A frog robot and a multi-posture motion control method implemented by the same

Abstract

A frog robot and its multi-posture motion control method. This invention addresses the problem of existing frog-like bionic robots being too heavy, preventing them from jumping to their maximum height and gliding. The invention comprises a forward steering mechanism and a potential energy storage mechanism housed within the cavity formed by the main body and the outer shell. Forelimb links are positioned on both sides of the front end of the main body, with the upper end hinged to the forward steering mechanism and the lower end connected to forelimb webs. Hindlimb links are positioned on both sides of the rear end of the main body, with the upper end connected to the potential energy storage mechanism and the lower end of the hindlimb links equipped with hindlimb webs. A bat membrane is provided between each forelimb web and its corresponding hindlimb link. Under the control of the forward steering mechanism and the potential energy storage mechanism, the forelimb webs, hindlimb webs, forelimb links, hindlimb links, bat membranes, and hindlimb web membranes perform actions such as leg retraction for power storage, jumping, upward movement, and / or gliding. This invention is intended for use in exploration, reconnaissance, or other challenging terrain conditions.

Description

Technical Field

[0001] This invention relates to a biomimetic robot, specifically to a frog robot and its multi-posture motion control method. Background Technology

[0002] As research progresses on robots for exploration, reconnaissance, disaster relief, and rescue operations, unstructured terrain and unknown environments present significant challenges to their movement. Frogs, as excellent jumpers, possess highly efficient leaping power and excellent maneuverability. By mimicking the jumping ability and movement patterns of frogs, efficient jumps can be achieved, enabling rapid movement and obstacle crossing in complex terrain. However, frogs differ from humans in ecology and behavior. They typically live in trees, possess more powerful leg muscles and well-developed webbed feet, giving them superior jumping and gliding abilities. When jumping from trees, they spread their legs and webbed feet to increase air resistance, allowing them to glide a greater distance and land smoothly.

[0003] Current research on frog-inspired jumping robots typically employs pneumatic muscle and joint linkage-based drive. These robots are relatively bulky and neglect biomimicry and the air resistance experienced by frogs during jumping. Furthermore, current frog-inspired jumping robots lack the ability to glide through the air and alternate between flight and jumping in a short period of time, making them unsuitable for complex terrain or harsh environments where rapid passage through areas with fewer footholds is required.

[0004] Therefore, by making full use of biomimicry and air resistance, a frog-like robot with outstretched legs and flippers can be designed to glide on the basis of jumping. This would be beneficial for dealing with some complex terrains and jumping, and would also be more biomimetic. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, a frog robot and its multi-pose motion control method are provided to solve the above problems.

[0006] A frog robot includes a front steering mechanism, two forelimb links, two hind limb links, a potential energy storage mechanism, two bat-like membranes, two forefoot webs, two hindfoot webs, a main body, an outer shell, and two hindfoot webs. The outer shell is fastened to the top surface of the main body and forms an inner cavity between it and the main body. The front steering mechanism and the potential energy storage mechanism are both disposed within the inner cavity. The front steering mechanism and the potential energy storage mechanism are respectively disposed on the front and rear top surfaces of the main body. The two forelimb links are respectively disposed on both sides of the front end of the main body. The upper end of each forelimb link is hinged to the front steering mechanism. The lower end of the rod is connected to a foreleg flipper; two hind limb linkages are respectively set on both sides of the rear end of the main body, the upper end of each hind limb linkage is connected to the potential energy storage mechanism, the lower end of each hind limb linkage is provided with a hind leg flipper, and each hind leg flipper is provided with a hind limb membrane; a bat membrane is inserted between each foreleg flipper and the hind limb linkage on the same side of the main body; the two foreleg flippers, the two hind leg flippers, the two foreleg linkages, the two hind limb linkages, the two bat membranes and the two hind limb membranes perform leg retraction, jumping, upward movement and / or sliding movements under the control of the front steering mechanism and the potential energy storage mechanism.

[0007] As a preferred embodiment: the two front fin components and the two rear fin components have the same structure; each front fin component includes a middle toe, two little toes, two connecting rods, a fin base, a magnetic plate, an iron ring fixing component, a fin compression spring, a coil, a coil fixing ring, and a limiting block. The fin base is a frustum, and a first strip-shaped notch is machined on the fin base. One end of the middle toe is slidably disposed in the first strip-shaped notch, and the other end of the middle toe extends along the radial direction of the fin base. The two little toes are symmetrically disposed on both sides of the middle toe. One end of each little toe is hinged to the fin base, and the other end of each little toe extends horizontally and is on the same horizontal plane as the middle toe. A connecting rod is provided between the middle toe and each little toe, and one end of the two connecting rods is coaxially hinged to the middle toe near the foot. At one end of the fin base, the other ends of the two connecting rods are respectively hinged to the little toe closest to them; one end of the bat membrane is fixedly connected to the little toe closest to the main body, and the other end of the bat membrane passes through the middle toe and the little toe away from the main body in sequence, and then connects to the outer wall of the hind limb connecting rod on the same side. The limiting block is set on the fin base and is located on the side of the first strip-shaped notch away from the middle toe. A coil fixing ring is set inside the limiting block, and a coil is wound on the coil fixing ring. A magnetic sheet is vertically set on the top surface of the upper connecting rod of the two connecting rods. An iron ring fixing member is set on the side of the magnetic sheet facing the coil fixing ring. A fin compression spring is set between the iron ring fixing member and the coil. The opening and closing of the front fin is achieved by the extension and contraction of the fin compression spring.

[0008] As a preferred embodiment: a hind fin membrane is inserted between the middle toe and the two little toes of each hind fin, and a ball joint is inserted at the limiting block of each hind fin. The hind limb link is hinged to the limiting block through the ball joint, so that the soles of the two front fins and the two hind fins can fully contact the ground when the frog is in any posture.

[0009] As a preferred embodiment: each forelimb link includes a forelimb thigh, a forelimb compression spring, and a forelimb lower leg. One end of the forelimb lower leg is fixedly connected to the top of the limiting block in its corresponding forefoot fin, and the other end of the forelimb lower leg is hinged to the lower end of the forelimb thigh. The upper end of the forelimb thigh is hinged to one of the output ends of the forward steering mechanism. One end of the forelimb compression spring is connected to the forelimb thigh, and the other end is connected to the forelimb lower leg, and is located on the side of the forelimb thigh and forelimb lower leg facing the forefoot fin.

[0010] As a preferred embodiment: the front steering mechanism includes a left incomplete gear, a drive gear, a driven gear, a right incomplete gear, a servo motor, and a servo disc. The left and right incomplete gears are hinged side by side on the top surface of the main body. A drive gear and a driven gear are arranged between the left and right incomplete gears. The drive gear meshes with the driven gear, and the drive gear meshes with the adjacent left incomplete gear. The driven gear meshes with the adjacent right incomplete gear. A servo disc is coaxially connected to the drive gear. A servo motor is arranged on the servo disc. The two forelimb links are respectively hinged to their corresponding left and right incomplete gears. Driven by the servo motor, the two forelimb links move towards each other or extend towards each other through the cooperation of the left incomplete gear, the drive gear, the driven gear, and the right incomplete gear.

[0011] As a preferred embodiment: the potential energy storage mechanism includes two potential energy storage units, which are arranged side by side on the top surface of the main body. Each potential energy storage unit includes a motor, a small incomplete gear, a constant force spring plate, an internal gear, a bearing, a first shaft, a second shaft, and a linear bearing. The first shaft and the second shaft are arranged vertically side by side on the main body. The second shaft is located near the front end of the main body, and the linear bearing is mounted on the second shaft. The first shaft is located near the rear end of the main body. The internal gear and the bearing are coaxially mounted on the first shaft from top to bottom. The power input end of the hind limb connecting rod is mounted on the outer ring of the bearing and fixedly connected to the internal gear. The small incomplete gear meshes with the internal gear, and a motor is coaxially mounted on the small incomplete gear. One end of the constant force spring plate is wound around the linear bearing, and the other end of the constant force spring plate is fixed to the outer ring wall of the internal gear.

[0012] As a preferred embodiment: each hind limb link includes a first link, a second link, a third link, a hind limb lower leg, a hind limb thigh, and an ankle joint. One end of the first link is hinged to a second shaft adjacent to it, and the other end of the first link is hinged to one end of the hind limb lower leg. The other end of the hind limb lower leg is hinged to a ball joint support on the hind limb web via the ankle joint. One end of the second link and one end of the third link are coaxially hinged to one end of the hind limb thigh. The other end of the second link is hinged to the first link, and the other end of the third link is hinged to the hind limb lower leg. The other end of the hind limb thigh serves as the power input end, mounted on a bearing and fixedly connected to an internal gear.

[0013] A multi-posture motion control method for a frog robot, wherein two front webbed feet, two hind webbed feet, two forelimb links, two hindlimb links, two bat-like membranes, and two hind webbed membranes, under the control of a front steering mechanism and a potential energy storage mechanism, perform continuous movements of leg retraction, jumping, upward movement, and sliding. The retraction, jumping, upward movement, and sliding movements form a standard motion posture transition process, and multiple standard motion posture transition processes are repeated cyclically to form a continuous jumping and moving process. Specifically:

[0014] S1, Preparation Phase: The frog robot is in a prone position, with two front and two rear webbed feet in contact with the prone point, and both front and rear webbed feet are in an extended state to ensure a stable prone position; the small incomplete gear and internal gear in the potential energy storage mechanism are in a disengaged state; a constant force spring is wound around a linear bearing and is in a free extension and retraction state; the connection between the forelimb thigh and forelimb lower leg is a joint structure, and is fixed by a forelimb compression spring, and the angle of the frog's jump can be changed by changing the length of the forelimb compression spring; the hind limb lower leg is connected to the rear webbed feet at the ankle by a ball hinge to ensure that the four webbed feet are in stable contact with the ground;

[0015] S2, Leg retraction energy storage stage: The two motors in the potential energy storage mechanism drive the two internal gears in opposite directions through the small incomplete gear, causing the two constant force spring plates to be pulled out from the linear bearing and wound around their respective internal gears; at the same time, the two internal gears drive the hind limb thighs connected to them to rotate in the opposite direction, and the hind limb thighs drive the hind limb lower legs to make a converging action towards the hind limb thighs through the first link, the second link and the third link, until the small incomplete gear and the internal gears no longer mesh and drive. At this time, the hind limb link becomes a converging and compressed state, and the constant force spring plates store a certain amount of elastic potential energy, preparing for the frog robot to jump out;

[0016] S3, Jumping Moment: When the two small incomplete gears are disengaged from their corresponding internal gears, the two constant force spring plates, being unaffected by external forces, begin to release elastic potential energy, wrap around the linear bearing, and drive the internal gears connected to them to rotate in opposite directions. The two internal gears then drive the two hind legs to rotate in opposite directions. The hind legs, through the first, second, and third links, drive the hind legs to push off the ground, thus enabling the frog robot to jump.

[0017] S4, Ascending Phase: When the frog robot is in the ascending phase under the action of the potential energy storage mechanism and the two hind limb linkages, the servo motor transmits the rotational torque to the left incomplete gear, driven gear, and right incomplete gear through the active gear. The left and right incomplete gears drive the two forelimb linkages connected to them to rotate in opposite directions, thereby causing the two front flipper components to move inward, reducing the contact area between the front end of the frog robot and the air, and reducing air resistance. At the same time, the coils in the front and rear flipper components are energized. The coils and magnetic plates overcome the elasticity of the flipper compression spring and attract each other, pulling the middle toe towards the limit block side. The middle toe drives the two little toes to rotate inward through the two linkages, so that the included angle between the two little toes is minimized. The bat membrane in the front flipper component is in a contracted state, and the rear flipper membrane in the two rear flipper components is also in a contracted state. The area of ​​the bat membrane on both sides is also reduced to the minimum, which facilitates the rapid ascent of the frog robot.

[0018] S5, Gliding Phase: When the frog robot is at its highest point of ascent, the two motors in the potential energy storage mechanism drive the two internal gears in the opposite direction again through the small incomplete gear, causing the two constant force spring plates to be pulled out from the linear bearings again and wrapped around their respective internal gears; at the same time, the two internal gears drive the hind limb thighs connected to them to rotate backward, and the hind limb thighs drive the hind limb lower legs to converge towards the hind limb thighs through the first, second, and third links; due to the action of the hind limb links, the bat membranes on both sides of the main body are unfolded, increasing air resistance; at the same time, the servo motor transmits the rotational torque to the left incomplete gear, driven gear, and right incomplete gear through the driving gear; the left and right incomplete gears drive the two forelimb links connected to them to rotate backward, thereby causing the two forefoot webs to unfold outward, so that the bat membrane unfolds to its maximum area;

[0019] When the coils in the two front and two rear flipper components are de-energized, the coils and magnetic plates no longer attract each other. The flipper compression springs return to their original positions and push the middle toe away from the limit block. The middle toe drives the two little toes to rotate outward through two connecting rods, increasing the angle between the two little toes. The diaphragm in the front flipper component is in the deployed state, and the diaphragm in the two rear flipper components is also in the deployed state. This increases the contact area between the frog robot and the air, increases air resistance, and allows it to glide in the air.

[0020] S6, Landing Phase: Just before landing, the servo motor is controlled to rotate in the opposite direction again. The servo motor transmits the rotational torque to the left incomplete gear, driven gear, and right incomplete gear through the driving gear. The left and right incomplete gears drive the two forelimb linkages connected to them to rotate in opposite directions, thereby causing the two front flipper components to move inward, reducing the contact area between the front of the frog robot and the air, and reducing air resistance. At the same time, the coils in the front and rear flipper components are energized. The coils and magnetic plates overcome the elasticity of the flipper compression spring and attract each other, pulling the middle toe towards the limit block. The middle toe drives the two little toes to rotate inward through the two linkages, making the included angle between the two little toes the smallest. The bat membrane in the front flipper component is in a contracted state, and the rear flipper membrane in the two rear flipper components is also in a contracted state. The frog robot returns to the jumping state and prepares for the next jump. In this way, one cycle is completed. To achieve continuous jumping, the above actions can be repeated.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The present invention, through the design of the front and rear webbed parts, makes the area of ​​the rear webbed membrane and bat membrane the smallest during the ascent phase of the frog robot, resulting in the least air resistance and ultimately jumping to the highest point; during the descent and gliding phase, the area of ​​the rear webbed membrane and bat membrane is the largest, resulting in the greatest air resistance, increasing the gliding distance and making it more biomimetic.

[0023] 2. This invention stores energy that provides jumping force through the setting of a potential energy storage mechanism. This energy is transmitted to the ground through the hind limb linkage and hind foot webs to realize the jumping action. Due to the design of the incomplete gear, it can also realize the function of releasing the elastic potential energy stored in the spring when needed, so that the robot has the characteristics of compact structure and convenient control.

[0024] 3. The connection between the forelimb thigh and forelimb lower leg of this invention is a joint structure, and its shape is achieved by a forelimb compression spring. When the frog robot lies prone on the ground or on a tree branch, it can adapt to uneven lying positions, ensuring that the two forelimb webs can always be in contact with the ground, increasing the balance of the body. At the same time, at the moment of landing, due to the large impact force between the frog robot and the landing point, the forelimb thigh, forelimb compression spring, and forelimb lower leg can act as a buffer, preventing the large impact force from reducing the life of the front steering mechanism. In addition, by changing the length of the forelimb compression spring, the angle between the forelimb thigh and forelimb lower leg can be changed, thereby changing the pitch angle of the frog robot in the initial state or before jumping, thus changing the angle of attack of the frog robot's jump.

[0025] 4. This invention enables continuous jumping through the coordinated movement of a front steering mechanism, two forelimb links, two hindlimb links, a potential energy storage mechanism, two bat membranes, two forefoot webs, two hindfoot webs, the main body, the outer shell, and the two hind webs. It can also achieve alternating gliding and jumping motions. It can carry a carrier for detection equipment and communication systems. Combined with gliding posture, it allows for a larger jump span, reduces the number of stepping points in complex terrain or harsh environments, and enables rapid traversal recording, providing favorable conditions for exploring relevant conditions in complex terrain. Attached Figure Description

[0026] Figure 1 This is an isometric view of the present invention in the retracted leg energy storage state;

[0027] Figure 2 This is a schematic diagram of the internal structure of the present invention after removing the outer shell and bat membrane;

[0028] Figure 3 Schematic diagram of the front steering mechanism Figure 1 ;

[0029] Figure 4 Schematic diagram of the front steering mechanism Figure 2 ;

[0030] Figure 5 This is a schematic diagram of the forelimb linkage.

[0031] Figure 6 A schematic diagram of an explosion of a potential energy storage mechanism;

[0032] Figure 7 This is an assembly drawing of the potential energy storage mechanism;

[0033] Figure 8 This is a schematic diagram of the hind limb linkage.

[0034] Figure 9 This is a top view of the present invention;

[0035] Figure 10 This is a structural diagram of the rear fin component;

[0036] Figure 11 A schematic diagram of the drive mechanism for opening or retracting the flippers;

[0037] Figure 12 A schematic diagram of the structure that drives the flippers to open;

[0038] Figure 13 A schematic diagram of the overall external structure of a frog at the moment of its jump;

[0039] Figure 14 This is a top-down view of the frog's interior during its ascent.

[0040] Figure 15 This is an external top-down view of the frog during its ascent phase.

[0041] Figure 16 This is a schematic diagram of the internal structure of a frog during its gliding phase.

[0042] Figure 17 This is a schematic diagram of the frog's external appearance during the gliding phase.

[0043] Figure 18 The pressure and velocity cloud diagrams were obtained after a simulation experiment of the present invention in a shrinkage membrane gliding state.

[0044] Figure 19 The pressure and velocity cloud diagrams were obtained after conducting a simulation experiment on the gliding state of the membrane in the present invention.

[0045] In the diagram: 1-Front steering mechanism; 2-Forelimb link; 3-Hhind limb link; 4-Potential energy storage mechanism; 5-Bat membrane; 61-Forefoot web; 62-Hhind foot web; 7-Main body; 8-Shell; 9-Hhind web membrane;

[0046] 1-1-Left incomplete gear; 1-2-Driving gear; 1-3-Driven gear; 1-4-Right incomplete gear; 1-5-Servo motor; 1-6-Servo disc; 2-1-Foreleg thigh; 2-2-Foreleg compression spring; 2-3-Foreleg lower leg; 3-1-First link; 3-2-Second link; 3-3-Third link; 3-4-Hhind lower leg; 3-5-Hhind thigh; 3-6-Ankle joint; 4-1-Motor; 4-2-1-Small incomplete gear Full gear; 4-3-1-Constant force spring plate; 4-4-Internal gear; 4-5-Bearing; 4-6-First shaft; 4-7-Second shaft; 4-8-Linear bearing; 6-1-Middle toe; 6-2-Little toe; 6-3-Connecting rod; 6-4-Flipper base; 6-5-Magnetic plate; 6-6-Iron ring fixing piece; 6-7-Flipper compression spring; 6-8-Coil; 6-9-Coil fixing ring; 6-10-Limiting block; 6-11-Spherical hinge support. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0048] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0049] Specific implementation method one: Combining Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17This embodiment describes a front steering mechanism 1, two forelimb links 2, two hindlimb links 3, a potential energy storage mechanism 4, two bat membranes 5, two front fins 61, two hind fins 62, a main body 7, an outer shell 8, and two hind fin membranes 9. The outer shell 8 is fastened to the top surface of the main body 7, and an inner cavity is formed between the outer shell 8 and the main body 7. The front steering mechanism 1 and the potential energy storage mechanism 4 are both disposed in the inner cavity. The outer shell 8 has a protective function to prevent damage to the front steering mechanism 1 and the potential energy storage mechanism 4 due to external forces during the frog robot's task execution. The front steering mechanism 1 and the potential energy storage mechanism 4 are respectively disposed on the front and rear top surfaces of the main body 7. The front steering mechanism 1 is used for the synchronous reverse drive of the two front fins 61, and the potential energy storage mechanism 4 is used for the synchronous reverse drive of the two hind fins 62, as well as for the storage and release of energy for the frog robot's jumping ability.

[0050] Two forelimb links 2 are respectively set on both sides of the front end of the main body 7 and are used to connect the front steering mechanism 1 and the front fin 61. The upper end of each forelimb link 2 is hinged to the front steering mechanism 1, and the lower end of each forelimb link 2 is connected to a front fin 61.

[0051] Two hind limb links 3 are respectively located on both sides of the rear end of the main body 7 and are used to connect the potential energy storage mechanism 4 and the hind fin parts 62. The upper end of each hind limb link 3 is connected to the potential energy storage mechanism 4, and the lower end of each hind limb link 3 is provided with a hind fin part 62. Each hind fin part 62 is provided with a hind fin membrane 9 to increase the resistance of the frog robot to the air during gliding. A bat membrane 5 is inserted between each front fin part 61 and the hind limb link 3 on the same side of the main body 7 to increase the resistance of the frog robot to the air during gliding. Under the control of the front steering mechanism 1 and the potential energy storage mechanism 4, the two front fin parts 61, the two hind fin parts 62, the two front limb links 2, the two hind limb links 3, the two bat membranes 5 and the two hind fin membranes 9 perform leg retraction, jumping, upward movement and / or gliding movements.

[0052] In this embodiment, the two front fins 61 and the two rear fins 62 are shaped like a frog. The fingertips of the front fins 61 face forward of the frog robot and are used for support of the frog robot. The fingertips of the rear fins 62 face to the sides of the frog robot, which are used for support of the frog robot and to provide jumping force for the frog robot to achieve continuous jumping.

[0053] In this embodiment, the front steering mechanism 1 is used for the synchronous reverse drive of the two front flipper components 61 to adapt to different postures of the frog robot, and the potential energy storage mechanism 4 is used for the synchronous reverse drive of the two rear flipper components 62, as well as for the storage and release of energy for the frog robot to generate jumping ability.

[0054] Specific implementation method two: such as Figure 10 , Figure 11 and Figure 12 As shown, this embodiment is a further limitation of specific embodiment one. The structures of the two front fin parts 61 and the two rear fin parts 62 are basically the same, except that during the connection process, the rear fin parts 62 insert a ball joint support 6-11 above the limiting block 6-10 to connect the hind limbs, which is not done in the front fin parts; each front fin part 61 includes a middle toe 6-1, two little toes 6-2, two connecting rods 6-3, a fin base 6-4, a magnetic plate 6-5, an iron ring fixing part 6-6, a fin compression spring 6-7, a coil 6-8, a coil fixing ring 6-9, and a limiting block 6-10. The fin base 6-4 is a frustum. A first strip-shaped notch is machined on the fin base 6-4. One end of the middle toe 6-1 is slidably disposed within the first strip-shaped notch. The other end of the middle toe 6-1 extends radially along the fin base 6-4. Two little toes 6-2 are symmetrically disposed on either side of the middle toe 6-1. One end of each little toe 6-2 is hinged to the fin base 6-4, and the other end of each little toe 6-2 extends horizontally and is on the same horizontal plane as the middle toe 6-1. A connecting rod 6-3 is provided between the middle toe 6-1 and each little toe 6-2. -3 are symmetrically arranged on both sides of the middle toe 6-1. One end of each connecting rod 6-3 is coaxially hinged to the end of the middle toe 6-1 near the webbed base 6-4, and the other ends of each connecting rod 6-3 are respectively hinged to the little toe 6-2 near it. One end of the bat membrane 5 is fixedly connected to the little toe 6-2 near the main body 7. The other end of the bat membrane 5 passes through the middle toe 6-1 and the little toe 6-2 away from the main body 7, and then connects to the outer wall of the hind limb connecting rod 3 on the same side, forming a fan shape as a whole, providing the frog robot with gliding ability. The limiting block 6-10 is set on the foot On the fin base 6-4, on the side away from the middle toe 6-1 of the first strip-shaped notch, a coil fixing ring 6-9 is provided inside the limiting block 6-10. A coil 6-8 is wound on the coil fixing ring 6-9. A magnetic sheet 6-5 is vertically set on the top surface of the upper connecting rod 6-3 of the two connecting rods 6-3. An iron ring fixing member 6-6 is provided on the side of the magnetic sheet 6-5 facing the coil fixing ring 6-9. A fin compression spring 6-7 is provided between the iron ring fixing member 6-6 and the coil 6-8. The opening and closing of the front fin part 61 is realized by the extension and contraction of the fin compression spring 6-7.

[0055] In this embodiment, when the coil 6-8 is energized, the coil 6-8 generates an attractive force on the magnetic plate 6-5. Since the coil 6-8 is fixed to the flipper base 6-4 through the limiting block 6-10, the magnetic plate 6-5 overcomes the rebound force of the flipper compression spring 6-7 and moves toward the coil 6-8. The magnetic plate 6-5 drives the two connecting rods 6-3 and the middle toe 6-1 to move toward the limiting block 6-10. Under the pull of the two connecting rods 6-3, the two little toes 6-2 rotate toward the middle toe 6-1 with their respective hinge points with the flipper base 6-4 as axes. The bat membrane 5 on the front flipper 61 and the rear flipper membrane 9 on the two rear flipper 62 are in a contracted state. During the jumping and rising phase of the frog robot, air resistance can be reduced to ensure that the frog robot can jump to the highest point.

[0056] Specific implementation method three: such as Figure 10 As shown, this embodiment is a further limitation of specific embodiment one or two. A hind web membrane 9 is inserted between the middle toe 6-1 and the two little toes 6-2 of each hind web piece 62. A ball joint support 6-11 is inserted at the limiting block 6-10 of each hind web piece 62. The hind limb connecting rod 3 is hinged to the limiting block 6-10 through the ball joint support 6-11, so that the feet of the two front web pieces 61 and the two hind web pieces 62 can be in complete contact with the ground when the frog is in any posture.

[0057] Specific implementation method four: such as Figure 5 As shown, this embodiment is a further limitation of specific embodiments one, two or three. In this embodiment, each forelimb link 2 includes a forelimb thigh 2-1, a forelimb compression spring 2-2 and a forelimb lower leg 2-3. One end of the forelimb lower leg 2-3 is fixedly connected to the top of the limiting block 6-10 in its corresponding forelimb web member 61. The other end of the forelimb lower leg 2-3 is hinged to the lower end of the forelimb thigh 2-1. The upper end of the forelimb thigh 2-1 is hinged to one of the output ends of the front steering mechanism 1. One end of the forelimb compression spring 2-2 is connected to the forelimb thigh 2-1, and the other end is connected to the forelimb lower leg 2-3, and is located on the side of the forelimb thigh 2-1 and forelimb lower leg 2-3 facing the forelimb web member 61.

[0058] In this embodiment, the front steering mechanism 1 drives the forelimb thigh 2-1 to rotate clockwise or counterclockwise, and the forelimb thigh 2-1 drives the corresponding forefoot web 61 to rotate clockwise or counterclockwise.

[0059] In this embodiment, the connection between the forelimb link 2 and the forelimb thigh 2-1 and forelimb lower leg 2-3 is a joint structure, which is fixed by the forelimb compression spring 2-2. When the frog robot lies on the ground or on a tree branch, it can adapt to uneven lying points, ensuring that the two front webbed feet 61 can always be in contact with the ground, increasing the balance of the body. At the same time, at the moment of landing, due to the large impact force between the frog robot and the landing point, the forelimb thigh 2-1, the forelimb compression spring 2-2, and the forelimb lower leg 2-3 can play a buffering role, preventing the large impact force from reducing the life of the front steering mechanism 1. In addition, by changing the length of the forelimb compression spring 2-2, the included angle between the forelimb thigh 2-1 and the forelimb lower leg 2-3 can be changed, thereby changing the frog's pitch angle in the initial state, and ultimately changing the angle of attack of the frog's jump, thus achieving a greater jump span.

[0060] Specific implementation method five: such as Figure 3 and Figure 4 As shown, this embodiment is a further limitation of specific embodiments one, two, three or four. The front steering mechanism 1 includes a left incomplete gear 1-1, a driving gear 1-2, a driven gear 1-3, a right incomplete gear 1-4, a servo motor 1-5 and a servo disc 1-6. The left incomplete gear 1-1 and the right incomplete gear 1-4 are hinged side by side on the top surface of the main body 7. The driving gear 1-2 and the driven gear 1-3 are arranged between the left incomplete gear 1-1 and the right incomplete gear 1-4. The driving gear 1-2 meshes with the driven gear 1-3. The driving gear 1-2 meshes with the adjacent left incomplete gear 1-1. The driven gear 1-3 meshes with the adjacent right incomplete gear 1-4. The servo disc 1-6 is coaxially connected to the driving gear 1-2. The servo motor 1-5 is arranged on the servo disc 1-6. The two forelimb connecting rods 2 are respectively hinged to their respective left incomplete gear 1-1 and right incomplete gear 1-4.

[0061] In this embodiment, the servo motor 1-5 drives the drive gear 1-2 to rotate via the servo disc 1-6. The drive gear 1-2 drives the left incomplete gear 1-1 and the driven gear 1-3, which mesh with it, to rotate in the opposite direction. If the drive gear 1-2 rotates clockwise, the left incomplete gear 1-1 and the driven gear 1-3 rotate counterclockwise; conversely, if the drive gear 1-2 rotates counterclockwise, the left incomplete gear 1-1 and the driven gear 1-3 rotate clockwise, and the driven gear 1-3 drives the right incomplete gear 1-4 to rotate in the opposite direction. That is, the left incomplete gear 1-1 and the right incomplete gear 1-4 rotate in opposite directions, thereby causing the two forelimb linkages 2 connected to them to move in the opposite direction. The two forelimb linkages 2 drive the two forefoot webs 61 to make relative closing or relative spreading movements.

[0062] Specific implementation method six: such as Figure 7 , Figure 8As shown, this embodiment is a further limitation of specific embodiments one, two, three, four or five. The potential energy storage mechanism 4 includes two potential energy storage units, which are arranged side by side on the top surface of the main body 7 and drive the opening and closing of the two rear fin parts 62 respectively.

[0063] Each potential energy storage unit includes a motor 4-1, a small incomplete gear 4-2-1, a constant force spring plate 4-3-1, an internal gear 4-4, a bearing 4-5, a first shaft 4-6, a second shaft 4-7, and a linear bearing 4-8. The first shaft 4-6 and the second shaft 4-7 are vertically arranged side by side on the main body 7. The second shaft 4-7 is located near the front end of the main body 7, and the linear bearing 4-8 is mounted on the second shaft 4-7. The first shaft 4-6 is located near the rear end of the main body 7. Gear 4-4 and bearing 4-5 are coaxially mounted on the first shaft 4-6 from top to bottom. The power input end of the rear limb connecting rod 3 is mounted on the outer ring of bearing 4-5 and is fixedly connected to the internal gear 4-4. The small incomplete gear 4-2-1 meshes with the internal gear 4-4. A motor 4-1 is coaxially mounted on the small incomplete gear 4-2-1. One end of the constant force spring plate 4-3-1 is wound around the linear bearing 4-8, and the other end of the constant force spring plate 4-3-1 is fixed to the outer ring wall of the internal gear 4-4.

[0064] In this embodiment, since the driving gear providing power is an incomplete gear, driving force is only provided when the small incomplete gear 4-2-1 meshes with the internal gear 4-4. When the small incomplete gear 4-2-1 and the internal gear 4-4 are no longer meshed, there is no power output. Therefore, the zero position is taken as the first two teeth of the small incomplete gear 4-2-1 rotating to the toothless region. When the small incomplete gear 4-2-1 rotates to the zero position, the internal gear 4-4 is driven to rotate. Since the end of the constant force spring plate 4-3-1 is fixed on the internal gear 4-4, when the internal gear 4-4 rotates, it will generate a pulling force on the constant force spring plate 4-3-1, and the constant force spring plate 4-3-1 will be pulled... 3-1 is pulled out from the linear bearing 4-8 and wrapped around the outer ring wall of the internal gear 4-4, so that the constant force spring plate 4-3-1 is fully charged with elastic potential energy; at the same time, the internal gear 4-4 drives the hind leg thigh 3-5 connected to it to rotate. The hind leg thigh 3-5 drives the hind leg lower leg 3-4 to move towards the hind leg thigh 3-5 through the first link 3-1, the second link 3-2 and the third link 3-3, until the small incomplete gear 4-2-1 and the internal gear 4-4 no longer mesh and drive. At this time, the hind leg link 3 becomes a compressed state, and the constant force spring plate 4-3-1 stores a certain amount of elastic potential energy, preparing for the frog robot to jump out.

[0065] When the two small incomplete gears 4-2-1 are disengaged from their corresponding internal gears 4-4, the two constant force spring plates 4-3-1, being unaffected by external forces, begin to release elastic potential energy, winding around the linear bearing 4-8 and driving their respective connected internal gears 4-4 to rotate in opposite directions. The two internal gears 4-4 then drive the two hind limb thighs 3-5 to rotate in opposite directions. The hind limb thighs 3-5, through the first link 3-1, the second link 3-2, and the third link 3-3, drive the hind limb lower legs 3-4 to perform a push-off action, thus enabling the frog robot to jump.

[0066] Specific implementation method seven: such as Figure 8 and Figure 9 As shown, this embodiment is a further limitation of specific embodiments one, two, three, four, five or six. Each hind limb link 3 includes a first link 3-1, a second link 3-2, a third link 3-3, a hind limb lower leg 3-4, a hind limb thigh 3-5 and an ankle joint 3-6. One end of the first link 3-1 is hinged to its adjacent second shaft 4-7, and the other end of the first link 3-1 is hinged to one end of the hind limb lower leg 3-4. The other end of the hind limb lower leg 3-4 is connected to a hind foot web 62 via the ankle joint 3-6 to a corresponding ball joint branch 6-11. One end of the second link 3-2 and one end of the third link 3-3 are coaxially hinged to one end of the hind limb thigh 3-5. The other end of the second link 3-2 is hinged to the first link 3-1, and the other end of the third link 3-3 is hinged to the hind limb lower leg 3-4. The other end of the hind limb thigh 3-5 serves as a power input end, is mounted on a bearing 4-5 and fixedly connected to an internal gear 4-4.

[0067] In this embodiment, the first link 3-1, the second link 3-2, the third link 3-3 and the hind leg 3-4 form a quadrilateral link structure. When the hind leg thigh 3-5 rotates, it will cause the quadrilateral link structure to deform, thereby causing the hind leg 3-4 to extend or retract.

[0068] The elastic potential energy storage and release device used in this invention is achieved by utilizing the characteristic that the elastic force of a constant force spring doubles when stretched in the opposite direction and rapidly retracts when released. Its high explosive force can be used in some biomimetic jumping robots. Moreover, the constant force spring can provide a continuous and stable force output to this invention, and the linkage of the incomplete gears can also realize the function of releasing the elastic potential energy stored in the spring whenever needed, making the robot compact and easy to control, and giving the frog better jumping performance.

[0069] The invention utilizes the coordination of forelimbs, hindlimbs, bilateral lateral membranes, and webbed feet to ensure minimal contact area with air during the frog's ascent and maximum contact area during gliding at the highest point. This allows the robot to glide through the air like a frog, maximizing the use of air resistance and gliding a greater distance, exhibiting greater biomimetic performance. It overcomes the shortcomings of some existing biomimetic frogs that do not utilize air resistance during jumping. Except for the initial charge, each subsequent charge is completed in the air using a mechanism that combines the storage and release of elastic potential energy. Simultaneously, the membranes open during the charge, maximizing contact area with air and allowing the frog to jump further. Furthermore, its ability to jump continuously and over long distances facilitates the integration of detection equipment, communication systems, and other devices into explorations of complex terrains.

[0070] Specific implementation method eight: Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17 This embodiment describes a multi-posture motion control method in which the two front webbed feet 61, two hind webbed feet 62, two forelimb links 2, two hindlimb links 3, two bat membranes 5, and two hind webbed feet 9, under the control of the front steering mechanism 1 and the potential energy storage mechanism 4, perform continuous movements of retracting legs to store energy, jumping, moving upward, and sliding. The retracting legs to store energy, jumping, moving upward, and sliding movements form a standard motion posture transition process. Multiple standard motion posture transition processes cycle repeatedly to form a continuous jumping and moving process. Specifically: S1, preparation stage: The frog robot is in a prone position, with the two front webbed feet 61 and two hind webbed feet 62... The webbed feet 62 are in contact with the prone position, and the two front webbed feet 61 and the two rear webbed feet 62 are in an extended state to ensure a stable prone position; the small incomplete gear 4-2-1 in the potential energy storage mechanism 4 is disengaged from the internal gear 4-4; the constant force spring plate 4-3-1 is wound around the linear bearing 4-8 and is in a free extension and retraction state; the connection between the forelimb thigh and the forelimb lower leg is a joint structure, and the forelimb compression spring is used to achieve stability, and the angle of the frog's jump can be changed by changing the length of the forelimb compression spring; the hind limb lower leg is connected to the rear webbed feet at the ankle through a ball hinge to ensure that the four webbed feet are in stable contact with the ground;

[0071] S2, Leg-retracting energy storage stage: The two motors 4-1 in the potential energy storage mechanism 4 drive the two internal gears 4-4 in the opposite direction through the small incomplete gear 4-2-1, and cause the two constant force spring plates 4-3-1 to be pulled out from the linear bearing 4-8 and wrapped around their respective internal gears 4-4; at the same time, the two internal gears 4-4 respectively drive the hind limb thighs 3-5 connected to them to rotate in the opposite direction. The hind limb thighs 3-5 drive the hind limb lower legs 3-4 to move towards the hind limb thighs 3-5 through the first link 3-1, the second link 3-2 and the third link 3-3, until the small incomplete gear 4-2-1 and the internal gears 4-4 no longer mesh and drive. At this time, the hind limb link 3 becomes a compressed state, and the constant force spring plates 4-3-1 store a certain amount of elastic potential energy, preparing for the frog robot to jump out;

[0072] S3, Jumping Moment: When the two small incomplete gears 4-2-1 are disengaged from their corresponding internal gears 4-4, the two constant force spring plates 4-3-1, being unaffected by external forces, begin to release elastic potential energy, wrap around the linear bearing 4-8, and quickly drive their respective connected internal gears 4-4 to rotate in opposite directions. The two internal gears 4-4 respectively drive the two hind limb thighs 3-5 to rotate in opposite directions. The hind limb thighs 3-5, through the first link 3-1, the second link 3-2, and the third link 3-3, drive the hind limb lower legs 3-4 to perform a pushing-off action, thus realizing the frog robot's jump;

[0073] S4, Ascending Phase: When the frog robot is in the ascending phase under the action of the potential energy storage mechanism 4 and the two hind limb connecting rods 3, the servo motor 1-5 transmits the rotational torque to the left incomplete gear 1-1, the driven gear 1-3, and the right incomplete gear 1-4 through the driving gear 1-2; the left incomplete gear 1-1 and the right incomplete gear 1-4 drive the two front limb connecting rods 2 connected to them to rotate in opposite directions, thereby causing the two front webbed parts 61 to move inward, reducing the contact area between the front end of the frog robot and the air, and reducing air resistance; at the same time, the front webbed parts 61 and the hind limbs The coil 6-8 in the webbed part 62 is energized. The coil 6-8 and the magnetic plate 6-5 overcome the elasticity of the webbed compression spring 6-7 and attract each other, pulling the middle toe 6-1 towards the limit block 6-10. The middle toe 6-1 drives the two little toes 6-2 to rotate inward through the two connecting rods 6-3, so that the included angle between the two little toes 6-2 is minimized. The bat membrane 5 in the front webbed part 61 is in a contracted state, and the rear web membrane 9 in the two rear webbed parts 62 is also in a contracted state. The area of ​​the bat membrane 5 on both sides is also reduced to the minimum, which facilitates the rapid ascent of the frog robot.

[0074] S5, Gliding Phase: When the frog robot is at its highest point of ascent, the two motors 4-1 in the potential energy storage mechanism 4 drive the two internal gears 4-4 in the opposite direction again through the small incomplete gear 4-2-1, causing the two constant force spring plates 4-3-1 to be pulled out from the linear bearing 4-8 again and wrapped around their respective internal gears 4-4; at the same time, the two internal gears 4-4 respectively drive the hind leg thighs 3-5 connected to them to rotate in the opposite direction, and the hind leg thighs 3-5 drive the hind leg lower legs 3-4 through the first link 3-1, the second link 3-2 and the third link 3-3. The bat moves towards the hind thighs 3-5; due to the action of the first link 3-1, the bat membranes 5 on both sides of the main body 7 are unfolded, increasing air resistance; at the same time, the servo motor 1-5 transmits the rotational torque to the left incomplete gear 1-1, the driven gear 1-3 and the right incomplete gear 1-4 through the driving gear 1-2; the left incomplete gear 1-1 and the right incomplete gear 1-4 drive the two forelimb links 2 connected to them to rotate in opposite directions, thereby driving the two forefoot webs 61 to unfold outward, so that the unfolded area of ​​the bat membranes 5 reaches the maximum.

[0075] The coils 6-8 in the two front fins 61 and the two rear fins 62 are de-energized, causing the coils 6-8 to no longer attract the magnetic sheet 6-5. The fin compression spring 6-7 returns to its original position and pushes the middle toe 6-1 away from the limit block 6-10 via the magnetic sheet 6-5. The middle toe 6-1 drives the two little toes 6-2 to rotate outward through the two connecting rods 6-3, making the angle between the two little toes 6-2 larger. The bat membrane 5 in the front fin 61 is in the unfolded state, and the rear fin membrane 9 in the two rear fins 62 is also in the unfolded state. This increases the contact area between the frog robot and the air, increases air resistance, and allows it to glide in the air.

[0076] S6, Landing Phase: Just before landing, the servo motor 1-5 is controlled to rotate in the opposite direction again. The servo motor 1-5 transmits the rotational torque to the left incomplete gear 1-1, the driven gear 1-3, and the right incomplete gear 1-4 through the driving gear 1-2. The left incomplete gear 1-1 and the right incomplete gear 1-4 drive the two forelimb linkages 2 connected to them to rotate in opposite directions, thereby causing the two front flipper components 61 to move inward, reducing the contact area between the front end of the frog robot and the air, and reducing air resistance. At the same time, the coils 6-8 in the front flipper component 61 and the rear flipper component 62 are energized. In the first state, coil 6-8 and magnetic plate 6-5 overcome the elasticity of the web compression spring 6-7 and attract each other, pulling the middle toe 6-1 towards the limiting block 6-10. The middle toe 6-1 drives the two little toes 6-2 to rotate inward through the two connecting rods 6-3, so that the included angle between the two little toes 6-2 is minimized. The bat membrane 5 in the front web member 61 is in a contracted state, and the rear web membrane 9 in the two rear web members 62 is also in a contracted state. The frog robot returns to the jumping state and prepares for the next jump. In this way, one cycle is completed. To achieve continuous jumping, the above actions can be repeated.

[0077] In addition, combined Figure 18 and Figure 19 Through ANSYS Fluent simulation calculations, the resistance encountered by the frog during descent was compared between its gliding state with the membrane open and its gliding state with the membrane closed, assuming an environment with a wind speed of 0.2 m / s. The resistance report showed that the resistance was 0.15 N when gliding with the membrane closed and 0.52 N when gliding with the membrane open. This demonstrates that the coordination process between the front steering mechanism 1, the two forelimb links 2, the two hindlimb links 3, the potential energy storage mechanism 4, the two bat membranes 5, the two forelimb webs 61, the two hindlimb webs 62, the main body 7, the shell 8, and the two hind web membranes 9 in the gliding posture is reasonable and reliable.

[0078] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A frog robot, characterized in that: The system includes a front steering mechanism (1), two forelimb links (2), two hindlimb links (3), a potential energy storage mechanism (4), two bat membranes (5), two forefoot webs (61), two hindfoot webs (62), a main body (7), an outer shell (8), and two hindfoot webs (9). The outer shell (8) is fastened to the top surface of the main body (7) and forms an inner cavity between it and the main body (7). The front steering mechanism (1) and the potential energy storage mechanism (4) are both located in the inner cavity. The front steering mechanism (1) and the potential energy storage mechanism (4) are respectively located on the front and rear top surfaces of the main body (7). The two forelimb links (2) are respectively located on both sides of the front end of the main body (7). The upper end of each forelimb link (2) is hinged to the front steering mechanism (1). The lower end is connected to a front fin (61); two hind limb links (3) are respectively set on both sides of the rear end of the main body (7), the upper end of each hind limb link (3) is connected to the potential energy storage mechanism (4), the lower end of each hind limb link (3) is provided with a hind fin (62), and a hind fin membrane (9) is provided in each hind fin (62); a bat membrane (5) is passed between each front fin (61) and the hind limb link (3) on the same side of the main body (7); the two front fins (61), the two hind fins (62), the two front limb links (2), the two hind limb links (3), the two bat membranes (5) and the two hind fin membranes (9) perform leg retraction, jumping, upward movement and / or sliding movement under the control of the front steering mechanism (1) and the potential energy storage mechanism (4).

2. The frog robot according to claim 1, characterized in that: The two front fin components (61) and the two rear fin components (62) have the same structure; each front fin component (61) includes a middle toe (6-1), two little toes (6-2), two connecting rods (6-3), a fin base (6-4), a magnetic plate (6-5), an iron ring fixing component (6-6), a fin compression spring (6-7), a coil (6-8), a coil fixing ring (6-9), and a limiting block (6-10). The fin base (6-4) is a frustum, and a first strip-shaped notch is machined on the fin base (6-4). One end of the middle toe (6-1) is slidably set on the fin base. Within the first strip-shaped opening, the other end of the middle toe (6-1) extends radially along the fin base (6-4). Two little toes (6-2) are symmetrically positioned on either side of the middle toe (6-1). One end of each little toe (6-2) is hinged to the fin base (6-4), and the other end of each little toe (6-2) extends horizontally and is on the same horizontal plane as the middle toe (6-1). A connecting rod (6-3) is provided between the middle toe (6-1) and each little toe (6-2). One end of each connecting rod (6-3) is coaxially hinged to the middle toe (6-1) near the foot. At one end of the webbed base (6-4), the other ends of two connecting rods (6-3) are respectively hinged to the little toe (6-2) closest to it; one end of the bat membrane (5) is fixedly connected to the little toe (6-2) closest to the main body (7), and the other end of the bat membrane (5) passes through the middle toe (6-1) and the little toe (6-2) away from the main body (7) in sequence, and is connected to the outer wall of the hind limb connecting rod (3) on the same side. The limiting block (6-10) is set on the webbed base (6-4) and is located on the side of the first strip-shaped notch away from the middle toe (6-1). (6-10) is provided with a coil fixing ring (6-9), and a coil (6-8) is wound on the coil fixing ring (6-9). The magnetic sheet (6-5) is vertically set on the top surface of the upper connecting rod (6-3) of the two connecting rods (6-3). The magnetic sheet (6-5) is provided with an iron ring fixing member (6-6) on the side facing the coil fixing ring (6-9). A fin compression spring (6-7) is provided between the iron ring fixing member (6-6) and the coil (6-8). The opening and closing of the front fin part (61) is realized by the extension and contraction of the fin compression spring (6-7).

3. The frog robot according to claim 2, characterized in that: A hind web membrane (9) is inserted between the middle toe (6-1) and the two little toes (6-2) of each hind web piece (62). A ball joint support (6-11) is inserted at the limiting block (6-10) of each hind web piece (62). The hind limb link (3) is hinged to the limiting block (6-10) through the ball joint support (6-11) so that the feet of the two front web pieces (61) and the two hind web pieces (62) are in complete contact with the ground when the frog robot is in any posture.

4. A frog robot according to claim 2 or 3, characterized in that: Each forelimb link (2) includes a forelimb thigh (2-1), a forelimb compression spring (2-2), and a forelimb lower leg (2-3). One end of the forelimb lower leg (2-3) is fixedly connected to the top of the limiting block (6-10) in its corresponding forefoot web (61). The other end of the forelimb lower leg (2-3) is hinged to the lower end of the forelimb thigh (2-1). The upper end of the forelimb thigh (2-1) is hinged to one of the output ends of the front steering mechanism (1). One end of the forelimb compression spring (2-2) is connected to the forelimb thigh (2-1), and the other end is connected to the forelimb lower leg (2-3), and is located on the side of the forelimb thigh (2-1) and forelimb lower leg (2-3) facing the forefoot web (61).

5. A frog robot according to claim 4, characterized in that: The front steering mechanism (1) includes a left incomplete gear (1-1), a drive gear (1-2), a driven gear (1-3), a right incomplete gear (1-4), a servo motor (1-5), and a servo disc (1-6). The left incomplete gear (1-1) and the right incomplete gear (1-4) are hinged side by side to the top surface of the main body (7). The drive gear (1-2) and the driven gear (1-3) are arranged between the left incomplete gear (1-1) and the right incomplete gear (1-4). The drive gear (1-2) meshes with the driven gear (1-3). The drive gear (1-2) is engaged with the adjacent left incomplete gear (1-1). -1) The driven gear (1-3) meshes with the adjacent right incomplete gear (1-4). The driving gear (1-2) is coaxially connected to the rudder disk (1-6). The rudder disk (1-6) is equipped with a servo motor (1-5). The two front limb linkages (2) are respectively hinged to their corresponding left incomplete gear (1-1) and right incomplete gear (1-4). Under the drive of the servo motor (1-5), the two front limb linkages (2) make relative closing or relative unfolding actions through the cooperation of the left incomplete gear (1-1), driving gear (1-2), driven gear (1-3) and right incomplete gear (1-4).

6. A frog robot according to claim 3, characterized in that: The potential energy storage mechanism (4) includes two potential energy storage units, which are arranged side by side on the top surface of the main body (7). Each potential energy storage unit includes a motor (4-1), a small incomplete gear (4-2-1), a constant force spring plate (4-3-1), an internal gear (4-4), a bearing (4-5), a first shaft (4-6), a second shaft (4-7), and a linear bearing (4-8). The first shaft (4-6) and the second shaft (4-7) are arranged vertically side by side on the main body (7). The second shaft (4-7) is located near the front end of the main body (7), and the linear bearing (4-8) is mounted on the second shaft (4-7). A shaft (4-6) is located near the rear end of the main body (7). The internal gear (4-4) and bearing (4-5) are coaxially mounted on the first shaft (4-6) from top to bottom. The power input end of the rear limb connecting rod (3) is mounted on the outer ring of the bearing (4-5) and is fixedly connected to the internal gear (4-4). The small incomplete gear (4-2-1) meshes with the internal gear (4-4). A motor (4-1) is coaxially mounted on the small incomplete gear (4-2-1). One end of the constant force spring plate (4-3-1) is wound around the linear bearing (4-8), and the other end of the constant force spring plate (4-3-1) is fixed on the outer ring wall of the internal gear (4-4).

7. A frog robot according to claim 6, characterized in that: Each hind limb link (3) includes a first link (3-1), a second link (3-2), a third link (3-3), a hind limb lower leg (3-4), a hind limb thigh (3-5), and an ankle joint (3-6). One end of the first link (3-1) is hinged to its adjacent second shaft (4-7), and the other end of the first link (3-1) is hinged to one end of the hind limb lower leg (3-4). The other end of the hind limb lower leg (3-4) is connected to the hind foot web (62) via the ankle joint (3-6). The ball joint support (6-11) on the hind limb is hinged. One end of the second link (3-2) and one end of the third link (3-3) are coaxially hinged to one end of the hind limb thigh (3-5). The other end of the second link (3-2) is hinged to the first link (3-1). The other end of the third link (3-3) is hinged to the hind limb lower leg (3-4). The other end of the hind limb thigh (3-5) is fitted onto the bearing (4-5) as the power input end and is fixedly connected to the internal gear (4-4).

8. A multi-posture motion control method for a frog robot as described in claims 1, 2, 3, 4, 5, 6, or 7, characterized in that: The multi-posture motion control method involves two front fins (61), two hind fins (62), two forelimb links (2), two hind limb links (3), two bat membranes (5), and two hind fin membranes (9) performing continuous movements of leg retraction, jumping, upward movement, and sliding under the control of a front steering mechanism (1) and a potential energy storage mechanism (4). The leg retraction, jumping, upward movement, and sliding movements form a standard motion posture transition process, and multiple standard motion posture transition processes are repeated to form continuous jumping movement. The process is as follows: S1, preparation stage: the frog robot is in a prone state, with the two front webbed parts (61) and the two rear webbed parts (62) in contact with the prone point, and the two front webbed parts (61) and the two rear webbed parts (62) are in an unfolded state to ensure a stable prone state; the small incomplete gear (4-2-1) and the internal gear (4-4) in the potential energy storage mechanism (4) are in a disengaged state; the constant force spring plate (4-3-1) is wrapped around the linear bearing (4-8) and is in a free extension and retraction state; S2, Leg retraction energy storage stage: The two motors (4-1) in the potential energy storage mechanism (4) drive the two internal gears (4-4) in the opposite direction through the small incomplete gear (4-2-1), and cause the two constant force spring plates (4-3-1) to be pulled out from the linear bearing (4-8) and wrapped around their respective internal gears (4-4); at the same time, the two internal gears (4-4) respectively drive the hind leg thighs (3-5) connected to them to rotate in the opposite direction. The hind leg thighs (3-5) drive the hind leg lower legs (3-4) to make a gathering action towards the hind leg thighs (3-5) through the first link (3-1), the second link (3-2) and the third link (3-3) until the small incomplete gear (4-2-1) and the internal gears (4-4) no longer mesh and drive. At this time, the hind leg link (3) becomes a gathering and compression state, and the constant force spring plates (4-3-1) store a certain amount of elastic potential energy to prepare for the frog robot to jump out; S3, Jumping Moment: When the two small incomplete gears (4-2-1) and the corresponding internal gears (4-4) are in the disengaged state, the two constant force spring plates (4-3-1) begin to release elastic potential energy due to the lack of external force. They wrap around the linear bearing (4-8) and drive the internal gears (4-4) connected to them to rotate in opposite directions. The two internal gears (4-4) drive the two hind legs (3-5) to rotate in opposite directions. The hind legs (3-5) drive the hind legs (3-4) to make a pushing-off action through the first link (3-1), the second link (3-2), and the third link (3-3), thus realizing the jumping of the frog robot. S4, Ascending Phase: When the frog robot is in the ascending phase under the action of the potential energy storage mechanism (4) and the two hind limb linkages (3), the servo motor (1-5) transmits the rotational torque to the left incomplete gear (1-1), driven gear (1-3), and right incomplete gear (1-4) through the driving gear (1-2); the left incomplete gear (1-1) and right incomplete gear (1-4) drive the two forelimb linkages (2) connected to each other to rotate in opposite directions, thereby driving the two front flipper components (61) to make an inward convergence action, reducing the contact area between the front end of the frog robot and the air, and reducing air resistance; at the same time, the front flipper component (61) and the hind flipper component (6... 2) The coil (6-8) is energized. The coil (6-8) and the magnetic plate (6-5) overcome the elasticity of the web compression spring (6-7) and attract each other. They pull the middle toe (6-1) towards the limit block (6-10). The middle toe (6-1) drives the two little toes (6-2) to rotate inward through the two connecting rods (6-3), so that the included angle between the two little toes (6-2) is minimized. The bat membrane (5) in the front web piece (61) is in a contracted state. The rear web membrane (9) in the two rear web pieces (62) is also in a contracted state. The area of ​​the bat membrane (5) on both sides is also reduced to the minimum, which facilitates the rapid ascent of the frog robot. S5, Gliding Phase: When the frog robot is at its highest point of ascent, the two motors (4-1) in the potential energy storage mechanism (4) drive the two internal gears (4-4) in the opposite direction again through the small incomplete gear (4-2-1), causing the two constant force spring plates (4-3-1) to be pulled out from the linear bearing (4-8) again and wrapped around their respective internal gears (4-4); at the same time, the two internal gears (4-4) drive the hind leg thighs (3-5) connected to them to rotate in the opposite direction, and the hind leg thighs (3-5) drive the hind leg lower legs (3-4) through the first link (3-1), the second link (3-2) and the third link (3-3). The bat moves towards the hind thigh (3-5); due to the action of the first link (3-1), the bat membranes (5) on both sides of the main body (7) are unfolded, increasing air resistance; at the same time, the servo (1-5) transmits the rotational torque to the left incomplete gear (1-1), the driven gear (1-3) and the right incomplete gear (1-4) through the driving gear (1-2); the left incomplete gear (1-1) and the right incomplete gear (1-4) drive the two forelimb links (2) connected to them to rotate in opposite directions, thereby driving the two forefoot webs (61) to unfold outward, so that the unfolded area of ​​the bat membranes (5) reaches the maximum; The coils (6-8) in the two front fins (61) and two rear fins (62) are de-energized, causing the coils (6-8) and the magnetic sheet (6-5) to no longer attract each other. The fin compression spring (6-7) is reset and pushes the middle toe (6-1) to move away from the limit block (6-10). The middle toe (6-1) drives the two little toes (6-2) to rotate outward through the two connecting rods (6-3), making the angle between the two little toes (6-2) larger. The bat membrane (5) in the front fin (61) is in the unfolded state, and the rear fin membrane (9) in the two rear fins (62) is also in the unfolded state. This makes the contact area between the frog robot and the air larger, the air resistance larger, and the frog robot gliding in the air. S6, Landing Phase: Just before landing, the servo motor (1-5) is controlled to rotate in the opposite direction again. The servo motor (1-5) transmits the rotational torque to the left incomplete gear (1-1), the driven gear (1-3), and the right incomplete gear (1-4) through the driving gear (1-2). The left incomplete gear (1-1) and the right incomplete gear (1-4) drive the two forelimb linkages (2) connected to each other to rotate in opposite directions, thereby causing the two front flipper components (61) to move inward, reducing the contact area between the front end of the frog robot and the air, and reducing air resistance. At the same time, the coils (6-8) in the front flipper component (61) and the rear flipper component (62) are energized. In the first state, the coil (6-8) and the magnetic plate (6-5) overcome the elasticity of the web compression spring (6-7) and attract each other, pulling the middle toe (6-1) towards the limit block (6-10). The middle toe (6-1) drives the two little toes (6-2) to rotate inward through the two connecting rods (6-3), so that the included angle between the two little toes (6-2) is minimized. The bat membrane (5) in the front web piece (61) is in a contracted state, and the rear web membrane (9) in the two rear web pieces (62) is also in a contracted state. The frog robot returns to the jumping state and prepares for the next jump. In this way, one cycle is completed. To achieve continuous jumping, repeat the above actions.

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