A pose-adjustable continuous hopping robot

Abstract

The present application relates to the field of robot technology, and propose a kind of posture adjustable continuous bounce robot, including rack, power mechanism, transmission mechanism, bounce mechanism, energy storage mechanism and adjusting mechanism, power mechanism is fixed on rack;Transmission mechanism is arranged on rack, and have two slidingly arranged in rack active end, the transmission mechanism is drivingly connected with power mechanism, for driving two active end sliding on rack.This posture adjustable continuous bounce robot, can be according to the size of different environmental obstacles, by adjusting the length of each bar, change the posture of robot jumping, complete the jumping of different height or distance;At the same time, the energy storage mechanism of robot is optimized, can make the energy of robot take-off and rebound phase will participate in jumping movement, improve the energy utilization of bounce robot, make it have more excellent mobility.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a continuously bouncing robot with adjustable posture. Background Technology

[0002] With the development of modern society, a large number of robots are widely used in various places to replace humans in dangerous and complex environments, such as disaster search and rescue, mine exploration, and military reconnaissance. Currently, wheeled and tracked robots and legged robots are extensively studied, but both types of robots have very limited adaptability to complex terrain and cannot cross obstacles or ditches larger than themselves. In contrast, jumping robots can often cross obstacles several times or even ten times their own size, thus possessing significant theoretical and scientific value.

[0003] Chinese patent CN102050157A discloses an energy storage and release device for a bouncing robot. It uses a screw-nut mechanism to compress a spring to store energy, and a servo motor drives a pawl to lock and release the bouncing mechanism during the locking and releasing process. This design has a large number of energy storage components and low transmission efficiency, making it unsuitable for continuous bouncing robots.

[0004] Chinese patent CN110304166A discloses a jumping mechanism for a hopping robot based on energy meshing conversion, including a main support frame and an energy conversion mechanism. This energy conversion mechanism comprises a drive unit, a transmission unit, and two sets of energy conversion jumping units. The energy conversion jumping units are designed with non-circular gears, enabling effective control of energy storage and release, and improving the energy conversion rate of the motor and spring. While this design solves the problem of low energy conversion rate in hopping robots, its non-circular gear design is relatively fixed, limiting the robot's jumping height and distance, resulting in weak maneuverability and an inability to adapt to various complex terrains.

[0005] Chinese patent CN111846012A discloses a biomimetic jumping robot with adjustable trajectory and multiple motion modes, consisting of a jumping mechanism and a clutch mechanism, resembling a six-bar linkage. The robot's jumping mechanism integrates the height-adjustable clutch and jumping mechanism, allowing the jumping mechanism to store different amounts of energy to achieve varying jumping heights. While this design enables the robot to jump to different heights, it cannot adjust its posture during flight and landing. After landing, the robot needs to rely on gravity to right itself before storing energy for the next jump, making continuous jumping impossible and resulting in poor maneuverability.

[0006] Chinese patent CN114572323A discloses a torsion spring-energy-storing eight-link micro jumping robot. Its transmission module includes three transmission gears, two double gears, and one intermittent gear for meshing transmission. The transmission device drives the motion module to compress the torsion spring for jumping. However, this design suffers from a relatively fixed jumping mechanism and low jumping flexibility. Furthermore, the robot's body structure is quite long, leading to instability in its center of gravity during continuous jumps, making it difficult for the robot to jump continuously and stably.

[0007] Against this backdrop, several requirements have been placed on the jumping performance of bouncing robots. First, the robot needs to be able to perform continuous jumps, adjusting its take-off and landing postures to quickly and stably traverse various complex terrains and reach designated target locations. Second, the robot needs to be able to adjust its take-off posture according to different obstacle sizes, completing jumps of varying heights or distances, improving its adaptability to complex environments. Finally, the energy storage mechanism of the bouncing robot needs to be optimized to improve its energy utilization rate and enable long-distance jumps. However, current research on bouncing robots often focuses on one or two of these aspects, failing to simultaneously address energy storage performance, jumping flexibility, and stability. Therefore, the performance of bouncing robots urgently needs improvement. Summary of the Invention

[0008] In view of this, the present invention proposes a posture-adjustable continuous jumping robot, which can change the robot's jumping posture by adjusting the length of each link according to different environmental obstacle sizes, and complete jumps of different heights or distances; at the same time, the robot's energy storage mechanism is optimized so that the energy of the robot in the take-off and rebound phases will participate in the jumping motion, improving the energy utilization rate of the jumping robot and making it more maneuverable.

[0009] The technical solution of this invention is implemented as follows: This invention provides a posture-adjustable continuous jumping robot, including a frame, a power mechanism, a transmission mechanism, a jumping mechanism, an energy storage mechanism, and an adjustment mechanism, wherein...

[0010] The power mechanism is fixed to the frame;

[0011] The transmission mechanism is mounted on the frame and has two movable ends that are slidably mounted on the frame. The transmission mechanism is connected to the power mechanism and is used to drive the two movable ends to slide on the frame.

[0012] There are two bouncing mechanisms, symmetrically arranged on the frame. Each bouncing mechanism includes a thigh bar, a foot bar, a limiting bar, and a calf bar.

[0013] One end of the thigh bar is hinged to one of the two movable ends;

[0014] The leg rod is hinged to the other end of the thigh rod and is used to contact the ground so that the robot can stand up;

[0015] The two ends of the limit rod are hinged to the frame and the thigh rod, respectively;

[0016] One end of the lower leg bar is hinged to the end of the foot bar, and the other end is movably mounted on the limiting bar;

[0017] The energy storage mechanism is fixed on the frame and is connected to the power mechanism through a transmission mechanism. It is used to store energy and drive the thigh lever to move through the transmission mechanism when releasing energy.

[0018] The adjustment mechanism is fixed on the limiting rod and has an adjustment end, which is used to adjust the position of the end of the lower leg rod connected to the limiting rod on the limiting rod.

[0019] Based on the above technical solutions, preferably, the system also includes a camera, which is fixed on a frame and used to capture real-time images.

[0020] Based on the above technical solutions, preferably, the power mechanism includes a geared motor and a cam, the geared motor is fixed on the frame, the cam is fixed on the output end of the geared motor, and the cam is used to push the movable end to slide on the frame.

[0021] More preferably, the transmission mechanism further includes a carriage and a transmission wheel, wherein,

[0022] The carriage is slidably mounted on the frame, and both movable ends are fixed on the carriage;

[0023] The drive wheel is located at one end of the carriage and is used to contact the cam.

[0024] Based on the above technical solutions, preferably, the transmission mechanism further includes rack one, connecting shaft, gear one, gear two, gear three, and rack two, wherein,

[0025] There are two racks, each fixed to one of the two movable ends;

[0026] The two ends of the connecting shaft are mounted on the frame via bearings;

[0027] There are two gears, both of which are fixed on the connecting shaft, and the two gears mesh with the two racks respectively;

[0028] Gear 2 is fixed on the connecting shaft;

[0029] The gear three-way bearing is installed inside the frame;

[0030] The rack two is slidably mounted on the frame and connected to one end of the energy storage mechanism. The rack two meshes with the gear three.

[0031] Based on the above technical solutions, preferably, the energy storage mechanism includes a telescopic rod and a spring, wherein,

[0032] One end of the telescopic rod is mounted on the frame, and the other end is mounted on rack two.

[0033] The spring is fixed to the outside of the telescopic rod and is used to store force through the deformation of the telescopic rod.

[0034] Based on the above technical solutions, preferably, the bouncing mechanism further includes a movable block, the limiting rod has a movable opening, the movable block is slidably disposed in the movable opening, and is hinged to the end of the lower leg rod.

[0035] More preferably, the adjustment mechanism includes a linear power assembly and a connecting plate, wherein,

[0036] The linear motion assembly has a linear motion end, which is fixed to two limit rods;

[0037] The connecting plate is fixed to the two movable blocks and is fixedly connected to the linear motion end of the linear power component.

[0038] More preferably, the linear power assembly includes a fixed frame, an adjusting motor, a lead screw bearing, and an adjusting lead screw, wherein...

[0039] The fixing frame is fixed to two limit rods;

[0040] The adjustment motor is fixed on the mounting bracket;

[0041] The lead screw bearing is fixed to the connecting plate;

[0042] The adjusting screw is connected to the adjusting motor and extends into the screw bearing for transmission connection.

[0043] Based on the above technical solutions, preferably, the bouncing mechanism further includes a rotating shaft, which is mounted on the frame via bearings, and both limiting rods are fixed on the rotating shaft and hinged to the frame via the rotating shaft.

[0044] The posture-adjustable continuous bouncing robot of the present invention has the following advantages over the prior art:

[0045] (1) By setting an adjustment mechanism, the position of the end of the lower leg bar on the limit bar is adjusted, and the distance between the end and the thigh bar is changed. When the distance between the lower leg bar and the thigh bar increases, the robot transitions from the long jump state to the high jump state. When the distance between the lower leg bar and the thigh bar decreases, the robot transitions from the high jump state to the long jump state. In this way, the robot's posture can be changed on the ground or in the air to complete jumps of different heights or distances. The robot's take-off and landing posture can be adjusted so that it can pass through various complex terrains quickly and stably.

[0046] (2) An energy storage mechanism is set up and connected to the power mechanism through a transmission mechanism. During the energy storage process, in addition to accumulating energy through the power mechanism, the robot can also use its own gravity to drive the jumping mechanism when it lands, and send the energy to the energy storage mechanism through the transmission mechanism for energy storage. This allows the energy of the robot to participate in the jumping motion during the take-off and rebound phases, improving the energy utilization rate of the jumping robot and making it more maneuverable. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a perspective view of the posture-adjustable continuous bouncing robot of the present invention;

[0049] Figure 2 This is a schematic diagram of the jumping mechanism of the posture-adjustable continuous jumping robot of the present invention.

[0050] Figure 3 This is a schematic diagram showing the connection between the posture-adjustable continuous jumping robot transmission mechanism and the thigh bar of the present invention;

[0051] Figure 4 This is a schematic diagram showing the connection between the transmission mechanism and the energy storage mechanism of the posture-adjustable continuous bouncing robot of the present invention.

[0052] Figure 5 This is a schematic diagram of the adjustment mechanism structure of the posture-adjustable continuous bouncing robot of the present invention;

[0053] Figure 6 This is a three-dimensional view of the body of the posture-adjustable continuous bouncing robot of the present invention. Detailed Implementation

[0054] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0055] like Figure 1-6As shown, the attitude-adjustable continuous bouncing robot of the present invention includes a frame 1, a power mechanism 2, a transmission mechanism 3, a bouncing mechanism 4, an energy storage mechanism 5, and an adjustment mechanism 6.

[0056] like Figure 6 As shown, frame 1 is a frame structure composed of multiple frame rods, divided into upper and lower layers. The upper layer consists of two pinion shaft bearing seat mounting plates and upper slide rail mounting plates one and two, forming a rectangular frame. The pinion shaft bearing mounting plates are located above upper slide rail mounting plates one and two, supported by four pads in the middle and connected by bolts. The lower layer consists of symmetrically distributed left and right inclined guide rail mounting frames and the lower lower slide rail mounting plates two and one below them, forming a load-bearing layer. The left and right inclined guide rail mounting frames are bolted to the spring shaft fixing frame and lower slide rail mounting plate two and mounted on lower slide rail mounting plate one. The upper and lower layers are connected by two vertical rods (one), two vertical rods (two), and two rhomboid bearing seat mounting brackets. The two vertical rods (one) are bolted to two pads at the top and to the spring shaft fixing bracket at the bottom. The two vertical rods (two) are bolted to two pads and the pinion shaft bearing mounting plate at the top and to the lower slide rail mounting plate (one) at the bottom. The two rhomboid bearing seat mounting brackets are in an inverted "Y" shape. The upper end of the rhomboid bearing seat mounting bracket is bolted to the two pads and the pinion shaft bearing mounting plate, the lower end is bolted to the lower slide rail mounting plate (two), and its end is bolted to the rhomboid bearing seat. Two horizontal plates are symmetrically distributed on the lower layer and bolted to the vertical rods (one), vertical rods (two), and rhomboid bearing seat mounting brackets.

[0057] The power mechanism 2 is fixed on the frame 1, and it provides part of the energy required for the robot to perform jumping actions through power output.

[0058] The transmission mechanism 3 is mounted on the frame 1 and has two movable ends 301 that are slidably mounted on the frame 1. The transmission mechanism 3 is connected to the power mechanism 2 and is used to drive the two movable ends 301 to slide on the frame 1.

[0059] There are two jumping mechanisms 4, which are symmetrically arranged on the frame 1. Each jumping mechanism 4 includes a thigh rod 41, a foot rod 42, a limiting rod 43, and a lower leg rod 44. Both jumping mechanisms 4 are connected to the transmission mechanism 3 through a rotating joint formed by shafts. In this embodiment, since the two jumping mechanisms 4 are stacked on top of each other and are connected to the transmission mechanism 3 in the same way, when the transmission mechanism 3 outputs power, it will drive the two jumping mechanisms 4 to move synchronously, thereby pushing the robot as a whole to jump. At the same time, the two jumping mechanisms 4 serve as the parts in contact with the ground, which allows the robot to stand stably on the ground.

[0060] Specifically, such as Figure 3As shown, one end of the thigh rod 41 is hinged to one of the two movable ends 301, and the foot rod 42 is hinged to the other end of the thigh rod 41 for contact with the ground, allowing the robot to stand. The two ends of the limiting rod 43 are hinged to the frame 1 and the thigh rod 41 respectively. One end of the lower leg rod 44 is hinged to the end of the foot rod 42, and the other end is movably mounted on the limiting rod 43. The middle part of the foot rod 42 is connected to the bottom end of the thigh rod 41 through a shaft to form a revolute joint. One end of the lower leg rod 44 is connected to the upper end of the "V"-shaped foot rod 42 through a shaft to form a revolute joint, and the other side is in contact with the ground. When jumping, the two thigh rods 41 drive the left and right jumping mechanisms to move, making the angle between the foot rod 42 and the thigh rod 41 larger, thus completing the jump. When storing energy, the foot rod 42 is in contact with the ground, and the gravitational potential energy makes the angle between the foot rod 42 and the thigh rod 41 smaller, and the energy is transferred from the thigh rod 41 to the energy storage mechanism 5.

[0061] The energy storage mechanism 5 is fixed on the frame 1 and is connected to the power mechanism 2 through the transmission mechanism 3. It is used to store energy and drive the thigh rod 41 to move through the transmission mechanism 3 when releasing energy. In the energy storage process, in addition to storing energy through the power mechanism 2, the robot can also drive the jumping mechanism 4 to move when it lands, and send the energy to the energy storage mechanism 5 through the transmission mechanism 3 for energy storage, thereby reducing the energy loss during jumping.

[0062] The adjustment mechanism 6 is fixed on the limiting rod 43 and has an adjustment end 601. The adjustment end 601 is used to adjust the position of one end of the lower leg rod 44 connected to the limiting rod 43 on the limiting rod 43. By adjusting the position of the end of the lower leg rod 44 on the limiting rod 43, the distance between the end and the thigh rod 41 is changed. When the distance between the lower leg rod 44 and the thigh rod 41 increases, the robot transitions from the long jump state to the high jump state. When the distance between the lower leg rod 44 and the thigh rod 41 decreases, the robot transitions from the high jump state to the long jump state.

[0063] In this embodiment, a camera 7 is also included. The camera 7 is fixed on the frame 1 and is used to capture real-time images. Specifically, the camera mounting plate is horizontally placed between the two diamond-shaped bearing seat mounting brackets and connected to the upper and lower layers of the frame 1 by bolts. The real-time images captured by the camera 7 are used to judge the terrain and then to accurately control the robot's jumping action. Specifically, the vision system can be used to judge the size of different environmental obstacles.

[0064] In a preferred embodiment, the power mechanism 2 includes a geared motor 21 and a cam 22. The geared motor 21 is fixed to the frame 1, and the cam 22 is fixed to the output end of the geared motor 21. The cam 22 is used to push the movable end 301 to slide on the frame 1. Specifically, it also includes a motor mounting plate, a motor support plate, and an electronic control board mounting bracket. The geared motor 21 is mounted on the "L"-shaped motor mounting plate with bolts and nuts. The other side of the motor mounting plate is fixedly connected to one side of the motor support plate with bolts and nuts. The motor support plate is fixedly connected to the "U"-shaped electronic control board mounting bracket with bolts and nuts. The cam 22 is fixedly connected to the shaft of the geared motor 21 and rotates with the shaft. By designing the contour of the cam, the jumping time interval, jumping distance, and jumping height of the bouncing robot can be controlled. The electronic control board mounting bracket is used to mount the robot's control motherboard.

[0065] In this embodiment, such as Figure 3-4 As shown, the transmission mechanism 3 also includes a slide 31 and a transmission wheel 32. The slide 31 is slidably mounted on the upper part of the frame 1. Two slide rails are also provided on the upper part of the frame 1. The slide 31 is slidably mounted on two parallel slide rails. Both movable ends 301 are fixed on the slide 31. The transmission wheel 32 is located at one end of the slide 31 and is used to contact the cam 22. When the cam 22 rotates, the transmission wheel 32 can push the slide 31 to slide on the slide rails, and the slide 31 transmits power. In addition, both movable ends 301 of the transmission mechanism 3 are located on the slide 31. The movement of the slide 31 can drive the two thigh rods 41 to move synchronously.

[0066] To enable the energy storage mechanism 5 to store power during the movement of the carriage 31 and transmit the force to the thigh rod 41 during release, the transmission mechanism 3 further includes rack 34, connecting shaft 35, gear 36, gear 37, gear 38, and rack 39. There are two racks 34, each fixed to one of the two movable ends 301; that is, both racks 34 are fixedly connected to the carriage 31. The two ends of the connecting shaft 35 are mounted on the frame 1 via bearings. Specifically, on the upper layer of the frame 1… Two bearing seats are fixed on the mounting plate of the two small gear shaft bearing seats. The connecting shaft 35 is set on the upper layer of the frame 1 through the two bearing seats. There are two gears 36, both of which are fixed on the connecting shaft 35. The two gears 36 mesh with the two racks 34 respectively. Gear 37 is fixed on the connecting shaft 35. Gear 38 is set in the frame 1 through the bearing. Rack 2 39 is slidably set on the frame 1 and connected to one end of the energy storage mechanism 5. Rack 2 39 meshes with gear 38.

[0067] In the specific working process, the power mechanism 2 drives the slide 31 to move. Simultaneously, the two racks 34 on the slide 31 move, causing the two gears 36 to rotate with the connecting shaft 35. This drives the gear 37 located in the middle of the connecting shaft 35 to rotate. Then, the gear 39 transmits the power to the gear 38, which in turn drives the rack 39 to move, thereby driving the energy storage mechanism 5 to store energy. Correspondingly, during the energy storage process, the posture of the thigh bar 41 and the lower leg bar 44 changes synchronously to form a preparatory jumping posture.

[0068] In this embodiment, such as Figure 4 As shown, the energy storage mechanism 5 includes a telescopic rod 51 and a spring 52. One end of the telescopic rod 51 is mounted on the frame 1, and the other end is mounted on the rack 39. The spring 52 is fixed to the outside of the telescopic rod 51 and is used to store energy through the deformation of the telescopic rod 51. The telescopic rod 51 is the fixed shaft of the spring 52. The telescopic rod 51 operates in a two-stage telescopic manner. When the spring 52 is compressed, the telescopic rod 51 shortens synchronously. Conversely, when the spring 52 releases its elastic potential energy, the telescopic rod 51 lengthens. A guide rail is fixed on the lower structure of the frame 1. A sliding member is slidably mounted on the guide rail. The sliding member is fixed to the rack 37. One end of the telescopic rod 51 is hinged to the frame 1, and a U-shaped member is fixed to the other end. The U-shaped member is hinged to the outside of the sliding member. When the spring 52 releases its elastic potential energy, it will push the sliding member to slide on the guide rail, causing the rack 39 to move synchronously and transmit its force to the slide 31, thereby driving the thigh rod 41 to move.

[0069] In this embodiment, to make the relative posture of the thigh bar 41 and the lower leg bar 44 adjustable, the jumping mechanism 4 also includes a movable block 45. The limiting rod 43 has a movable opening 431. The movable block 45 is slidably disposed in the movable opening 431 and is hinged to the end of the lower leg bar 44. By pushing the movable block 45 to move in the movable opening 431, the end of the lower leg bar 44 can be moved synchronously, thereby changing the relative posture of the thigh bar 41 and the lower leg bar 44, and realizing the transition and adjustment between the robot's long jump state and high jump state.

[0070] In this embodiment, such as Figure 5 As shown, the adjustment mechanism 6 includes a linear power assembly 61 and a connecting plate 62. The linear power assembly 61 has a linear motion end and is fixed on two limiting rods 43. The connecting plate 62 is fixed to two movable blocks 45 and is fixedly connected to the linear motion end of the linear power assembly 61. The linear motion end of the linear power assembly 61 pushes the connecting plate 62 to move, so that the end positions of the two movable blocks 45 are adjusted synchronously. At the same time, when the linear motion end is not moving, the movable blocks 45 can be relatively fixed to the corresponding limiting rods 43 to prevent their relative movement from affecting the robot's jumping action.

[0071] Specifically, the linear power assembly 61 includes a fixed frame 611, an adjusting motor 612, a lead screw bearing 614, and an adjusting lead screw 615. The fixed frame 611 is fixed on two limit rods 43, the adjusting motor 612 is fixed on the fixed frame 611, the lead screw bearing 614 is fixed on the connecting plate 62, and the adjusting lead screw 615 is driven by the adjusting motor 612 and extends into the lead screw bearing 614. During the adjustment process, the adjusting motor 612 drives the adjusting lead screw 615 to rotate, thereby pushing the lead screw bearing 614 to move, causing the connecting plate 62 to move synchronously, driving the two movable blocks 45 to move, thereby changing the posture of the jumping mechanism 4. It should be noted that when the adjusting mechanism 6 pushes the end of the lower leg rod 44 to move, the overall posture of the robot will also change, thereby realizing the adjustment of the long jump posture and the high jump posture.

[0072] In this embodiment, such as Figure 2 As shown, the bouncing mechanism 4 also includes a rotating shaft 46, which is mounted on the frame 1 via bearings. Both limiting rods 43 are fixed on the rotating shaft 46 and are hinged to the frame 1 via the rotating shaft 46. During the process of adjusting the robot's posture, as the lower leg rod 44 moves on the limiting rod 43, the relative angle between the limiting rod 43 and the frame 1 will also change. This change is reflected by the rotation of the rotating shaft 46.

[0073] In addition, such as Figure 3 As shown, two inclined guide rails are also provided on the lower structure of the frame 1. The thigh rod 41 has a slot in the same direction as its length. The inclined guide rails are inclined relative to the upper structure of the frame 1. A mating block is also provided on the inclined guide rails. The mating block extends into the inside of the slot and is hinged to the thigh rod 41. During the movement of the thigh rod 41, the mating block will slide between the slot and the inclined guide rail, improving the stability of the thigh rod 41.

[0074] In summary, the bouncing robot can use camera 7 to determine the size of different environmental obstacles, and by adjusting the length of each link of the bouncing mechanism 4, it can change the robot's jumping posture and complete jumps of different heights or distances. At the same time, the energy storage mechanism 5 with gears and racks can convert the gravitational potential energy of the robot's fall into potential energy to power the robot's next jump, thereby improving the energy utilization rate of the bouncing robot, and providing fast response speed and good maneuverability.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A posture-adjustable continuous jumping robot, characterized in that: It includes a frame (1), a power mechanism (2), a transmission mechanism (3), a bouncing mechanism (4), an energy storage mechanism (5), and an adjustment mechanism (6), among which, The power mechanism (2) is fixed on the frame (1); The transmission mechanism (3) is mounted on the frame (1) and has two movable ends (301) that are slidably mounted on the frame (1). The transmission mechanism (3) is connected to the power mechanism (2) for driving the two movable ends (301) to slide on the frame (1). There are two bouncing mechanisms (4), which are symmetrically arranged on the frame (1). The bouncing mechanism (4) includes a thigh rod (41), a foot rod (42), a limiting rod (43), and a calf rod (44). One end of the thigh bar (41) is hinged to one of the two movable ends (301); The foot rod (42) is hinged to the other end of the thigh rod (41) for contacting the ground and making the robot stand up; The two ends of the limiting rod (43) are hinged to the frame (1) and the thigh rod (41) respectively; One end of the lower leg rod (44) is hinged to the end of the foot rod (42), and the other end is movably mounted on the limiting rod (43); The energy storage mechanism (5) is fixed on the frame (1) and is connected to the power mechanism (2) through the transmission mechanism (3) to store energy and drive the thigh rod (41) to move through the transmission mechanism (3) when releasing energy. The adjustment mechanism (6) is fixed on the limiting rod (43) and has an adjustment end (601). The adjustment end (601) is used to adjust the position of one end of the lower leg rod (44) connected to the limiting rod (43) on the limiting rod (43).

2. The attitude-adjustable continuous jumping robot as described in claim 1, characterized in that: It also includes a camera (7), which is fixed on the frame (1) for capturing real-time images.

3. The attitude-adjustable continuous jumping robot as described in claim 1, characterized in that: The power mechanism (2) includes a geared motor (21) and a cam (22). The geared motor (21) is fixed on the frame (1), and the cam (22) is fixed on the output end of the geared motor (21). The cam (22) is used to push the movable end (301) to slide on the frame (1).

4. The attitude-adjustable continuous jumping robot as described in claim 3, characterized in that: The transmission mechanism (3) further includes a slide (31) and a transmission wheel (32), wherein, The slide (31) is slidably mounted on the frame (1), and both movable ends (301) are fixed on the slide (31); The drive wheel (32) is located at one end of the carriage (31) and is used to contact the cam (22).

5. The attitude-adjustable continuous jumping robot as described in claim 1, characterized in that: The transmission mechanism (3) further includes rack one (34), connecting shaft (35), gear one (36), gear two (37), gear three (38) and rack two (39), wherein, There are two racks (34), which are fixed on two movable ends (301) respectively; The two ends of the connecting shaft (35) are mounted on the frame (1) via bearings; There are two gears (36), both of which are fixed on the connecting shaft (35). The two gears (36) mesh with the two racks (34) respectively. Gear 2 (37) is fixed on the connecting shaft (35); Gear 3 (38) is mounted inside the frame (1) via bearings; The second rack (39) is slidably mounted on the frame (1) and connected to one end of the energy storage mechanism (5). The second rack (39) meshes with the third gear (38).

6. The attitude-adjustable continuous jumping robot as described in claim 1, characterized in that: The energy storage mechanism (5) includes a telescopic rod (51) and a spring (52), wherein, One end of the telescopic rod (51) is mounted on the frame (1), and the other end is mounted on the rack (39); The spring (52) is fixed to the outside of the telescopic rod (51) and is used to store force through the deformation of the telescopic rod (51).

7. The attitude-adjustable continuous jumping robot as described in claim 1, characterized in that: The bouncing mechanism (4) also includes a movable block (45), and the limiting rod (43) has a movable opening (431). The movable block (45) is slidably disposed in the movable opening (431) and is hinged to the end of the lower leg rod (44).

8. The attitude-adjustable continuous jumping robot as described in claim 7, characterized in that: The adjustment mechanism (6) includes a linear power assembly (61) and a connecting plate (62), wherein, The linear motion assembly (61) has a linear motion end and is fixed to two limit rods (43); The connecting plate (62) is fixed to the two movable blocks (45) and fixedly connected to the linear motion end of the linear power assembly (61).

9. The attitude-adjustable continuous jumping robot as described in claim 8, characterized in that: The linear power assembly (61) includes a fixed frame (611), an adjusting motor (612), a lead screw bearing (614), and an adjusting lead screw (615), wherein, The fixing bracket (611) is fixed on the two limiting rods (43); The adjusting motor (612) is fixed on the fixing bracket (611); The lead screw bearing (614) is fixed on the connecting plate (62); The adjusting screw (615) is connected to the adjusting motor (612) and extends into the screw bearing (614) for transmission connection.

10. The attitude-adjustable continuous jumping robot as described in claim 1, characterized in that: The bouncing mechanism (4) also includes a rotating shaft (46), which is mounted on the frame (1) via bearings. The two limiting rods (43) are fixed on the rotating shaft (46) and are hinged to the frame (1) via the rotating shaft (46).

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