A multi-mode hopping robot and a control device thereof

Abstract

The application discloses a kind of multi-mode jumping robot and its control device in the technical field of robot, to solve the problems such as higher manufacturing cost and weaker crossing height of jumping robot in prior art.The elastic member between upper and lower support, first reset member and second reset member are included, drive assembly includes energy storage motor, machine warehouse and reset spring;Energy storage motor is fixed in the inside of upper support by machine warehouse;The front and rear ends of machine warehouse are respectively provided with trigger piece and clutch arm;Reset spring is installed on clutch arm, so that the elastic end of clutch arm and trigger piece is in the state of clamping;The upper end of transmission rope is fixed on the shaft of energy storage motor, the lower end is horizontally around the steering rod of clutch arm and lower support fixed connection, and is in tension state;The two ends of first reset rope are respectively fixed with first reset member and elastic end of trigger piece;The two ends of second reset rope are respectively fixed with second reset member and machine warehouse;The robot of the application is suitable for complex environment operation, and can flexibly cross obstacles.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-mode jumping robot and a control device thereof, and belongs to the technical field of robots. BACKGROUND

[0002] From the existing organisms in the world, in order to meet the needs of their own survival and adapt to the environment, organisms in nature have evolved various movement modes, mainly including walking, running, crawling, jumping and gliding, etc. A single movement mode is often difficult to adapt to a complex living environment, so most organisms often have multiple movement modes, such as gliding-jumping, crawling-jumping, etc. The same is true for mobile robots. Robots with jumping ability have stronger obstacle crossing ability than wheeled, tracked and foot-type mobile robots, and can easily cross obstacles several times larger than themselves. Jumping movement is more flexible and mobile than rolling and crawling, and its explosiveness makes it easier for robots to avoid danger, move in complex unknown environments and better protect themselves.

[0003] Jumping robots have shown great potential in practical applications, especially in low-gravity planetary exploration. Lower gravity allows jumping robots to reach higher jumping heights, and lower energy consumption of the crawling mode allows them to complete longer distance exploration tasks. In order to reach the required take-off speed in a shorter time, the driver needs to output high instantaneous power at the moment of take-off, but the power density of traditional drivers is limited, which limits the jumping performance of robots relying on direct motor drive. Therefore, the jumping height of the current robot relying on direct motor drive is often limited, and the robot often cannot jump over obstacles and trenches larger than or equal to the size of the robot body. Moreover, there is a certain correlation between motor power and motor weight, which also makes it difficult to simply improve the power of the motor, which often leads to an increase in the weight of the robot body, making it difficult to improve the jumping ability of the robot, and it is often difficult to balance cost, weight and jumping effect.

[0004] The information disclosed in this section of the background art is only intended to increase the understanding of the overall background of the present application, and should not be considered as acknowledging or implying in any form that the information constitutes prior art known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the present application is to overcome the deficiencies in the prior art, provide a multi-mode jumping robot and a control device thereof, which can realize flexible switching between rolling, crawling and jumping working modes, has a simple structure, is light in weight, can store energy in a short time and jump quickly, and meets the needs of complex environment operation.

[0006] To achieve the above purpose, the present application adopts the following technical solutions:

[0007] The application provides a multi-mode jumping robot, which comprises an upper support, a lower support, elastic members and a driving assembly; an upper wheel and a lower wheel are fixed to the upper support and the lower support respectively by means of crawling motors; a plurality of elastic members are arranged equidistantly around the upper support and the lower support; a first reset member and a second reset member are arranged in a central symmetric manner between the upper support and the lower support; when the first reset member and the second reset member are bent, the highest point of the bending is close to the top end of the first reset member and the second reset member.

[0008] The driving assembly comprises an energy storage motor, a machine bin and a reset spring; the energy storage motor is fixed to the inner side of the upper support through the machine bin; the front end of the machine bin is fixed with a trigger piece, and the rear end is rotationally connected with the fixed end of the clutch arm; one end of the reset spring is connected with the rotating end of the clutch arm, and the other end is fixed to the machine bin, so that the elastic end of the clutch arm and the trigger piece are in a clamped state.

[0009] The upper end of the transmission rope is fixed to the shaft of the energy storage motor, the lower end is horizontally wound around the steering rod of the clutch arm and the lower support and is fixed, and is in a tension state; one end of the first reset rope is fixed to the upper waist of the first reset member, and the other end is fixed to the elastic end of the trigger piece; one end of the second reset rope is fixed to the upper waist of the second reset member, and the other end is fixed to the machine bin.

[0010] Further, the first reset member and the second reset member are the same in structure; the first reset member comprises an upper elastic segment, a middle elastic segment and a lower elastic segment; the two ends of the middle elastic segment are fixed to the inner side of the tail end of the upper elastic segment and the inner side of the top end of the lower elastic segment respectively, and the length of the upper elastic segment is less than the length of the lower elastic segment.

[0011] Further, the tail end of the upper elastic segment is fixed with a fixed ring on the outer side; the first reset rope and the second reset rope are fixed to the corresponding first reset member and second reset member through the fixed ring.

[0012] Further, the first reset member and the second reset member are respectively provided with first hinge holes at the two ends, and the corresponding upper support and lower support are respectively provided with first hinge seats; a pin shaft penetrates the first hinge hole and the first hinge seat, and the first reset member and the second reset member are hingedly connected between the upper support and the lower support.

[0013] Further, the elastic member is respectively provided with second hinge holes at the two ends, and the corresponding upper support and lower support are respectively provided with second hinge seats; a pin shaft penetrates the second hinge hole and the second hinge seat, and the elastic member is fixed between the upper support and the lower support.

[0014] Further, the clutch arm comprises a left connecting plate, a right connecting plate, a horizontal plate and a rotating shaft; the horizontal plate is arranged between the left connecting plate and the right connecting plate; the rotating shaft is rotatably connected to the fixed end of the clutch arm and the machine warehouse; the front end of the horizontal plate is provided with a clamping groove; the steering rod is arranged above the clamping groove, and the left connecting plate and the right connecting plate are rotatably connected; the lower end of the transmission rope is wound around the steering rod and fixed to the lower support through the clamping groove.

[0015] Further, the rear end of the machine warehouse extends downwardly to form a fixing seat; the rotating shaft is rotatably connected to the fixing seat through the fixed end of the clutch arm.

[0016] Further, the trigger piece comprises a fixed plate and an elastic card; the lower end of the fixed plate extends downwardly to form the elastic card; the elastic card has a T-shaped structure and is used for being clamped in the clamping groove.

[0017] Further, the lower end of the transmission rope is fixed to the lower support through a connecting rope; the lower end of the transmission rope is provided with a connecting ring; the lower support is provided with a plurality of connecting holes, and the plurality of connecting holes are centrally symmetrically distributed; one end of the connecting rope is fixed to one of the connecting holes, and the other end is fixed to another of the connecting holes which are centrally symmetrically distributed through the connecting ring. The application provides a multi-mode jumping robot control device, which comprises a control assembly and any one of the multi-mode jumping robots; the control assembly is arranged on the machine warehouse; the control assembly comprises a controller, a vision module, a wireless communication module, a voltage reduction module and a battery; the battery is connected to the voltage reduction module; the controller is connected to the voltage reduction module, the wireless communication module, the vision module, the crawling motor and the energy storage motor respectively.

[0018] The vision module is used for collecting working environment state information and converting the working environment state information into a vision signal and sending the vision signal to the controller.

[0019] The wireless communication module is used for sending the vision signal received by the controller to an upper computer and sending the crawling or jumping control signal sent by the upper computer to the controller.

[0020] The voltage reduction module is used for reducing the voltage of the battery and converting the voltage into a voltage meeting the power consumption load of the controller.

[0021] The controller is used for receiving the crawling or jumping control signal and driving the crawling motor or the energy storage motor to rotate.

[0022] Compared with the prior art, the application has the following beneficial effects:

[0023] The application provides a multi-mode jumping robot, elastic members are arranged between an upper support and a lower support, and upper wheels and lower wheels are fixed on the upper support and the lower support through crawling motors respectively.

[0024] 1. The application uses elastic rods with high toughness and certain strength as energy storage mechanisms, directly pulls transmission ropes through a motor shaft of an energy storage motor to store energy, removes a motor speed reduction mechanism, and does not have high requirements on the performance of the motor.

[0025] 2. The robot overcomes the problem of limited energy density of the motor in traditional jumping motion based on direct motor driving, directly drives transmission ropes through a motor output shaft by using high-elasticity materials to store energy, has long energy storage time and instant release time, makes the jumping process have large instantaneous power, has the effect of power amplification, and thus the robot has good jumping height.

[0026] 3. The jumping energy release mechanism has simple structure, separates the trigger piece from the clutch arm through the bending of the elastic rods and the reset rods during the energy storage process, has compact structure, few components, reduces the overall weight of the robot, and improves the overall energy utilization efficiency of the robot.

[0027] 4. The application adopts the gravity self-homing principle in the pose changing process, changes the pose of the robot to jump, and in the energy storage process, the reset rods have different bending curvatures due to different stiffness in the length direction when being stressed and bent, the pose of the robot is changed through the design of the reset rods, and the robot changes from the crawling state to the vertical energy storage jumping state. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1is a structural schematic view of a multi-mode jumping robot provided by the present application;

[0029] Figure 2 is Figure 1 a structural schematic view of a jumping process of the multi-mode jumping robot;

[0030] Figure 3 is a structural schematic view of a driving assembly;

[0031] Figure 4 is Figure 3 a semi-sectional view of the multi-mode jumping robot;

[0032] Figure 5 is a structural schematic view of a clutching arm;

[0033] Figure 6 is a structural schematic view of an upper support;

[0034] Figure 7 is a structural schematic view of a lower support;

[0035] Figure 8 is a structural schematic view of an elastic member;

[0036] Figure 9 is a structural schematic view of a first reset member or a second reset member;

[0037] Figure 10 is a working principle schematic view of the driving assembly;

[0038] Figure 11 is a working principle schematic view of the multi-mode jumping robot;

[0039] Figure 12 is a working principle schematic view of a control device of the multi-mode jumping robot;

[0040] In the figure: 1, upper support; 2, lower support; 3, elastic member; 4, driving assembly; 5, first reset member; 6, second reset member; 7, transmission rope; 8, first reset rope; 9, second reset rope; 10, first hinged seat; 11, second hinged seat; 12, first hinged hole; 13, energy storage motor; 14, machine warehouse; 15, bearing; 16, trigger piece; 17, clutching arm; 18, reset spring; 19, fixed seat; 20, upper elastic section; 21, middle elastic section; 22, lower elastic section; 23, fixed ring; 24, second hinged hole; 25, fixed piece; 26, elastic card; 27, left connecting piece; 28, right connecting piece; 29, horizontal plate; 30, rotating shaft; 31, clamping groove; 32, steering lever; 33, connecting rope; 34, connecting ring; 35, connecting hole; 36, upper wheel; 37, lower wheel; 38, support seat. DETAILED DESCRIPTION

[0041] The application will be further described below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only used for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0043] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances. Example one

[0044] Reference Figures 1 to 11The embodiment provides a multi-mode jumping robot, which comprises an upper support 1, a lower support 2, elastic members 3 and a driving assembly 4. A crawling motor is fixed on the upper support 1 and the lower support 2 respectively, an upper wheel 36 is fixed to the outer side of the upper support 1 through the output shaft of the crawling motor, and a lower wheel 37 is fixed to the outer side of the lower support 2 through the output shaft of the crawling motor. The plurality of elastic members 3 are arranged around the upper support 1 and the lower support 2, and the plurality of elastic members 3 are arranged at equal intervals. The first reset member 5 and the second reset member 6 are symmetrically distributed between the upper support 1 and the lower support 2, which can ensure that the machine compartment 14 is in a flat state and improve the stability of the multi-mode jumping robot. The first reset member 5, the second reset member 6 and the elastic member 3 are made of high-elasticity material. The structure of the first reset member 5 and the second reset member 6 needs to meet the following condition: when the first reset member 5 and the second reset member 6 are bent, the highest point of the bending corresponds to the upper end of the first reset member 5 and the second reset member 6. The purpose is to support the multi-mode jumping robot lying horizontally on the ground to a standing state when the first reset member 5 and the second reset member 6 are bent to a certain extent.

[0045] As Figure 3 , Figure 4 and Figure 10 , the driving assembly 4 comprises an energy storage motor 13, a machine compartment 14, a reset spring 18, a trigger piece 16 and a clutch arm 17. The energy storage motor 13 is fixed in the machine compartment 14, and the machine compartment 14 is fixed on the inner side of the upper support 1, so that the shaft of the energy storage motor 13 is perpendicular to the upper support 1 and the lower support 2. Specifically, a support seat 38 is arranged on the inner side of the upper support 1, and the machine compartment 14 and the support seat 38 are fixedly connected. The front end of the machine compartment 14 is fixedly connected with the trigger piece 16, and the rear end of the machine compartment 14 and the fixed end of the clutch arm 17 are rotationally connected. One end of the reset spring 18 is fixed to the rotating end of the clutch arm 17, and the other end is fixed to the machine compartment 14. The reset spring 18 pulls the clutch arm 17, so that the elastic end of the clutch arm 17 and the trigger piece 16 are in a clamped state. When the elastic end of the trigger piece 16 pulls away from the clutch arm 17 and exerts a downward pulling force on the clutch arm 17, the clutch arm 17 rotates clockwise downward around the rotating end, and after the two pulling forces are released, the reset spring 18 drives the clutch arm 17 to reset parallel to the ground and clamp with the elastic end of the reset trigger piece 16. The rotating end of the clutch arm 17 is provided with a steering rod 32, and the two ends of the steering rod 32 are fixed to the clutch arm 17 through bearings 14.

[0046] The upper end of the transmission rope 7 is fixed on the shaft of the energy storage motor 13, and the lower end is first horizontally wound around the steering rod 32 of the clutch arm 17, and then pulled downward to be fixedly connected with the lower support 2, and the transmission rope 7 is in a tension state. The design of the steering rod 32 can make the rope segment from the upper end of the transmission rope 7 to the steering rod 32 be in a horizontal state, facilitating the winding and rolling of the transmission rope 7 during the rotation of the shaft of the energy storage motor 13. One end of the first reset rope 8 is fixedly connected to the upper waist part (near the highest bending point) of the first reset member 5, and the other end is fixedly connected to the elastic end of the trigger piece 16. One end of the second reset rope 9 is fixedly connected to the upper waist part (near the highest bending point) of the second reset member 6, and the other end is fixedly connected to the machine bin 14.

[0047] Crawling state: drive the crawling motor to drive the upper and lower wheels 37 to roll on the ground to work.

[0048] Jumping state: combined with the working principle schematic diagram of 11

[0049] Energy storage stage: drive the energy storage motor 13 to rotate, the transmission rope 7 is wound on the shaft, and the lower end is pulled to the lower support 2 close to the upper support 1. At this time, the elastic member 3 is bent under stress, the first reset member 5 and the second reset member 6 are also bent under stress, and the highest bending point supports the multi-mode jumping robot to a large angle of inclination, and under the action of the gravity of the multi-mode jumping robot itself, the multi-mode jumping robot stands.

[0050] Energy release stage: after the multi-mode jumping robot stands, the energy storage motor 13 continues to rotate until the elastic end of the trigger piece 16 pulled by the first reset rope 8 is separated from the clutch arm 17, and the stored elastic force of the elastic member 3, the first reset member 5 and the second reset member 6 is released instantaneously, the lower support 2 moves downward, the whole multi-mode jumping robot is bounced over the obstacle, and the instantaneous downward pulling force is greater than the elastic force of the reset spring 18, so that the clutch arm 17 rotates downward, and the wound transmission rope 7 is pulled away from the shaft of the energy storage motor 13. After the elastic member 3, the first reset member 5 and the second reset member 6 return to the original shape, the jumping is completed, and the reset spring 18 pulls the clutch arm 17 to the clamped state with the elastic end of the trigger piece 16. When performing the jumping action, the steps (1) and (2) are repeated to complete the jumping.

[0051] Optionally, as Figure 9, the first reset member 5 and the second reset member 6 are the same structure, the first reset member 5 includes an upper elastic section 20, a middle elastic section 21 and a lower elastic section 22. The top end of the upper elastic section 20 is connected to the upper support 1, and the tail end of the lower elastic section 22 is connected to the lower support 2. The two ends of the middle elastic section 21 are respectively fixed at the inner side of the tail end of the upper elastic section and the inner side of the top end of the lower elastic section 22, and the length of the upper elastic section 20 is less than the length of the lower elastic section 22. This design can ensure that the highest point of the first reset member 5 and the second reset member 6 bends during elastic bending is close to the top end of the first reset member 5 and the second reset member 6, which facilitates the first reset member 5 and the second reset member 6 to support the multi-mode jumping robot to a larger inclined state, and combines the gravity of the multi-mode jumping robot itself to make it stand vertically. In some embodiments, the middle elastic section 21 and the upper elastic section 20 and the lower elastic section 22 are fixed together by high-viscosity adhesive.

[0052] Optionally, as Figure 8 , the tail end of the upper elastic section 20 is provided with a fixing ring 23, the first reset rope 8 passes through the fixing ring 23 to fix the first reset member 5, and the second reset rope 9 passes through the fixing ring 23 to fix the second reset member 6. The fixing ring 23 can be made of nylon material to reduce the overall manufacturing cost.

[0053] Optionally, in combination with Figure 6 , Figure 7 and Figure 9 , the two ends of the first reset member 5 and the second reset member 6 are respectively provided with a first hinge hole 12, and a first hinge seat 10 is respectively fixed on the upper support 1 and the lower support 2. The pin shaft penetrates the first hinge hole 12 and the first hinge seat 10 to be fixed, so that the two ends of the first reset member 5 and the second reset member 6 are respectively connected with the upper support 1 and the lower support 2. The hinge connection at this position can relieve the stress concentration at the two ends of the first reset member 5 and the second reset member 6 during elastic deformation, thereby preventing damage and improving the service life of the robot.

[0054] Optionally, in combination with Figure 6 , Figure 7 and Figure 8 , the two ends of the elastic member 3 are also respectively provided with a second hinge hole 24, and a second hinge seat 11 is respectively arranged on the upper support 1 and the lower support 2. The pin shaft penetrates the second hinge hole 24 and the second hinge seat 11 to fix the elastic member 3 between the upper support 1 and the lower support 2. The design at this position is the same as the first hinge seat 10 of the first reset member 5 and the second reset member 6, which will not be described again.

[0055] Optionally, in combination with Figure 4 and Figure 5The clutching arm 17 comprises a left connecting plate 27, a right connecting plate 28, a horizontal plate 29 and a rotating shaft 30. The horizontal plate 29 is connected between the bottom of the left connecting plate 27 and the right connecting plate 28. The rotating shaft 30 is rotatably connected to the machine compartment 14 through the fixed end of the clutching arm 17. The front end of the horizontal plate 29 is provided with a clamping groove 31. The steering rod 32 is fixed on the left connecting plate 27 through a bearing 14 at one end and is fixed on the right connecting plate 28 through another bearing 14 at the other end and is located above the clamping groove 31. The steering rod 32 can facilitate the rotation of the steering rod 32. When the machine shaft is driven to rotate by the energy storage motor 13, the transmission rope 7 passing around the steering rod 32 can be more labor-saving and reduce power consumption.

[0056] One end of the reset spring 18 is sleeved on the steering rod 32 and the other end is fixed on the machine compartment 14. The upper end of the transmission rope 7 is fixedly connected to the machine shaft of the energy storage motor 13 and the lower end is fixedly connected to the lower support 2 by passing around the steering rod 32 and through the clamping groove 31. The rope segment of the upper end of the transmission rope 7 to the steering rod 32 is in a horizontal state, facilitating the rotation of the machine shaft to wind the transmission rope 7.

[0057] Optionally, as shown in Figure 3 , the rear end of the machine compartment 14 extends downward to have a fixed seat 19. The fixed end of the clutching arm 17 passes through the fixed seat 19 so that the clutching arm 17 can be rotatably connected to the fixed seat 19.

[0058] Optionally, as shown in Figure 3 , the trigger piece 16 comprises a fixed piece 25 and an elastic card 26. The lower end of the fixed piece 25 extends downward to have the elastic card 26. The elastic card 26 has a T-shaped structure. The elastic card 26 and the clamping groove 31 on the horizontal plate 29 of the clutching arm 17 are matched and clamped.

[0059] Optionally, as shown in Figure 2 , the lower end of the transmission rope 7 is connected with a connecting rope 33. The connecting rope 33 is fixedly connected to the lower support 2. The lower end of the transmission rope 7 is provided with a connecting ring 34. The lower support 2 is provided with a plurality of connecting holes 35 which are centrally symmetrically distributed. One end of the connecting rope 33 is fixedly connected to a corresponding connecting hole 35 and the other end passes through the connecting ring 34 and is fixedly connected to another connecting hole 35 which is centrally symmetrically distributed. This design can make the transmission rope 7 pull the lower support 2 uniformly, ensure that each elastic member 3, the first reset member 5 and the second reset member 6 can obtain the same elastic pressure, and improve the jumping quality of the robot. Embodiment two

[0060] In combination with Figure 12The embodiment provides a multi-mode jumping robot control device, which comprises a control assembly and the multi-mode jumping robot.

[0061] The vision module is used for collecting working environment state information and converting the collected working environment state information into a vision signal and sending the vision signal to the controller.

[0062] The wireless communication module is used for sending the vision signal received by the controller to the host computer and sending the crawling or jumping control signal sent by the host computer to the controller.

[0063] The voltage of the battery is reduced by the voltage reduction module and is converted into a voltage meeting the power consumption load of the controller.

[0064] The controller is used for receiving the crawling or jumping control signal and driving the crawling motor or the energy storage motor to rotate.

[0065] During the working process, the vision module is used for collecting working environment state information and converting the collected working environment state information into a vision signal and sending the vision signal to the controller, and the wireless communication module is used for sending the vision signal to the host computer.

[0066] The above merely describes the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, some improvements and modifications can be made without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A multi-mode hopping robot, characterized by, The application relates to a robot, which comprises an upper support, a lower support, elastic members and a driving assembly; an upper wheel and a lower wheel are fixed to the upper support and the lower support respectively through crawling motors; a plurality of elastic members are arranged at equal intervals between the upper support and the lower support; a first reset member and a second reset member are centrally symmetrically distributed between the upper support and the lower support; when the first reset member and the second reset member are bent, the highest points of the bending are close to the top ends of the first reset member and the second reset member; The driving assembly comprises an energy storage motor, a machine bin and a reset spring; the energy storage motor is fixed to the inner side of the upper support through the machine bin; the front end of the machine bin is fixed with a trigger piece, and the rear end is rotationally connected with the fixed end of a clutch arm; one end of the reset spring is connected with the rotating end of the clutch arm, and the other end is fixed to the machine bin, so that the elastic end of the clutch arm and the trigger piece are in a clamping state; The upper end of a transmission rope is fixed to the machine shaft of the energy storage motor, the lower end is horizontally wound around the steering rod of the clutch arm and the lower support and is fixed, and is in a tension state; one end of a first reset rope is fixed to the upper waist of the first reset member, and the other end is fixed to the elastic end of the trigger piece; one end of a second reset rope is fixed to the upper waist of the second reset member, and the other end is fixed to the machine bin; The clutch arm comprises a left connecting piece, a right connecting piece, a horizontal plate and a rotating shaft; the horizontal plate is arranged between the left connecting piece and the right connecting piece; the rotating shaft penetrates the fixed end of the clutch arm and is rotationally connected with the machine bin; the front end of the horizontal plate is provided with a clamping groove; the steering rod is arranged above the clamping groove, and the left connecting piece and the right connecting piece are rotationally connected; the lower end of the transmission rope is wound around the steering rod, passes through the clamping groove and is fixed to the lower support; The rear end of the machine bin extends downward and has a fixing seat; the rotating shaft penetrates the fixed end of the clutch arm and is rotationally connected to the fixing seat; The trigger piece comprises a fixed piece and an elastic clamping piece; the lower end of the fixed piece extends downward and has the elastic clamping piece; the elastic clamping piece is in a T-shaped structure and is used for clamping cooperation with the clamping groove.

2. The multi-mode hopping robot of claim 1, wherein, The first reset member and the second reset member are the same in structure; the first reset member comprises an upper elastic section, a middle elastic section and a lower elastic section; the two ends of the middle elastic section are fixed to the inner side of the tail end of the upper elastic section and the inner side of the top end of the lower elastic section respectively, and the length of the upper elastic section is smaller than the length of the lower elastic section.

3. The multi-mode hopping robot of claim 2, wherein, The tail end of the upper elastic section is fixed with a fixing ring; the first reset rope and the second reset rope are fixed to the corresponding first reset member and second reset member through the fixing ring.

4. The multi-mode hopping robot according to claim 1 or 2, characterized in that, The two ends of the first reset member and the second reset member are respectively provided with first hinge holes, and the corresponding upper support and lower support are respectively provided with first hinge seats; a pin shaft penetrates the first hinge holes and the first hinge seats, and the first reset member and the second reset member are hingedly connected between the upper support and the lower support.

5. The multi-mode hopping robot of claim 1, wherein, The two ends of the elastic member are respectively provided with second hinge holes, and the corresponding upper support and lower support are respectively provided with second hinge seats; a pin shaft penetrates the second hinge holes and the second hinge seats, and the elastic member is fixed between the upper support and the lower support.

6. The multi-mode hopping robot of claim 1, wherein, The lower end of the transmission rope is fixedly connected with the lower support through a connecting rope; the lower end of the transmission rope is provided with a connecting ring; the lower support is provided with a plurality of connecting holes which are centrally symmetrically distributed; one end of the connecting rope is fixedly connected with one of the connecting holes, and the other end penetrates through the connecting ring and is fixedly connected with another of the connecting holes which are centrally symmetrically distributed.

7. A multi-mode hopping robot control device, characterized by, The control assembly is arranged on the warehouse, and comprises a controller, a vision module, a wireless communication module, a voltage reduction module and a battery; the battery is connected with the voltage reduction module; the controller is connected with the voltage reduction module, the wireless communication module, the vision module, the crawling motor and the energy storage motor respectively; The vision module is used for collecting working environment state information and converting the working environment state information into visual signals and sending the visual signals to the controller; The wireless communication module is used for sending the visual signals received by the controller to an upper computer and sending crawling or jumping control signals sent by the upper computer to the controller; The voltage reduction module is used for reducing the voltage of the battery and converting the voltage into a voltage meeting the power consumption load of the controller; The controller is used for receiving the crawling or jumping control signals and driving the crawling motor or the energy storage motor to rotate.

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