A frog-like jumping robot and a control method thereof

Abstract

This invention discloses a frog-like jumping robot and its control method. The frog-like jumping robot includes a body and legs. The body is equipped with a main drive assembly for driving the legs, a gear assembly for transmission, and a control power supply module electrically connected to the main drive assembly. The gear assembly includes at least one incomplete gear for energy release. The legs include a thigh assembly connected to the body, and a lower leg assembly, a foot assembly, and a fin assembly for splashing water, connected in sequence. The lower leg assembly is connected to the thigh assembly. The legs are equipped with a torsion spring made of rubber and plastic, which connects the gear assembly and the legs. The power of the legs is provided by the torsion spring to drive the legs to perform extension and flexion movements, enabling the frog-like robot to jump continuously on the water surface and move in unstructured aquatic environments or amphibious environments. It can adapt to amphibious environment transitions and has stronger biomimetic properties.

Description

Technical Field

[0001] This invention relates to the technical field of biomimetic robots, and more specifically, to a frog-inspired jumping robot and its control method. Background Technology

[0002] Since ancient times, nature has been the source of humankind's technological ideas, engineering principles, and major inventions. Bionics, a comprehensive science that emerged in the 1960s, aims to improve or innovate existing technologies in traditional industries by observing, simulating, and creating biological shapes, movement structures, and control methods. Studying the movement mechanisms and patterns of organisms and applying them to the field of biomimetic robots is beneficial for the design of biomimetic robots and a deeper understanding of the laws of biomechanics.

[0003] Frogs possess excellent terrestrial jumping ability and agile underwater movement; however, current research on frog-inspired robots has not fully captured these advantages. Most existing biomimetic frog robots mimic the hopping motion of frogs on land, primarily by using a cam mechanism to convert its travel into spring compression, storing energy. The cam then abruptly releases this spring energy during its return stroke, acting on the hind limbs to push off the ground and leap. However, both their propulsion speed and maneuverability are limited. Another research direction for biomimetic frog robots focuses on simulating frog swimming in water. However, research and biomimetic studies on the performance of biomimetic robots in amphibious environments, as well as their functional transformations within these environments, are relatively limited, thus failing to adequately support the practicality of amphibious robots.

[0004] Frogs, as amphibians, can not only leap on land and swim in water, but also perform continuous leaps on the water's surface using the coordination of their leg muscles to catch insects flying above the water. Studying this leaping ability of frogs helps in the structural design of underwater jumping robots and in understanding the mechanical laws governing the underwater jumping process, and can be applied to subsequent fluid dynamics and dynamics simulations. Furthermore, robots with underwater jumping capabilities can perform tasks on unstructured water surfaces and in unknown waters, greatly expanding the range of robot applications. In the future, such robots equipped with various sensors can also engage in disaster relief surveys, ecological monitoring, and even counter-terrorism reconnaissance and military reconnaissance. Therefore, developing an amphibious robot capable of leaping on the water's surface and adapting to complex aquatic and terrestrial environments has significant practical importance, both from an academic and practical perspective. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing biomimetic frog robots that lack research on the kinematics of frogs in amphibious environments, and to provide a frog-inspired jumping robot and its control method, enabling the frog-inspired robot to jump continuously on the water surface and move in various aquatic or amphibious environments; at the same time, it also provides an academic research foundation for subsequent fluid dynamics simulation and dynamics simulation research.

[0006] The technical solution adopted in this invention is:

[0007] A frog-like jumping robot includes a torso and legs. The torso has a main drive assembly for driving the legs, a gear assembly for transmission, and a control power supply module. The gear assembly includes at least one incomplete gear for energy release. The control power supply module is electrically connected to the main drive assembly. The legs include a thigh assembly connected to the torso, and a lower leg assembly, a foot assembly, and a fin assembly for splashing water, connected in sequence. The lower leg assembly is connected to the thigh assembly. The legs have an elastic energy storage assembly, which is a torsion spring made of rubber and plastic. The torsion spring connects the gear assembly and the thigh assembly. The power of the legs is provided by the torsion spring to drive the thigh assembly, lower leg assembly, foot assembly, and fin assembly to perform synchronous extension and flexion movements.

[0008] Unlike traditional metal mechanical springs, the torsion spring of this invention is an elastic device made of a specific rubber-plastic material, preferably silicone, which has properties closer to animal tendons and, while being lightweight, possesses higher energy density, generating more energy under the same deformation conditions. The torsion spring is cylindrical, with inwardly recessed portions at both ends, and a through-hole cylindrical opening between these recesses. The diameter of the torsion spring is 14-16 units, and its length is 14.4-18 units. The diameter of the through-hole is 3-5 units, and its length is 2-3 units. It should be noted that the unit length is determined according to the size proportions of the frog-like jumping robot; when the overall volume of the frog-like jumping robot is large, the unit length will increase accordingly.

[0009] The working principle of this invention is as follows: The control power supply module provides energy to the main drive component to enable its startup and controls the output power of the main drive component to match the corresponding movement path of the frog-like jumping robot. The main drive component is a brushless DC (BLDC) motor, which can control its torque to always maintain its maximum value. Compared with brushed motors, BLDC motors can provide greater torque in the same volume, which is beneficial to the miniaturization and integration of this invention. Furthermore, BLDC motors can accurately feed back the target rotation number, torque, etc., and through precise control, the output can be controlled, and the motor's heat generation and power consumption can be suppressed. The BLDC motor drives the gear assembly to transfer mechanical energy to the torsion spring, compressing the torsion spring and converting the mechanical energy into elastic potential energy for storage. The gear assembly includes several gears for decelerating and increasing torque for the motor, and an incomplete gear for releasing energy in a very short time. When the torsion spring is compressed, the thigh assembly, lower leg assembly, foot assembly, and webbed foot assembly contract and fold, simulating the leg bending action before a frog jumps, completing energy storage and enabling the system to achieve its maximum energy storage state. The incomplete gear in the gear assembly rotates continuously. When the missing tooth of the incomplete gear rotates to the position where it meshes with the next-stage gear, the incomplete gear loses its meshing connection with the next-stage gear. At this moment, the elastic potential energy of the torsional spring is converted into kinetic energy and transferred to the legs, thereby causing the legs to fully extend. Driven by the legs, the flipper assembly pushes down into the water, and the frog-like jumping robot jumps or swims forward under the action of the reaction force.

[0010] Furthermore, two torsion springs are used, each corresponding to one of the two leg sections. One side of the torsion spring is fixedly connected to the torso, and the other side is fixedly connected to the leg, driving the leg to rotate and extend. The torsion spring is cylindrical, with inwardly recessed portions at both ends. The axial cross-section of the recessed portion is trapezoidal, and a through hole is provided between the two recessed portions. The diameter of the torsion spring is 7.0-8.0 mm, and its length is 7.2-9.0 mm. The diameter of the through hole is 1.5-2.5 mm, and its length is 1.0-1.5 mm. The trapezoidal axial cross-section and through hole are the optimal structure obtained through simulation optimization and experimental verification. This structure and size allow the torsion spring to produce less deformation under the same torque, reducing wear on the torsion spring material. From another perspective, this structure allows the torsion spring to generate greater torque under the same deformation conditions. The axial length of the torsion spring does not exceed 9 mm, resulting in a small volume that allows for flexible installation within the torso.

[0011] Furthermore, experimental verification shows that torsion springs with a Shore hardness of 35-50A produce better energy release effects. Preferably, torsion springs with a Shore hardness of 40A will return to their original shape after stretching, bending, and compression, thus achieving the best motion path and motion effect.

[0012] Furthermore, the body includes four parallel support plates: a first outer support plate, a second outer support plate, a first inner support plate, and a second inner support plate, with the first and second inner support plates positioned between the first and second outer support plates. Two torsion springs are respectively positioned between the first outer support plate and the first inner support plate, and between the second outer support plate and the second inner support plate. One end of each torsion spring is fixedly connected to the first and second inner support plates, preventing relative rotation between the torsion springs and the first and second inner support plates. The support plates have several openings with bearings installed in them. Several connecting shafts are also provided between the first and second outer support plates, and these connecting shafts are rolled to the support plates via bearings. The gear assembly is also fitted onto the connecting shafts. The connecting shafts include a first stepped shaft, a first gear shaft, a second gear shaft, and a second stepped shaft arranged sequentially; the second gear shaft passes through a through hole in the torsion spring, causing the torsion spring to twist. The main drive component is located on the first outer support plate, and the control power supply module is located on the second outer support plate. The two components are positioned opposite each other to balance the weight of the frog-like robot.

[0013] Furthermore, the gear assembly includes a G11 gear that rotates synchronously with the output shaft of the main drive assembly. The G11 gear is mounted on the output shaft of the BLDC motor and meshes with a G21 gear. The gear assembly also includes a G22 gear that rotates coaxially with the G21 gear, a G31 gear that meshes with the G22 gear, a G32 gear that rotates coaxially with the G31 gear, and a G41 gear that meshes with the G32 gear. The G41 gear rotates coaxially with the incomplete gear. The gear assembly also includes a G51 gear that meshes with the incomplete gear. The G51 gear and the torsion spring are driven by a second gear shaft. The incomplete gear has a missing tooth section. When the incomplete gear meshes with the G51 gear, the incomplete gear drives the G51 gear to rotate. When the missing tooth section of the incomplete gear rotates to the meshing position with the G51 gear, the incomplete gear and the G51 gear lose their meshing relationship, the force of the G51 gear on the torsion spring disappears, and the torsion spring releases its energy. It is worth noting that the engagement of gear G51 with the incomplete gear acts as a latch, immediately releasing the stored energy of the torsion spring to propel the legs in treading water. Gears G21, G22, G41, and the incomplete gear are mounted on the second stepped shaft, with G21 and G22, and G41 and the incomplete gear forming two sets of synchronizing pulleys. Gears G31 and G32 are mounted on the first gear shaft, and gear G51 is fixedly connected to the second gear shaft. The function of this gear assembly is to reduce speed and increase torque for the drive motor.

[0014] Furthermore, the thigh assembly includes a first transmission link, a second transmission link, a third transmission link, a fourth transmission link, and a fifth transmission link. The first transmission link has a boss structure in the middle that is fixedly connected to the recess of the torsion spring. The two ends of the first transmission link are respectively hinged to the second transmission link and the third transmission link. The second transmission link and the third transmission link are arranged crosswise and are respectively hinged to the two ends of the fourth transmission link. One end of the fourth transmission link is hinged to the lower leg assembly. One end of the fifth transmission link is hinged to the second stepped shaft, and the other end is hinged to the lower leg assembly, forming a six-bar Stephenson II mechanism.

[0015] Furthermore, the lower leg assembly includes a sixth transmission link, a seventh transmission link, and an eighth transmission link. The sixth transmission link has two hinge points at its upper end, L61 and L62. Hinge point L61 is hinged to one end of the fourth transmission link, and hinge point L62 is hinged to one end of the fifth transmission link. The lower end of the sixth transmission link also has hinge points L63 and L64 arranged in a "Y" shape. Hinge point L63 is hinged to the middle of the eighth transmission link. One end of the seventh transmission link is hinged to the middle of the fifth transmission link, and the other end is hinged to one end of the eighth transmission link. The other end of the eighth transmission link is hinged to the foot assembly. The fifth, sixth, seventh, and eighth transmission links constitute a four-bar parallelogram mechanism.

[0016] Furthermore, the foot assembly includes a ninth transmission link and a tenth transmission link. One end of the ninth transmission link is hinged to the L64 hinge point, and the other end is hinged to the rear end of the tenth transmission link. The middle part of the tenth transmission link is hinged to the eighth transmission link, forming a four-bar antiparallelogram mechanism. The front part of the tenth transmission link is fixedly connected to the fin assembly.

[0017] Furthermore, the flipper assembly includes an elastic membrane, a wire passing through the elastic membrane to expand or contract it, and a rope connected to the distal end of the wire. The elastic membrane is fixedly connected to the top front surface of the tenth transmission link. One end of the rope is fixed to the connection between the fifth and seventh transmission links and passes through the L63 hinge point before connecting to the wire. The front part of the tenth transmission link serves as a support for fixing the elastic membrane, and the elastic membrane is fixedly connected to both ends of the front part of the tenth transmission link. The wire is located on both sides inside the elastic membrane, expanding or contracting it under the pull of the rope. When the leg contracts, the relative length of the rope increases, resulting in a relaxed state. At this time, the wire is not subjected to the traction force of the rope, causing the elastic membrane to be in a stretched state. When the leg is fully extended, the rope fixed to the fifth transmission link changes from relaxed to taut, pulling the wire and causing it to contract, thereby achieving the purpose of contracting the elastic membrane. The elastic membrane, in its expanded state, increases the thrust during takeoff, and in its contracted state, it reduces water resistance during the jump.

[0018] This invention also includes a control method for a frog-like jumping robot, comprising the following steps:

[0019] Step S1: The power supply module controls the main drive component to start, driving the G11 gear to rotate. The G11 gear drives the G21 gear to rotate. The G21 gear and the G22 gear rotate synchronously around the second stepped shaft. The G22 gear drives the G31 gear to rotate. The G31 gear and the G32 gear rotate together on the first gear shaft. The rotation of the G32 gear transmits power to the coaxially arranged G41 gear and the incomplete gear. During the rotation, the incomplete gear transmits power to the G51 gear fixed on the second gear shaft. The G51 gear drives the second gear shaft to rotate and compresses and stores energy in the torsion spring fixed on the second gear shaft.

[0020] Step S2: During the compression and energy storage process of the torsion spring, the first transmission link fixedly connected to one end of the torsion spring rotates, causing the second, third, fourth and fifth transmission links to compress inward, forming a six-bar Stephenson II mechanism with the upper part of the sixth transmission link, thereby simulating muscle compression control of the thigh assembly.

[0021] Step S3, the fifth transmission link, the sixth transmission link, the seventh transmission link, and the eighth transmission link constitute a four-bar parallelogram mechanism; during the contraction of the Stephenson II structure, the parallelogram mechanism compresses inward, thereby simulating muscle compression control of the calf assembly;

[0022] Step S4, the lower half of the sixth transmission link, the eighth transmission link, the ninth transmission link, and the tenth transmission link constitute a four-bar anti-parallelogram mechanism; during the contraction of the parallelogram mechanism, the anti-parallelogram mechanism compresses inward and drives the wire and the elastic membrane through which it passes to fold towards the sixth transmission link, thereby enabling the entire leg to complete the energy storage action, thus enabling the system to achieve the maximum energy storage state;

[0023] Step S5: During the compression and energy storage process of the torsion spring, the included angle between the sixth transmission link and the tenth and eighth transmission links gradually decreases, and the included angle between the sixth, seventh and tenth transmission links is compressed to the minimum. The distance between the upper ends of the third and fifth transmission links decreases. Due to the compression of the legs, the relative length of the rope increases and it is in a relaxed state. At this time, the wire is not subjected to the traction force of the rope, so the elastic membrane is in a relaxed state, and the legs enter the state of preparing to release energy.

[0024] Step S6: As the incomplete gear continues to rotate, when its missing tooth portion contacts the G51 gear, the incomplete gear and the G51 gear lose their meshing connection. The elastic potential energy of the torsion spring is converted into kinetic energy and transmitted to the first transmission link, thereby causing the legs to fully extend. The rope fixed on the fifth transmission link changes from a relaxed state to a taut state. The rope pulls the wire and causes it to contract, thereby achieving the purpose of elastic membrane contraction. This allows the frog-like jumping robot to minimize water resistance and obtain optimal jumping performance during the process of jumping out of the water.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] 1. This invention utilizes the deformation energy storage of a torsion spring made of rubber and plastic material, which has the characteristics of light weight, high energy density, and fast energy release speed. Compared with traditional metal mechanical springs, the torsion spring can withstand external torsional forces to the greatest extent, improve the structural stability of the system's mechanical energy conversion into elastic potential energy, and produce the effect of increasing the energy density of the torsion spring.

[0027] 2. The frog-like jumping robot of the present invention simulates the characteristics of a frog's webbed feet retracting when jumping and unfolding when treading water through mechanical structure. By optimizing the design of the hind leg energy storage and release module and the structure of the hind leg rods, and by hinged between multiple rods, the robot has the ability to jump continuously on the water surface, effectively expanding the robot's movement space, improving movement flexibility and continuity, adapting to amphibious environment changes, and having stronger biomimicry.

[0028] 3. This invention enables frog-like robots to continuously jump on the water surface, which helps in the structural design of underwater jumping robots and the understanding of the mechanical laws of the underwater jumping process. It can also be applied to subsequent fluid dynamics and dynamics simulations, which has high academic research significance. At the same time, robots with underwater jumping capabilities can perform tasks on unstructured water and in unknown water areas, greatly expanding the application range of robots. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the frog-like jumping robot described in this invention;

[0030] Figure 2 This is a schematic diagram of the structure of the body and gear assembly described in this invention;

[0031] Figure 3 This is a schematic diagram of the leg structure described in this invention;

[0032] Figure 4 This is a schematic diagram of the structure of the torsion spring described in this invention;

[0033] Figure 5 for Figure 4 Sectional view at point AA;

[0034] Figure 6 This is a schematic diagram of the structure of the G41 gear and the incomplete gear described in this invention;

[0035] Figure 7 This is a state reference diagram for energy storage during the present invention;

[0036] Figure 8 This is a reference diagram showing the state during energy release in this invention.

[0037] In the attached image:

[0038] 1-Main drive component; 2-Control power supply module;

[0039] 3-Incomplete gear; 301-G11 gear; 302-G21 gear; 303-G22 gear; 304-G31 gear; 305-G32 gear; 306-G41 gear; 307-G51 gear;

[0040] 4-Torsion spring; 401-Recessed portion; 402-Through hole;

[0041] 501 - First outer support plate; 502 - Second outer support plate; 503 - First inner support plate; 504 - Second inner support plate;

[0042] 6-Connecting shaft; 601-First stepped shaft; 602-First gear shaft; 603-Second gear shaft; 604-Second stepped shaft;

[0043] 7-Elastic film; 8-Iron wire; 9-Rope;

[0044] 10-Tenth transmission link; 11-First transmission link; 1101-Boss structure; 12-Second transmission link; 13-Third transmission link; 14-Fourth transmission link; 15-Fifth transmission link; 16-Sixth transmission link; 1601-L61 hinge point; 1602-L62 hinge point; 1603-L63 hinge point; 1604-L64 hinge point; 17-Seventh transmission link; 18-Eighth transmission link; 19-Ninth transmission link. Detailed Implementation

[0045] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0046] In the accompanying drawings of this invention, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that terms such as "front," "rear," "left," and "right," indicating orientation or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the drawings are for illustrative purposes only and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. Furthermore, descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0047] Example 1:

[0048] like Figures 1 to 5 As shown, this embodiment provides a frog-like jumping robot, including a body and two legs. The body is equipped with a main drive assembly 1 for driving the legs, a gear assembly for transmission, and a control power supply module 2. The gear assembly includes at least one incomplete gear 3 for energy release. The control power supply module 2 is electrically connected to the main drive assembly 1, providing energy to start the main drive assembly 1 and controlling the output power of the main drive assembly 1 to match the corresponding movement path of the frog-like jumping robot. The main drive assembly 1 is a BLDC motor, and the output shaft of the BLDC motor is connected to the gear assembly. The legs include a thigh assembly connected to the body, and a lower leg assembly, a foot assembly, and a fin assembly for splashing water, connected in sequence. The lower leg assembly is connected to the thigh assembly. A torsion spring 4 made of rubber and plastic is provided on the legs. The torsion spring 4 connects the gear assembly and the thigh assembly. The power of the legs is provided by the torsion spring 4 to drive the thigh assembly, lower leg assembly, foot assembly, and fin assembly to perform synchronous extension and flexion movements.

[0049] Unlike traditional metal mechanical springs, the torsion spring 4 described in this embodiment is made of silicone with a Shore hardness of 40A. Its properties are closer to those of animal tendons, and it offers higher energy density while being lightweight, generating more energy under the same deformation conditions. Two torsion springs 4 are used, corresponding to the two legs in this embodiment. One side of the torsion spring 4 is fixedly connected to the torso, and the other side is fixedly connected to the leg, driving the leg to rotate, extend, and flex. The torsion spring 4 is a cylinder with inwardly recessed portions 401 at both ends. The axial cross-section of each recess 401 is trapezoidal, and a through hole 402 is provided between the two recesses 401. The diameter of the torsion spring 4 is 8mm, and its length is 9mm; the diameter of the through hole 402 is 2.5mm, and its length is 1.5mm. The recessed portion 401 and through hole 402 of the trapezoidal cross-section are the optimal structure obtained through simulation optimization and experimental verification. This structure allows the torsion spring 4 to produce smaller deformation under the same torque, reducing the wear of the torsion spring 4 material. From another perspective, the torsion spring 4 with this structure can generate a larger torque under the same deformation conditions. The torsion spring 4 is 9mm long and has a small volume, which has the advantage of being flexibly set in the body, which is conducive to the integration and miniaturization of the frog-like jumping robot.

[0050] A BLDC motor drives a gear assembly to transfer mechanical energy to a torsion spring 4, compressing the spring and converting the mechanical energy into stored elastic potential energy. When the torsion spring 4 is compressed, the thigh assembly, lower leg assembly, foot assembly, and flipper assembly contract and fold, simulating the leg-bending motion before a frog jumps, maximizing the system's energy storage. The incomplete gear 3 in the gear assembly continues to rotate. When the missing tooth of the incomplete gear 3 rotates to the position where it meshes with the next-level gear, the incomplete gear 3 loses its meshing connection with the next-level gear. At this point, the elastic potential energy of the torsion spring 4 is converted into kinetic energy and transferred to the legs, causing them to fully extend. Driven by the legs, the flipper assembly pushes down on the water, and the frog-like jumping robot jumps or swims forward under the reaction force. The BLDC motor continues to drive, causing the incomplete gear 3 to mesh with the next-level gear again, performing a new round of energy storage and release on the torsion spring 4. This completes the repetitive contraction and extension of the legs, enabling the frog-like jumping robot to continuously jump or swim. By adjusting the output power of the BLDC motor through the power supply module 2, the frequency of the frog-like jumping robot's leg movements can be controlled, thus enabling it to have good mobility in amphibious environments and jump on the water surface.

[0051] Example 2:

[0052] like Figure 2 or Figure 6As shown, based on Embodiment 1, the body shown is provided with several connecting shafts 6. The connecting shafts 6 include a first stepped shaft 601, a first gear shaft 602, a second gear shaft 603, and a second stepped shaft 604 arranged in sequence. The second gear shaft 603 passes through the through hole 402 on the torsion spring 4 and causes the torsion spring 4 to twist.

[0053] The gear assembly functions to reduce speed and increase torque in the main drive assembly 1. It includes a G11 gear 301 that rotates synchronously with the output shaft of the main drive assembly 1. The G11 gear 301 is mounted on the output shaft of the BLDC motor and meshes with a G21 gear 302. The gear assembly also includes a G22 gear 303 that rotates coaxially with the G21 gear 302, a G31 gear 304 that meshes with the G22 gear 303, a G32 gear 305 that rotates coaxially with the G31 gear 304, and a G41 gear 306 that meshes with the G32 gear 305. The G41 gear 306 rotates coaxially with the incomplete gear 3. The gear assembly also includes a G51 gear 307 that meshes with the incomplete gear 3. The G51 gear 307 is connected to the torsion spring 4 via a second gear shaft 603. The incomplete gear 3 has a missing tooth section. When the incomplete gear 3 meshes with the G51 gear 307, the incomplete gear 3 drives the G51 gear 307 to rotate. When the missing tooth section of the incomplete gear 3 rotates to the meshing position with the G51 gear 307, the incomplete gear 3 and the G51 gear 307 lose meshing relationship, the force of the G51 gear 307 on the torsion spring 4 disappears, and the torsion spring 4 releases its energy. It is worth noting that the engagement between the G51 gear 307 and the incomplete gear 3 is equivalent to a latch, which is used to immediately release the stored energy of the torsion spring 4 to propel the legs to tread water. The G21 gear 302, G22 gear 303, G41 gear 306 and the incomplete gear 3 are sleeved on the second stepped shaft 604. The G21 gear 302 and G22 gear 303, and the G41 gear 306 and the incomplete gear 3 are two sets of synchronous pulleys. Gears G31 304 and G32 305 are sleeved on the first gear shaft 602, and gear G51 307 is fixedly connected to the second gear shaft 603.

[0054] Example 3:

[0055] like Figure 1 or Figure 3As shown, based on Embodiment 2, the thigh assembly includes a first transmission link 11, a second transmission link 12, a third transmission link 13, a fourth transmission link 14, and a fifth transmission link 15. The first transmission link 11 has a boss structure 1101 in the middle that is fixedly connected to the recess 401 of the torsion spring 4. The two ends of the first transmission link 11 are respectively hinged to the second transmission link 12 and the third transmission link 13. The second transmission link 12 and the third transmission link 13 are arranged crosswise and are respectively hinged to the two ends of the fourth transmission link 14. The front end of the fourth transmission link 14 is hinged to the lower leg assembly. One end of the fifth transmission link 15 is hinged to the second stepped shaft 604, and the other end is hinged to the lower leg assembly, forming a six-bar Stephenson type II mechanism.

[0056] The lower leg assembly includes a sixth transmission link 16, a seventh transmission link 17, and an eighth transmission link 18. The upper end of the sixth transmission link 16 has two hinge points, namely L61 hinge point 1601 and L62 hinge point 1602. L61 hinge point 1601 is hinged to one end of the fourth transmission link 14, and L62 hinge point 1602 is hinged to one end of the fifth transmission link 15. The lower end of the sixth transmission link 16 also has L63 hinge point 1603 and L64 hinge point 1604 arranged in a "Y" shape. L63 hinge point 1603 is hinged to the middle of the eighth transmission link 18, and L64 hinge point 1604 is hinged to the foot assembly. One end of the seventh transmission link 17 is hinged to the middle of the fifth transmission link 15, and the other end is hinged to one end of the eighth transmission link 18. The other end of the eighth transmission link 18 is hinged to the foot assembly. The fifth transmission link 15, the sixth transmission link 16, the seventh transmission link 17, and the eighth transmission link 18 constitute a four-bar parallelogram mechanism.

[0057] The foot assembly includes a ninth transmission link 19 and a tenth transmission link 10. One end of the ninth transmission link 19 is hinged to hinge point 1604 at L64, and the other end is hinged to the rear end of the tenth transmission link 10. The middle part of the tenth transmission link 10 is hinged to the eighth transmission link 18, forming a four-bar antiparallelogram mechanism. A fin assembly is fixedly connected to the front part of the tenth transmission link 10.

[0058] The flipper assembly includes an elastic membrane 7, a wire 8 passing through the elastic membrane 7 to expand or contract it, and a rope 9 connected to the end of the wire 8 away from the leg. The elastic membrane 7 is fixedly connected to the front top surface of the tenth transmission link 10. One end of the rope 9 is fixed to the connection between the fifth transmission link 15 and the seventh transmission link 17, and passes through the L63 hinge point 1603 before connecting to the wire 8. The front part of the tenth transmission link 10 serves as a support for fixing the elastic membrane 7, and the elastic membrane 7 is fixedly connected to both ends of the front part of the tenth transmission link 10. The wire 8 is located on both sides inside the elastic membrane 7, and expands or contracts the elastic membrane 7 under the pull of the rope 9. When the leg contracts, the relative length of the rope 9 increases, and it is in a relaxed state. At this time, the wire 8 does not receive the traction force of the rope 9, and the elastic membrane 7 is in an expanded state. When the leg is fully extended, the rope 9 fixed to the fifth transmission link 15 changes from relaxed to taut, and the rope 9 pulls the wire 8 to contract it, thereby achieving the purpose of contracting the elastic membrane 7. The elastic membrane 7 can increase the thrust during take-off when it is in the expanded state, and can reduce the water resistance during jump when it is in the contracted state.

[0059] Example 4:

[0060] This embodiment discloses a control method for controlling a frog-like jumping robot as disclosed in any of the above embodiments. The specific control method of this embodiment is as follows:

[0061] See Figure 2 The power supply module 2 controls the main drive assembly 1 to start, driving the G11 gear 301 to rotate. The G11 gear 301 drives the G21 gear 302 to rotate. The G21 gear 302 and the G22 gear 303 rotate synchronously around the second stepped shaft 604. The G22 gear 303 drives the G31 gear 304 to rotate. The G31 gear 304 and the G32 gear 305 rotate together on the first gear shaft 602. The rotation of the G32 gear 305 transmits power to the coaxially arranged G41 gear 306 and the incomplete gear 3. During the rotation, the incomplete gear 3 transmits power to the G51 gear 307 fixed on the second gear shaft 603. The G51 gear 307 drives the second gear shaft 603 to rotate and compresses and stores energy in the torsion spring 4 set on the second gear shaft 603.

[0062] During the compression and energy storage process of the torsion spring 4, it drives the first transmission link 11, which is fixedly connected to one end of it, to rotate, causing the second transmission link 12, the third transmission link 13, the fourth transmission link 14 and the fifth transmission link 15 to compress inward, forming a six-bar Stephenson II mechanism with the upper part of the sixth transmission link 16, thereby simulating muscle compression control of the thigh assembly.

[0063] The fifth transmission link 15, the sixth transmission link 16, the seventh transmission link 17, and the eighth transmission link 18 constitute a four-bar parallelogram mechanism; during the contraction of the Stephenson II structure, the parallelogram mechanism compresses inward, thereby simulating muscle compression control of the calf assembly.

[0064] See Figure 7 The lower half of the sixth transmission link 16, the eighth transmission link 18, the ninth transmission link 19, and the tenth transmission link 10 constitute a four-bar anti-parallelogram mechanism. During the contraction of the parallelogram mechanism, the anti-parallelogram mechanism compresses inward and drives the wire 8 and the elastic membrane 7 through which it passes to fold towards the sixth transmission link 16, thereby enabling the entire leg to complete the energy storage action, thus enabling the system to achieve the maximum energy storage state.

[0065] During the compression and energy storage process of the torsion spring 4, the included angle between the sixth transmission link 16 and the tenth transmission link 10 and the eighth transmission link 18 gradually decreases. The included angle between the sixth transmission link 16, the seventh transmission link 17 and the tenth transmission link 10 is compressed to the minimum. The distance between the upper ends of the third transmission link 13 and the fifth transmission link 15 decreases. Due to the compression of the leg, the relative length of the rope 9 increases and it is in a relaxed state. At this time, the wire 8 is not subjected to the traction force of the rope 9, so the elastic membrane 7 is in a relaxed state. The leg enters the state of preparing to release energy.

[0066] See Figure 6 as well as Figure 8 As the incomplete gear 3 continues to rotate, when its missing tooth portion contacts the G51 gear 307, the incomplete gear 3 and the G51 gear 307 lose their meshing connection. The elastic potential energy of the torsion spring 4 is converted into kinetic energy and transmitted to the first transmission link 11, thereby causing the legs to fully extend. The rope 9 fixed on the fifth transmission link 15 changes from a relaxed state to a taut state. The rope 9 pulls the wire 8 and causes it to contract, thereby achieving the purpose of contracting the elastic membrane 7. This allows the frog-like jumping robot to minimize water resistance and obtain optimal jumping performance during the process of jumping out of the water.

[0067] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0068] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A frog-like jumping robot, comprising a body and legs, wherein the body is provided with a main drive assembly (1) for driving the legs, a gear assembly for transmission, and a control power supply module (2) electrically connected to the main drive assembly (1), the gear assembly including at least one incomplete gear (3) for energy release, characterized in that, An elastic energy storage component is provided on the leg. The elastic energy storage component is a torsion spring (4) made of rubber and plastic. The torsion spring (4) connects the gear assembly and the leg. The power of the leg is provided by the torsion spring (4) to drive the leg to perform extension and flexion movements. The torsion spring (4) is cylindrical and has inwardly recessed portions (401) at both ends. A cylindrical through hole (402) is provided between the recessed portions (401) at both ends. The diameter of the torsion spring (4) is 14-16 units and the length is 14.4-18 units. The diameter of the through hole (402) is 3-5 units and the length is 2-3 units. The leg assembly includes a thigh assembly connected to the torso, a lower leg assembly connected to the thigh assembly, a foot assembly connected to the lower leg assembly, and a fin assembly connected to the foot assembly for paddling. The thigh assembly includes a first transmission link (11), a second transmission link (12), a third transmission link (13), a fourth transmission link (14), and a fifth transmission link (15). The first transmission link (11) has a boss structure (1101) in the middle that is fixedly connected to the recess (401) of the torsion spring (4). The two ends of the first transmission link (11) are respectively hinged to the second transmission link (12) and the third transmission link (13). The second transmission link (12) and the third transmission link (13) are arranged crosswise and respectively hinged to the two ends of the fourth transmission link (14). One end of the fourth transmission link (14) is hinged to the lower leg assembly. One end of the fifth transmission link (15) is hinged to the second stepped shaft (604), and the other end is hinged to the lower leg assembly. The lower leg assembly includes a sixth transmission link (16), a seventh transmission link (17), and an eighth transmission link (18). The sixth transmission link (16) has two hinge points at its upper end, namely hinge point L61 (1601) and hinge point L62 (1602). Hinge point L61 (1601) is hinged to one end of the fourth transmission link (14), and hinge point L62 (1602) is hinged to one end of the fifth transmission link (15). The lower end of the sixth transmission link (16) is also provided with L63 hinge point (1603) and L64 hinge point (1604) distributed in a "Y" shape. The L63 hinge point (1603) is hinged to the middle of the eighth transmission link (18). One end of the seventh transmission link (17) is hinged to the middle of the fifth transmission link (15), and the other end is hinged to one end of the eighth transmission link (18). The other end of the eighth transmission link (18) is hinged to the foot assembly. The foot assembly includes a ninth transmission link (19) and a tenth transmission link (10). One end of the ninth transmission link (19) is hinged to the L64 hinge point (1604), and the other end is hinged to the rear end of the tenth transmission link (10). The middle part of the tenth transmission link (10) is hinged to the eighth transmission link (18). The front part of the tenth transmission link (10) is fixedly connected to the fin assembly. The flipper assembly includes an elastic membrane (7), a wire (8) that extends or retracts through the elastic membrane (7), and a rope (9) connected to the distal end of the wire (8). The elastic membrane (7) is fixedly connected to the front top surface of the tenth transmission link (10). One end of the rope (9) is fixed to the connection between the fifth transmission link (15) and the seventh transmission link (17), and passes through the L63 hinge point (1603) and is connected to the wire (8).

2. The frog-like jumping robot according to claim 1, characterized in that, There are two torsion springs (4), which are fixedly connected to the two legs respectively; the diameter of the torsion spring (4) is 7.0-8.0mm and the length is 7.2-9.0mm, and the diameter of the through hole (402) is 1.5-2.5mm and the length is 1.0-1.5mm.

3. The frog-like jumping robot according to claim 2, characterized in that, The torsion spring (4) is integrally molded from silicone with a Shore hardness of 35~50A.

4. The frog-like jumping robot according to claim 2 or 3, characterized in that, The body includes a first outer support plate (501), a second outer support plate (502), a first inner support plate (503), and a second inner support plate (504) arranged in parallel. The first inner support plate (503) and the second inner support plate (504) are located between the first outer support plate (501) and the second outer support plate (502). A plurality of connecting shafts (6) are also provided between the first outer support plate (501) and the second outer support plate (502). The connecting shafts (6) are connected to the body by bearings. The connecting shafts (6) include a first stepped shaft (601), a first gear shaft (602), a second gear shaft (603), and a second stepped shaft (604) arranged in sequence. The second gear shaft (603) passes through the through hole (402) on the torsion spring (4) and causes the torsion spring (4) to twist.

5. The frog-like jumping robot according to claim 4, characterized in that, The gear assembly includes a G11 gear (301) that rotates synchronously with the output shaft of the main drive assembly (1), a G21 gear (302) that meshes with the G11 gear (301), a G22 gear (303) that rotates coaxially with the G21 gear (302), a G31 gear (304) that meshes with the G22 gear (303), a G32 gear (305) that rotates coaxially with the G31 gear (304), a G41 gear (306) that meshes with the G32 gear (305), and a G41 gear (306) that rotates coaxially with the incomplete gear (3). The gear assembly also includes a G51 gear (307) that meshes with the incomplete gear (3). Gears G21 (302), G22 (303), G41 (306) and incomplete gear (3) are mounted on the second stepped shaft (604), Gears G31 (304) and G32 (305) are mounted on the first gear shaft (602), and Gear G51 (307) is fixedly connected to the second gear shaft (603).

6. A control method for a frog-like jumping robot as described in claim 1, characterized in that, Includes the following steps: Step S1: Control the power supply module (2) to start the main drive component (1), drive the incomplete gear (3) to rotate, and the incomplete gear (3) will then transmit the torsion spring (4) to compress and store energy during the rotation process; In step S2, during the compression and energy storage process of the torsion spring (4), it drives the first transmission link (11) fixedly connected to one end of it to rotate, causing the second transmission link (12), the third transmission link (13), the fourth transmission link (14) and the fifth transmission link (15) to compress inward, forming a six-link Stephenson II structure with the upper part of the sixth transmission link (16), thereby performing muscle compression simulation control on the thigh assembly; Step S3, the fifth transmission link (15), the sixth transmission link (16), the seventh transmission link (17) and the eighth transmission link (18) constitute a four-bar parallelogram mechanism; during the contraction of the Stephenson II structure, the parallelogram mechanism is compressed inward, thereby performing muscle compression simulation control on the calf assembly; Step S4, the lower half of the sixth transmission link (16), the eighth transmission link (18), the ninth transmission link (19) and the tenth transmission link (10) constitute a four-bar anti-parallelogram mechanism; during the contraction of the parallelogram mechanism, the anti-parallelogram mechanism compresses inward and drives the wire (8) and the elastic film (7) through which it passes to fold towards the sixth transmission link (16), thereby enabling the entire leg to complete the energy storage action, so that the system obtains the maximum energy storage state; In step S5, during the compression and energy storage process of the torsion spring (4), the included angle between the sixth transmission link (16), the tenth transmission link (10), and the eighth transmission link (18) gradually decreases, and the included angle between the sixth transmission link (16), the seventh transmission link (17), and the tenth transmission link (10) is compressed to the minimum, and the distance between the upper ends of the third transmission link (13) and the fifth transmission link (15) decreases; due to the compression of the legs, the relative length of the rope (9) increases and it is in a relaxed state. At this time, the wire (8) is not subjected to the traction force of the rope (9) and the elastic membrane (7) is in a relaxed state, and the legs enter the state of preparing to release energy; Step S6: The incomplete gear (3) continues to rotate. When its missing tooth part contacts the transmission gear, the incomplete gear (3) and the transmission gear lose their meshing connection. The elastic potential energy of the torsion spring (4) is converted into kinetic energy and transmitted to the first transmission link (11), thereby driving the leg to fully extend. The rope (9) fixed on the fifth transmission link (15) changes from relaxed to taut. The rope (9) pulls the wire (8) and causes it to contract, thereby achieving the purpose of contracting the elastic membrane (7) so that the frog-like jumping robot can minimize the water resistance as much as possible during the process of jumping out of the water.

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