumping action;

[0049] S4, the motor 13 is continuously powered on, and the above energy storage-energy release process is repeated to complete the intermittent motion, thereby realizing the continuous jumping of the bionic frog jumping robot.

[0050] The above general description of the invention involved in this application and the description of its specific implementation methods should not be understood as limiting the technical solutions of the invention. Based on the disclosure of this application, those skilled in the art can, without violating the constituent elements of the invention involved, add, reduce or combine the disclosed technical features in the above general description or / and specific implementation methods (including examples) to form other technical solutions within the scope of protection of this application.

Claims

1. Bionic frog jumping robot, characterized by: It includes a trunk (1), two forelimbs (2) and two hind limbs (3); The trunk (1) comprises two main boards (11) arranged opposite to each other, a winding disk (12) arranged between the two main boards (11), and a motor (13) arranged on the main board (11); the motor (13) and the winding disk (12) are connected via an incomplete gear transmission mechanism (14); the incomplete gear transmission mechanism (14) comprises a driving wheel (141) arranged on an output shaft of the motor (13), a driven wheel (142) arranged on the winding disk (12), and an incomplete gear (143) connected to the driven wheel (142); the incomplete gear (143) and the driving wheel (141) are connected via a transition gear train; The forelimb (2) comprises a front thigh bar (21), a front calf bar (22) and a front sole (23); The hind limb (3) comprises a hind thigh rod (31), a hind calf rod (32) and a hind foot (33); the hind thigh rod (31) and the hind calf rod (32) are connected via a planar four-bar mechanism (34); the planar four-bar mechanism (34) comprises four connecting rods (341) symmetrically arranged on both sides of the hind thigh rod (31) and the hind calf rod (32), and the two ends of the connecting rod (341) are respectively connected to the hind thigh rod (31) and the hind foot rod (33) via hinge shafts (342). The rear calf rod (32) is hinged; a group of rigid springs (342) are symmetrically provided on both sides of the connecting rod (341), and the two ends of the rigid spring (343) are respectively connected to two diagonally arranged hinge shafts (342); the rear thigh rod (31) is hinged to the main board (11), and the two rear thigh rods (31) are connected via a positioning rod (5); the rear sole (33) is hinged to the rear calf rod (32) via an ankle connecting piece (35); Two tension ropes (4) are wound around the winding disk (12), corresponding to the two hind limbs (3); one end of the tension rope (4) is fixed to the winding disk (12), and the other end is fixed to the corresponding ankle connecting piece (35).

2. The bionic frog jumping robot according to claim 1, characterized in that: The transition gear train comprises an A transition gear (144), a B transition gear (145) and a C transition gear (146); the A transition gear (144) is coaxially arranged with the incomplete gear (143); the B transition gear (145) is coaxially arranged with the C transition gear (146), and the B transition gear (145) is meshed with the A transition gear (144), and the C transition gear (146) is meshed with the driving wheel (141).

3. The bionic frog jumping robot according to claim 2, characterized in that: The A transition gear (144) and the C transition gear (146) are large gears, and the driving wheel (141) and the B transition gear (145) are small gears.

4. The bionic frog jumping robot according to claim 1, characterized in that: In a static state, the front limbs (2) and the hind limbs (3) form a certain angle with the ground.

5. The bionic frog jumping robot according to claim 1, characterized in that: The ankle connecting piece (35) comprises a hinged portion (351) and a rotating portion (352); the hinged portion (351) is hingedly connected to the rear calf rod (32), and the rotating portion (352) is embedded in the rear sole (33) and is rotationally connected to the rear sole (33).

6. The bionic frog jumping robot according to claim 1, characterized in that: The positioning rod (5) comprises a transverse connecting portion (51) and inclined mounting portions (52) symmetrically arranged at both ends of the transverse connecting portion (51); the inclined mounting portion (52) is provided with a groove (521) for accommodating the end of the rear thigh rod (31) and a wire groove (522) for allowing the tension rope (4) to pass through.

7. The bionic frog jumping robot according to claim 1, characterized in that: Two hollow cup motors are symmetrically arranged on the main board (11).

8. The bionic frog jumping robot according to claim 1, characterized in that: Two mounting circular holes (121) are respectively provided on both sides of the winding disc (12), and the ends of the two tension ropes (4) are respectively fixed in the corresponding mounting circular holes (121) by glue.

9. The bionic frog jumping robot according to claim 1, characterized in that: Three rigid springs (343) are respectively provided on both sides of the connecting rod (341).

10. The bionic frog jumping robot according to claim 1, characterized in that: The method for using the bionic frog jumping robot specifically comprises the following steps: S1, the motor (13) is started, and the winding disc (12) is driven to rotate through the incomplete gear transmission mechanism (14), thereby tightening and contracting the tension rope (4) connected to the rear sole (33); S2, the relative positions of the four connecting rods (341) in the planar four-bar mechanism (34) change, and the rigid spring (343) is stretched, thereby completing the storage of elastic potential energy, and the overall posture of the bionic frog jumping robot is lowered, completing the take-off action of the bionic frog jumping robot; S3, when the incomplete gear (143) rotates to match the driven wheel (142) at the missing tooth position, the tension rope (4) is relaxed, the rigid spring (343) automatically contracts, and the elastic potential energy is instantly released. The hind limbs (3) use the released elastic potential energy to push the bionic frog jumping robot forward to complete the jumping action of the bionic frog jumping robot; S4, the motor (13) continues to work, repeating the above energy storage-energy release process, completing intermittent motion, and realizing continuous jumping of the bionic frog jumping robot.

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