A Coupling-Driven Jumping Leg-Foot Mechanism with Adjustable Energy Storage and a Coupling-Driving Method

Abstract

The present invention discloses a coupled drive energy storage adjustable jumping leg-foot mechanism and a coupled drive method, which relates to the technical field of robots and includes a housing, a drive device, and two walking and jumping units. The drive device is fixedly arranged in the housing; each walking and jumping unit includes a drive shaft, a drive swing rod, a driven shaft, a leg guide link, a third link, a fourth link, a foot link, a first spring, a second spring, and an energy storage rope. When the coupled drive energy storage adjustable jumping leg-foot mechanism of the present invention works, it can pull the quadrilateral link through the energy storage rope, causing the quadrilateral link mechanism to deform, so that the first spring and the second spring store energy. After releasing the driven gear and the energy storage rope, the stored energy of the first spring and the second spring is released, thus realizing the jumping action; at the same time, the leg guide link can be used to drive the quadrilateral link to swing, thereby realizing the walking gait; thus realizing the coupling of the walking gait and the jumping gait of the leg-foot mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a coupled-drive energy-storing adjustable jumping leg-foot mechanism and a coupled-drive method. Background Art

[0002] Leg-foot robots have stronger environmental adaptability compared to traditional wheeled and tracked robots and are widely used in fields such as field reconnaissance and factory area inspection.

[0003] An existing jumping leg-foot mechanism is a robot capable of performing jumping actions invented by Southeast University (patent publication number: CN102514644A). This mechanism includes a main body and two jumping feet, and the jumping feet are connected to the main body through a bouncing device. The bouncing device includes a guide rail, a base, a left inclined rod, a right inclined rod, a motor, a gear set, a pulley, a cable, a spring force trigger retainer, an eccentric wheel, an eccentric wheel connecting rod, and a torsion spring. The guide rail is fixedly connected inside the main body, the guide rail is located above the base, and the jumping feet are located below the base. The motor is connected to the gear set, the gear set is respectively connected to the pulley and the eccentric wheel, the pulley and the base are connected through a cable, the eccentric wheel is connected to one end of the eccentric wheel connecting rod, and the spring force trigger retainer is located below the guide rail. The upper ends of the left inclined rod and the right inclined rod are both slidably connected to the guide rail, and the lower ends of the left inclined rod and the right inclined rod are both rotatably connected to the base. Torsion springs are respectively located at both ends of the left inclined rod and the right inclined rod. The jumping leg-foot mechanism of this structure has low degrees of freedom, can only complete jumping gaits, and is difficult to complete the coupling of walking gaits and jumping gaits, resulting in insufficient actual movement flexibility and difficulty in coping with complex environments.

[0004] At the same time, existing robots with walking gaits generally do not have continuous jumping gaits and move relatively slowly. Summary of the Invention

[0005] The purpose of the present invention is to provide a coupled-drive energy-storing adjustable jumping leg-foot mechanism and a coupled-drive method to solve the problems existing in the above-mentioned prior art and achieve the coupling of walking gaits and jumping gaits of the leg-foot mechanism.

[0006] To achieve the above purpose, the present invention provides the following solution:

[0007] The present invention provides a coupled-drive energy-storing adjustable jumping leg-foot mechanism, including a housing, a driving device, and two walking and jumping units. The driving device is fixedly arranged in the housing; each walking and jumping unit includes:

[0008] A driving shaft, the driving shaft is rotationally matched with the housing, and the driving device is used to drive the driving shaft to rotate; a transmission gear is fixedly arranged on the driving shaft, and the transmission gear is an incomplete gear;

[0009] A driving swing rod, one end of the driving swing rod is fixedly connected to one end of the driving shaft, and a swing shaft is fixedly provided at the other end of the driving swing rod; the driving swing rod is perpendicular to the driving shaft;

[0010] A driven shaft, the driven shaft is rotationally matched with the housing; one end of the driven shaft is fixedly provided with a driven gear capable of meshing with the transmission gear; a rotating column is fixedly provided on the side of the driven gear away from the driven shaft; a winding shaft, a groove and a first sliding groove are provided at the end of the rotating column away from the driven gear; the groove and the first sliding groove are separated by a partition; a knurled nut is arranged in the groove, a screw rod is threadedly connected with the knurled nut, the screw rod passes through the partition and is partially located in the first sliding groove, and the screw rod is slidably matched with the partition; a rope end fixing member and a limiting spring are also arranged in the first sliding groove; the rope end fixing member is sleeved on the screw rod, the rope end fixing member can slide and rotate relative to the screw rod, the limiting spring is sleeved on the screw rod, one end of the limiting spring abuts against the rope end fixing member and the other end abuts against the partition; a limiting member is fixedly arranged on the screw rod, and one end of the rope end fixing member away from the spring abuts against the limiting member;

[0011] A leg guide link, the leg guide link includes a rocker, a first link and a second link fixedly connected in sequence; the driving shaft, the swing shaft, the driven shaft and the first link are parallel to each other; the rocker and the second link are both perpendicular to the first link; the first end of the second link is fixedly connected to the first link, and the second end of the second link is farther from the housing than the first end of the second link; the rocker is rotatably sleeved on the driven shaft; a second sliding groove is arranged on the rocker, and the swing shaft is slidably matched with the second sliding groove;

[0012] A third link, one end of the third link is hinged to the first end of the second link;

[0013] A fourth link, one end of the fourth link is hinged to the other end of the third link;

[0014] A foot link, one end of the foot link is hinged to the second end of the second link, and the other end of the fourth link is hinged to the foot link; the second link, the third link, the fourth link and the foot link form a quadrilateral link; a support foot is arranged at the other end of the foot link;

[0015] A first spring, one end of the first spring is fixedly connected to the hinge shaft between the second link and the third link, and the other end is fixedly connected to the hinge shaft between the fourth link and the foot link;

[0016] A second spring, one end of the second spring is fixedly connected to the hinge shaft between the third link and the fourth link, and the other end is fixedly connected to the hinge shaft between the second link and the foot link;

[0017] A power storage rope, one end of the power storage rope is fixedly connected to the rope end fixing member, and the other end is fixedly connected to the hinge shaft between the fourth link and the foot link, and the power storage rope bypasses the winding shaft.

[0018] Preferably, the driven gear and the rotating column are integrally formed.

[0019] Preferably, the power storage rope also bypasses the hinge shaft between the second link and the third link.

[0020] Preferably, a first connecting rod is fixedly provided on the hinge shaft between the second link and the third link, and a second connecting rod is fixedly provided on the hinge shaft between the fourth link and the foot link. One end of the first spring is fixedly connected to the first connecting rod, and the other end is fixedly connected to the second connecting rod. The first connecting rod, the second connecting rod and the first spring are coaxial.

[0021] Preferably, the power storage rope is fixedly connected to the hinge shaft between the fourth link and the foot link through the second connecting rod.

[0022] Preferably, a third connecting rod is fixedly provided on the hinge shaft between the third link and the fourth link, and a fourth connecting rod is fixedly provided on the hinge shaft between the second link and the foot link. One end of the second spring is fixedly connected to the third connecting rod, and the other end is fixedly connected to the fourth connecting rod. The third connecting rod, the fourth connecting rod and the second spring are coaxial.

[0023] Preferably, the length of the knurled nut is equal to the length of the groove.

[0024] Preferably, the driven gear, the driven shaft and the rotating column are coaxial, and the groove and the first chute have the same length direction and are both along the radial direction of the rotating column.

[0025] Preferably, the side of the second link away from the first link and the side of the rotating column away from the driven gear are coplanar.

[0026] The present invention also provides a coupling drive method, based on the above-mentioned coupling drive energy storage adjustable jumping leg-foot mechanism, including the following steps:

[0027] S1: Drive the drive shaft to rotate through the driving device. The drive shaft drives the swing shaft to perform circular motion through the driving swing rod. The swing shaft drives the leg guide link to swing around the driven shaft as the central axis, and then drives the quadrilateral link to swing around the driven shaft as the central axis. The process of the foot connecting rod swinging is to achieve the walking posture through the supporting feet;

[0028] When the drive shaft rotates, it drives the driven gear to rotate through the transmission gear, and then drives the driven shaft and the rotating column to rotate. When the rotating column rotates, the rope end fixing piece and the winding shaft will also rotate with the rotating column. The energy storage rope pulls up the second connecting rod, which causes the quadrilateral link to deform, the first spring is compressed, and the second spring elongates, thereby realizing energy storage;

[0029] S2: When the transmission gear rotates to a position where there are no teeth meshing with the driven gear, the connection between the driven gear and the transmission gear is disconnected. The energy storage rope no longer transmits the pulling force to the quadrilateral link. The quadrilateral link deforms under the restoring forces of the first spring and the second spring, thereby driving the foot link to swing rapidly. When the foot link swings rapidly, it will push on the ground through the supporting feet, thereby generating a jumping action;

[0030] S3: Then, driven by the drive shaft, the driving swing rod, the swing shaft, the leg guide link and the quadrilateral link, the foot link continues to swing, the transmission gear meshes with the driven gear again, and steps S1 and S2 are repeated.

[0031] The present invention has achieved the following technical effects compared with the prior art:

[0032] The energy storage adjustable jumping leg-foot mechanism with coupled drive and the coupled drive method of the present invention can realize the coupling of the walking gait and the jumping gait of the leg-foot mechanism.

[0033] The energy storage adjustable jumping leg-foot mechanism with coupled drive of the present invention can pull the quadrilateral link through the energy storage rope during operation, causing the quadrilateral link mechanism to deform, so that the first spring and the second spring store energy. After releasing the driven gear and the energy storage rope, the stored energy of the first spring and the second spring is released, thereby realizing the jumping action; at the same time, the leg guide link can be used to drive the quadrilateral link to swing, thereby realizing the walking gait; thus realizing the coupling of the walking gait and the jumping gait of the leg-foot mechanism.

[0034] Furthermore, the energy storage adjustable jumping leg-foot mechanism with coupled drive of the present invention can adjust the tightness of the energy storage rope by adjusting the position of the rope end fixing piece, thereby adjusting the stiffness of the jump, so that the energy storage adjustable jumping leg-foot mechanism with coupled drive of the present invention can adapt to different environments. Description of the Drawings

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0036] Figure 1 It is a schematic structural diagram of the coupled-drive energy-storing adjustable jumping leg-foot mechanism of the present invention;

[0037] Figure 2 It is a partial schematic structural diagram of the coupled-drive energy-storing adjustable jumping leg-foot mechanism of the present invention;

[0038] Figure 3 It is a partial schematic structural diagram of the coupled-drive energy-storing adjustable jumping leg-foot mechanism of the present invention;

[0039] Figure 4 It is a schematic structural diagram of the leg guide link in the coupled-drive energy-storing adjustable jumping leg-foot mechanism of the present invention;

[0040] Figure 5 It is a partial schematic structural diagram of the coupled-drive energy-storing adjustable jumping leg-foot mechanism of the present invention;

[0041] Wherein, 1. driving device; 2. housing; 3. driving swing rod; 4. anti-retreat ring; 5. rocker; 6. second spring; 7. fourth link; 8. foot link; 10. second link; 11. bolt; 12. first spring; 13. energy-storing rope; 14. transmission gear; 15. driving shaft; 16. driven gear; 17. screw; 18. rope end fixing piece; 19. limiting spring; 20. winding shaft; 21. knurled nut; 22. second chute; 23. first link; 24. rotating column; 25. limiting piece; 26. third link. Specific embodiments

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0043] The object of the present invention is to provide a coupled-drive energy-storing adjustable jumping leg-foot mechanism and a coupled-drive method to solve the problems existing in the above-mentioned prior art and realize the coupling of the walking gait and the jumping gait of the leg-foot mechanism.

[0044] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Embodiment 1

[0046] As Figures 1 - 5 shown, this embodiment provides a coupled-driven energy-storing adjustable jumping leg-foot mechanism, which includes a housing 2, a driving device 1, and two walking and jumping units. The driving device 1 is fixedly arranged in the housing 2.

[0047] Each walking and jumping unit includes a driving shaft 15, a driving swing rod 3, a driven shaft, a leg guide link, a third link 26, a fourth link 7, a foot link 8, a first spring 12, a second spring 6, and an energy-storing rope 13.

[0048] Among them, the driving shaft 15 and the driven shaft are respectively rotatably fitted with the housing 2; the driving device 1 is used to drive the driving shaft 15 to rotate; in this embodiment, the driving device 1 adopts a motor. Also, since the driving device 1 is located between the two walking and jumping units, a double-output shaft motor needs to be used for the motor. The driving shaft 15 corresponds to the output shaft of the motor one by one, and the driving shaft 15 is fixedly connected to the corresponding output shaft.

[0049] A transmission gear 14 is fixedly sleeved on the driving shaft 15. The transmission gear 14 is an incomplete gear; one end of the driving swing rod 3 is fixedly connected to one end of the driving shaft 15, and a swing shaft is fixedly arranged at the other end of the driving swing rod 3. The swing shaft is parallel to the driving shaft 15 but not coaxial; the driving swing rod 3 is perpendicular to the driving shaft 15.

[0050] In this embodiment, a retaining ring 4 is also fixedly arranged on the driving shaft 15. The retaining ring 4 is used for axially limiting the limiting swing rod to prevent the limiting swing rod from moving along the axial direction of the driving shaft 15; in actual applications, as long as it is ensured that the limiting swing rod is fixedly connected to the driving shaft 15 and the two do not move relative to each other.

[0051] The leg guide link includes a rocker 5, a first link 23, and a second link 10 fixedly connected in sequence; the driving shaft 15, the swing shaft, the driven shaft, and the first link 23 are parallel to each other; both the rocker 5 and the second link 10 are perpendicular to the first link 23; the first end of the second link 10 is fixedly connected to the first link 23, and the second end of the second link 10 is farther from the housing 2 than the first end of the second link 10; the rocker 5 is rotatably sleeved on the driven shaft; a second chute 22 is arranged on the rocker 5, and the swing shaft is slidably fitted with the second chute 22.

[0052] In this embodiment, a snap ring is also arranged on the driven shaft. The snap ring is used to prevent the rocker 5 from moving along the axial direction of the driven shaft.

[0053] The second link 10, the third link 26, the fourth link 7 and the foot link 8 form a quadrilateral link; specifically, one end of the third link 26 is hinged to the first end of the second link 10; one end of the fourth link 7 is hinged to the other end of the third link 26; one end of the foot link 8 is hinged to the second end of the second link 10, and the other end of the fourth link 7 is hinged to the foot link 8; a foot is provided at the other end of the foot link 8.

[0054] One end of the first spring 12 is fixedly connected to the hinge shaft between the second link 10 and the third link 26, and the other end is fixedly connected to the hinge shaft between the fourth link 7 and the foot link 8; specifically, a first connecting rod is fixedly provided on the hinge shaft between the second link 10 and the third link 26, a second connecting rod is fixedly provided on the hinge shaft between the fourth link 7 and the foot link 8, one end of the first spring 12 is fixedly connected to the first connecting rod, and the other end is fixedly connected to the second connecting rod. The first connecting rod, the second connecting rod and the first spring 12 are coaxial.

[0055] One end of the second spring 6 is fixedly connected to the hinge shaft between the third link 26 and the fourth link 7, and the other end is fixedly connected to the hinge shaft between the second link 10 and the foot link 8; specifically, a third connecting rod is fixedly provided on the hinge shaft between the third link 26 and the fourth link 7, a fourth connecting rod is fixedly provided on the hinge shaft between the second link 10 and the foot link 8, one end of the second spring 6 is fixedly connected to the third connecting rod, and the other end is fixedly connected to the fourth connecting rod. The third connecting rod, the fourth connecting rod and the second spring 6 are coaxial.

[0056] One end of the driven shaft is fixedly provided with a driven gear 16 that can mesh with the transmission gear 14; a rotating column 24 is fixedly provided on the side of the driven gear 16 away from the driven shaft; a winding shaft 20, a groove and a first sliding groove are provided at the end of the rotating column 24 away from the driven gear 16, and the groove and the first sliding groove are separated by a partition; the driven gear 16, the driven shaft and the rotating column 24 are coaxial, and the length directions of the groove and the first sliding groove are the same and both are along the radial direction of the rotating column 24. A knurled nut 21 is provided in the groove, the screw 17 is threadedly connected to the knurled nut 21, the screw 17 passes through the partition and part of it is located in the first sliding groove, the screw 17 is slidably mated with the partition, and a rope end fixing member 18 and a limiting spring 19 are also provided in the first sliding groove; the rope end fixing member 18 is sleeved on the screw 17, the rope end fixing member 18 can slide and rotate relative to the screw 17, the limiting spring 19 is sleeved on the screw 17, one end of the limiting spring 19 abuts against the rope end fixing member 18, and the other end abuts against the partition; a limiting member 25 is fixedly provided on the screw 17, and the end of the rope end fixing member 18 away from the spring abuts against the limiting member 25; it should be noted that in addition to being able to be abutted by the rope end fixing member 18, the limiting member 25 can also perform circumferential limiting on the screw 17 to prevent the screw 17 from rotating in the first sliding groove.

[0057] The length of the knurled nut 21 is equal to the length of the groove; when it is necessary to adjust the position of the screw rod 17, the knurled nut 21 is manually rotated. Since the length of the knurled nut 21 is equal to the length of the groove, the position of the knurled nut 21 will not change, while the screw rod 17 will slide along the first chute under the driving action of the knurled nut 21, so as to adjust the position of the limiting member 25, and further realize the adjustment of the position of the rope end fixing member 18; after the position of the rope end fixing member 18 changes, the distance between the rope end fixing member 18 and the winding shaft 20 will change. Since the length of the energy storage rope 13 is constant, the adjustment of the position of the rope end fixing member 18 will cause the specific tightening degree of the quadrilateral link to change through the energy storage rope 13 (specifically reflected in the telescopic lengths of the first spring 12 and the second spring 6 when not storing energy and after releasing the stored energy), and further change the magnitude of the pushing force during the jumping action. Therefore, by rotating the knurled nut 21 to adjust the position of the screw rod 17, the energy storage amount and the jumping height during jumping can be adjusted, so that the energy storage adjustable jumping leg-foot mechanism with coupled drive in this embodiment can meet the usage requirements in different environments.

[0058] One end of the energy storage rope 13 is fixedly connected to the rope end fixing member 18, and the other end is fixedly connected to the second connecting rod. The energy storage rope 13 bypasses the winding shaft 20; the energy storage rope 13 is in a taut state.

[0059] It should be noted that the elastic coefficient of the limiting spring 19 needs to be significantly greater than the elastic coefficients of the first spring 12 and the second spring 6, so that when the first spring 12 and the second spring 6 are significantly telescoped and the quadrilateral mechanism is deformed, the limiting spring 19 basically does not generate a deformation amount.

[0060] In this embodiment, the driven gear 16 is integrally formed with the rotating column 24.

[0061] In this embodiment, the energy storage rope 13 also bypasses the hinge shaft between the second connecting rod 10 and the third connecting rod 26; after the energy storage rope 13 bypasses the hinge shaft between the second connecting rod 10 and the third connecting rod 26, the length direction of the energy storage rope 13 from the hinge shaft between the second connecting rod 10 and the third connecting rod 26 to the second connecting rod can be made parallel to the axial direction of the first spring 12, so that the pulling force of the energy storage rope 13 on the hinge shaft between the second connecting rod and the foot connecting rod and the fourth connecting rod 7 is parallel to the axial direction of the first spring 12, avoiding the generation of component forces in other directions, and enabling the energy storage rope 13 to quickly and sensitively pull the quadrilateral link.

[0062] In this embodiment, the second link 10, the third link 26, the fourth link 7 and the foot link 8 are hinged to each other by bolts 11 to form a parallelogram four-bar mechanism, that is, the bolts 11 are used as the hinge axes. In the normal state, the elastic forces of the first spring 12 and the second spring 6 ensure that this four-bar mechanism is stable and will not deform easily. When it is necessary to store energy - for jumping, the first spring 12 and the second spring 6 can be stretched and restored through the energy storage rope 13 to generate a predetermined jumping motion.

[0063] In this embodiment, the side of the second link 10 away from the first link 23 and the side of the rotating column 24 away from the driven gear 16 are coplanar, that is, the inner sides of the quadrilateral link and the rotating column 24 are coplanar, so that the energy storage rope 13 can be connected to the second connecting rod without obstruction, avoiding interference of the energy storage rope 13 by other components during the working process.

[0064] Embodiment 2

[0065] This embodiment provides a coupling drive method, based on the energy storage adjustable jumping leg-foot mechanism of the coupling drive in Embodiment 1, specifically including the following steps:

[0066] S1: When the driving device 1 drives the driving shaft 15 to rotate, the driving shaft 15 drives the swing shaft to make a circular motion through the driving swing rod 3. Since the swing shaft is slidably matched with the second chute 22 of the rocker 5, and the rocker 5 is rotatably sleeved on the driven shaft, the swing shaft making a circular motion will drive the rocker 5 to swing around the driven shaft as the central axis, that is, the whole leg guide link will swing around the driven shaft as the central axis; and then drive the quadrilateral link to swing around the driven shaft as the central axis. The process of the foot connecting rod swinging is to realize the walking posture through the support feet;

[0067] While the driving shaft 15 rotates, it will also drive the driven gear 16 to rotate through the transmission gear 14, and then drive the driven shaft and the rotating column 24 to rotate. When the rotating column 24 rotates, the rope end fixing member 18 and the winding shaft 20 will also rotate with the rotating column 24. Since one end of the energy storage rope 13 is fixed on the rope end fixing member 18 and is also wound around the winding shaft 20, the rotation of the rotating column 24 will cause the energy storage rope 13 and the winding shaft 20 to pull the energy storage rope 13, so that the energy storage rope 13 will pull up the second connecting rod, and then cause the length of the quadrilateral link to shorten in the vertical direction and increase in the horizontal direction, that is, the first spring 12 will be compressed and the second spring 6 will be stretched, thereby realizing energy storage;

[0068] S2: Since the transmission gear 14 is an incomplete gear, when the transmission gear 14 rotates to the point where there is no tooth meshing with the driven gear 16, the driven gear 16 is disconnected from the transmission gear 14, and the force storage rope 13 no longer transmits the tension to the quadrilateral connecting rod. The quadrilateral connecting rod is deformed under the action of the restoring force of the first spring 12 and the second spring 6, thereby driving the foot connecting rod 8 to swing rapidly. When the foot connecting rod 8 swings rapidly, it pushes the ground through the supporting foot, thereby generating a jumping action;

[0069] S3: Then, driven by the driving shaft 15, the driving swing rod 3, the swing shaft, the leg guide link and the quadrilateral link, the foot link 8 continues to swing, the transmission gear 14 meshes with the driven gear 16 again, and drives the driven gear 16 to rotate, the rope contracts, the first spring 12 is compressed, and the second spring 6 is extended, and the force is accumulated again. Therefore, the swing of the foot link 8 and the force accumulation-jumping action are performed synchronously, and there is a coupling relationship between the two.

[0070] In the description of the present invention, it should be noted that the terms "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", etc., are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0071] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A coupling-driven energy storage adjustable jumping leg-foot mechanism, characterized in that, It includes a housing, a driving device and two walking and jumping units, and the driving device is fixedly arranged in the housing; Each of the walking and jumping units includes: A driving shaft, which is rotationally matched with the housing, and the driving device is used to drive the driving shaft to rotate; a transmission gear is fixedly arranged on the driving shaft, and the transmission gear is an incomplete gear; A driving swing rod, one end of which is fixedly connected to one end of the driving shaft, and a swing shaft is fixedly arranged at the other end of the driving swing rod; the driving swing rod is perpendicular to the driving shaft; A driven shaft, which is rotationally matched with the housing; a driven gear capable of meshing with the transmission gear is fixedly arranged at one end of the driven shaft; a rotating column is fixedly arranged on the side of the driven gear away from the driven shaft; a winding shaft, a groove and a first sliding groove are arranged at the end of the rotating column away from the driven gear, and the groove and the first sliding groove are separated by a partition; a knurled nut is arranged in the groove, a screw rod is threadedly connected with the knurled nut, the screw rod passes through the partition and is partially located in the first sliding groove, and the screw rod is slidably matched with the partition; a rope end fixing piece and a limiting spring are also arranged in the first sliding groove; the rope end fixing piece is sleeved on the screw rod, the rope end fixing piece can slide and rotate relative to the screw rod, the limiting spring is sleeved on the screw rod, one end of the limiting spring abuts against the rope end fixing piece and the other end abuts against the partition; a limiting piece is fixedly arranged on the screw rod, and the end of the rope end fixing piece away from the spring abuts against the limiting piece; A leg guide link, which includes a rocker, a first link and a second link fixedly connected in sequence; the driving shaft, the swing shaft, the driven shaft and the first link are parallel to each other; both the rocker and the second link are perpendicular to the first link; the first end of the second link is fixedly connected to the first link, and the second end of the second link is farther from the housing than the first end of the second link; the rocker is rotatably sleeved on the driven shaft; a second sliding groove is arranged on the rocker, and the swing shaft is slidably matched with the second sliding groove; A third link, one end of which is hinged to the first end of the second link; A fourth link, one end of which is hinged to the other end of the third link; A foot link, one end of which is hinged to the second end of the second link, and the other end of the fourth link is hinged to the foot link; the second link, the third link, the fourth link and the foot link form a quadrilateral link; a support foot is arranged at the other end of the foot link; A first spring, one end of which is fixedly connected to the hinge shaft between the second link and the third link, and the other end is fixedly connected to the hinge shaft between the fourth link and the foot link; A second spring, one end of which is fixedly connected to the hinge shaft between the third link and the fourth link, and the other end is fixedly connected to the hinge shaft between the second link and the foot link; The energy storage rope, one end of the energy storage rope is fixedly connected to the rope end fixing member, and the other end is fixedly connected to the hinge axis between the fourth link and the foot link, and the energy storage rope bypasses the winding shaft.

2. The coupled drive energy storage adjustable jumping leg-foot mechanism according to claim 1, wherein: The driven gear is integrally formed with the rotating column.

3. The coupled-drive energy storage adjustable jumping leg-foot mechanism according to claim 1, characterized in that: The energy storage rope also bypasses the hinge axis between the second link and the third link.

4. The coupled-drive energy storage adjustable jumping leg-foot mechanism according to claim 1, characterized in that: A first connecting rod is fixedly arranged on the hinge axis between the second link and the third link, and a second connecting rod is fixedly arranged on the hinge axis between the fourth link and the foot link. One end of the first spring is fixedly connected to the first connecting rod, and the other end is fixedly connected to the second connecting rod. The first connecting rod, the second connecting rod and the first spring are coaxial.

5. The coupling-driven energy storage adjustable jumping leg-foot mechanism according to claim 4, characterized in that: The energy storage rope is fixedly connected to the hinge axis between the fourth link and the foot link through the second connecting rod.

6. The coupled drive energy storage adjustable jumping leg-foot mechanism according to claim 1, characterized in that: A third connecting rod is fixedly arranged on the hinge axis between the third link and the fourth link, and a fourth connecting rod is fixedly arranged on the hinge axis between the second link and the foot link. One end of the second spring is fixedly connected to the third connecting rod, and the other end is fixedly connected to the fourth connecting rod. The third connecting rod, the fourth connecting rod and the second spring are coaxial.

7. The coupled drive energy storage adjustable jumping leg-foot mechanism according to claim 1, characterized in that: The length of the knurled nut is equal to the length of the groove.

8. The coupled-drive energy storage adjustable jumping leg-foot mechanism according to claim 1, characterized in that: The driven gear, the driven shaft and the rotating column are coaxial. The groove and the first sliding groove have the same length direction and are both along the radial direction of the rotating column.

9. The coupling-driven energy storage adjustable jumping leg-foot mechanism according to claim 1, characterized in that: The side of the second link away from the first link is coplanar with the side of the rotating column away from the driven gear.

10. A coupling driving method, characterized in that Based on the coupled drive energy storage adjustable jumping leg-foot mechanism according to any one of claims 1-9, the following steps are included: S1: Drive the drive shaft to rotate through the driving device. The drive shaft drives the swing shaft to perform a circular motion through the driving swing rod. The swing shaft drives the leg guide link to swing around the driven shaft as the central axis, and further drives the quadrilateral link to swing around the driven shaft as the central axis. The process of the foot connecting rod swinging is to realize the walking posture through the support feet; When the drive shaft rotates, it drives the driven gear to rotate through the transmission gear, and further drives the driven shaft and the rotating column to rotate. When the rotating column rotates, the rope end fixing member and the winding shaft will also rotate with the rotating column. The energy storage rope pulls up the second connecting rod, which causes the quadrilateral link to deform, the first spring is compressed, and the second spring elongates, thereby realizing energy storage; S2: When the transmission gear rotates to a position where no tooth is engaged with the driven gear, the connection between the driven gear and the transmission gear is disconnected. The energy storage rope no longer conducts the pulling force to the quadrilateral link. The quadrilateral link deforms under the restoring force of the first spring and the second spring, thereby driving the foot link to swing rapidly. When the foot link swings rapidly, it will push the ground through the support feet, thereby generating a jumping action; S3: Then, driven by the drive shaft, the driving swing rod, the swing shaft, the leg guide link and the quadrilateral link, the foot link continues to swing, the transmission gear meshes with the driven gear again, and steps S1 and S2 are repeated.

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