A hexapod locust jumping robot

Abstract

The application discloses a six-legged locust-imitating jumping robot, and relates to the technical field of bionic robots, which comprises a trunk, front limbs, middle limbs and rear limbs arranged in sequence from front to back on both sides of the trunk, and a driving mechanism arranged on the trunk, wherein the driving mechanism comprises a stop unit and a trigger unit in transmission connection, the stop unit is used for limiting the front limbs, the middle limbs and the rear limbs to complete energy storage, and the trigger unit is used for releasing the limitation of the stop unit on the front limbs, the middle limbs and the rear limbs to realize a jumping action. The trigger sequence and the trigger time interval of the trigger unit on the front limbs, the middle limbs and the rear limbs can be changed, different speed or different direction jumping can be realized, and the overall flexibility is improved.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, and in particular to a six-legged locust-like jumping robot. Background Technology

[0002] With the development of technologies such as mechanics, electronics, and computers, the application scope of robots is constantly expanding, and their degree of automation and environmental adaptability are also improving, playing an important role in various fields. Among them, biomimetic jumping robots mimic the jumping mechanism of organisms in nature in terms of mechanical structure, achieving a strong obstacle-crossing ability and being able to overcome obstacles larger than themselves.

[0003] Most existing biomimetic jumping robots, both domestically and internationally, are designed with only a pair of movable legs. As a result, it is difficult to change parameters such as direction, and they cannot control the overall jumping behavior by regulating the behavior of different limbs like animals, leading to insufficient flexibility. Summary of the Invention

[0004] In view of this, the present invention provides a six-legged locust-inspired jumping robot to solve the problems mentioned in the background art.

[0005] A six-legged locust-inspired jumping robot includes a torso with forelimbs, midlimbs, and hindlimbs arranged sequentially from front to back on both sides of the torso. A drive mechanism is provided on the torso, which includes a stop unit and a trigger unit connected by transmission. The stop unit is used to limit the forelimbs, midlimbs, and hindlimbs after they have completed accumulating power, and the trigger unit is used to release the stop unit from limiting the forelimbs, midlimbs, and hindlimbs, thereby realizing the jumping action.

[0006] Furthermore, the torso includes an upper plate and a lower plate, which are fixedly connected by two front connecting pins and two middle connecting pins.

[0007] Furthermore, the surface of the lower plate is treated with a superhydrophobic coating.

[0008] Furthermore, the forelimb includes a foreleg segment, a foretibia segment, and a foreverting vertical member. The foreleg segment has a V-shaped structure. One end of the foreleg segment is hinged to the foretibia segment, and the middle position is hinged to the foreverting vertical member. The bottom of the foreverting vertical member is provided with a front clearance groove for the foreleg segment to rotate away from the foretibia segment. A front vertical torsion spring is provided at the hinge point between the foreleg segment and the foreverting vertical member. A front horizontal member is fixedly provided on the side of the foreverting vertical member near the torso. The front horizontal member is hinged to the front connecting pin, and a front horizontal torsion spring is provided at the hinge point. A front gear is provided on the end of the front horizontal member near the torso, and the front gears on both sides of the torso mesh with each other to ensure that the forelimbs on both sides of the torso rotate synchronously.

[0009] Furthermore, both the front leg segment near the front tibia and the front tibia have a T-shaped cross-section. Both the end of the front leg segment near the front tibia and the end of the front tibia near the front leg segment are provided with a stop to limit the front tibia to rotate only counterclockwise along the front leg segment.

[0010] Furthermore, the middle limb includes a middle femur, a middle tibia, and a middle vertical rotating member. The middle femur has a V-shaped structure. One end of the middle femur is hinged to the middle tibia, and the middle part is hinged to the middle vertical rotating member. The bottom of the middle vertical rotating member is provided with a central clearance groove for the middle femur to rotate away from the middle tibia. A middle vertical torsion spring is provided at the hinge point between the middle femur and the middle vertical rotating member. A middle horizontal rotating member is fixedly provided on the side of the middle vertical rotating member near the torso. The middle horizontal rotating member is hinged to a central connecting pin, and a middle horizontal torsion spring is provided at the hinge point. A middle gear is provided at the end of the middle horizontal rotating member near the torso. The middle gears located on both sides of the torso mesh to ensure that the middle limbs located on both sides of the torso rotate synchronously.

[0011] Furthermore, the middle leg segment near the middle tibia and the middle tibia both have a T-shaped cross section. Both the end of the middle leg segment near the middle tibia and the end of the middle tibia near the middle leg segment are provided with a stop block to limit the middle tibia segment to rotate counterclockwise only along the middle leg segment.

[0012] Furthermore, the hind limb includes a connecting plate, a hind leg segment, and a hind tibia segment. One end of the connecting plate is fixedly disposed on both sides of the upper plate, and the other end is hinged to the hind leg segment. A rear vertical torsion spring is provided at the hinge point between the connecting plate and the hind leg segment. One end of the hind tibia segment is hinged to the end of the hind leg segment away from the connecting plate, and a thin plate is fixedly disposed at the other end.

[0013] Furthermore, the stopping unit includes a front horizontal hook, a middle horizontal hook, a front fixed hook, a middle fixed hook, and a vertical hook. The front horizontal hook and the middle horizontal hook are both hinged between the upper plate and the lower plate. The top of the front vertical rotating member is provided with a front top seat, and a front horizontal buckle is fixedly provided on the front top seat. The front horizontal hook cooperates with the front horizontal buckle. The top of the middle vertical rotating member is provided with a middle top seat, and a middle horizontal buckle is fixedly provided on the middle top seat. The middle horizontal hook cooperates with the middle horizontal hook. The front and middle fixing hooks are fixedly mounted on both sides of the lower plate. The front leg segment has a front vertical buckle at the end away from the front tibia, and the front fixing hook engages with the front vertical buckle. The middle leg segment has a middle vertical buckle at the end away from the middle tibia, and the middle fixing hook engages with the middle vertical buckle. The upper plate has a rear guide groove near the hind limb, and the vertical hook is hinged to the rear guide groove via a pivot. The vertical hook engages with the thin plate.

[0014] Furthermore, the triggering unit includes a pneumatic linear actuator, a front drive plate, a middle drive plate, and a rear drive plate. One end of the middle drive plate is fixedly connected to the front drive plate via a connecting seat, and the other end is fixedly connected to the rear drive plate on its top surface. The fixed end of the pneumatic linear actuator is fixedly disposed between the upper plate and the lower plate, and the driving end is fixedly connected to the bottom surface of the connecting seat. The upper plate is provided with a driving groove for accommodating the movement of the connecting seat. The top surface of the front horizontal latch is provided with a front guide post. The upper plate is close to the front horizontal latch. The hook is provided with a front guide groove that matches the front guide post. The side of the front drive plate near the front guide post is arc-shaped and is used to drive the front guide post to move along the front guide groove. The top surface of the middle horizontal hook is provided with a middle guide post. The upper plate is provided with a middle guide groove that matches the middle guide post near the middle horizontal hook. The side of the middle drive plate near the middle guide post is arc-shaped and is used to drive the middle guide post to move along the middle guide groove. The rear drive plate is used to drive the vertical hook to rotate.

[0015] The beneficial effects of this invention are as follows:

[0016] This invention allows for jumps at different speeds or in different directions by changing the triggering sequence and time interval of the triggering unit on the forelimbs, midlimbs, and hindlimbs, thus improving overall flexibility. The surface of the lower plate is treated with superhydrophobicity to enhance buoyancy, allowing the torso to float on the water. A front vertical torsion spring is provided at the hinge between the foreleg segment and the front vertical rotating member; twisting the front vertical torsion spring allows for vertical force storage on the foreleg segment. The front horizontal rotating member is hinged to the front connecting pin, and a front horizontal torsion spring is provided at the hinge; twisting the front horizontal torsion spring allows for horizontal force storage on the front horizontal rotating member. The front gears on both sides of the torso mesh to ensure synchronous rotation of the forelimbs located on both sides of the torso. The forelimbs have T-shaped cross-sections on the side near the anterior tibia, increasing their strength and providing a higher coefficient of fluid resistance. A vertical torsion spring is located at the hinge between the middle leg segment and the vertical rotating member. Twisting this spring allows for vertical force storage in the middle leg segment. The horizontal rotating member is hinged to a connecting pin, and a horizontal torsion spring is located at the hinge. Twisting this spring allows for horizontal force storage in the horizontal rotating member. Meshing gears on both sides of the torso ensure synchronous rotation of the middle limbs located on either side of the torso. The middle leg segments also have T-shaped cross-sections on the side near the middle tibia, increasing their strength and providing a higher coefficient of fluid resistance. The connecting plate is hinged to the posterior leg segment. A rear vertical torsion spring is provided. By torturing the rear vertical torsion spring, vertical force can be stored in the hind leg segment. A thin plate is fixed on the hind tibia to give the hind limb a large fluid resistance coefficient. The front horizontal hook and the front horizontal buckle cooperate to limit the front horizontal rotating component that has been storing horizontal force. The middle horizontal hook and the middle horizontal buckle cooperate to limit the middle horizontal rotating component that has been storing horizontal force. The front fixed hook and the front vertical buckle cooperate to limit the front leg segment that has been storing vertical force. The middle fixed hook and the middle vertical buckle cooperate to limit the middle leg segment that has been storing vertical force. The vertical hook and the thin plate cooperate to limit the vertical force stored in the hind limb. The rear leg segment, which stores power in the straight direction, is limited; the side of the front drive plate near the front guide post is arc-shaped, used to drive the front guide post to move along the front guide groove. The front horizontal buckle separates from the front horizontal hook, releasing the limitation of the front horizontal rotating part that has been storing power in the horizontal direction. Under the action of the front horizontal torsion spring, the front horizontal rotating part rotates backward, causing the forelimb to generate a backward force. After the front horizontal rotating part rotates a certain angle, the front vertical buckle separates from the front fixed hook, releasing the limitation of the front leg segment that has been storing power in the vertical direction. Under the action of the front vertical torsion spring, the front leg segment rotates downward, causing the forelimb to generate a downward force. The combination of the above two forces causes the forelimb to rotate backward and downward relative to the torso.The side of the middle drive plate near the middle guide post is arc-shaped, used to drive the middle guide post to move along the middle guide groove. The middle horizontal latch separates from the middle horizontal hook, releasing the limitation of the middle horizontal rotating component that has been storing force in the horizontal direction. Under the action of the middle horizontal torsion spring, the middle horizontal rotating component rotates backward, causing the middle limb to generate a backward force. After the middle horizontal rotating component rotates to a certain angle, the middle vertical latch separates from the middle fixed hook, releasing the limitation of the middle leg segment that has been storing force in the vertical direction. Under the action of the middle vertical torsion spring, the middle leg segment rotates downward, causing the middle limb to generate a downward force. The combination of these two forces causes the middle limb to rotate backward and downward relative to the torso. The rear drive plate is used to drive the vertical hook to rotate. The vertical hook separates from the thin plate, releasing the limitation of the rear leg segment that has been storing force in the vertical direction. Under the action of the rear vertical torsion spring, the rear leg segment rotates downward, causing the hind limb to generate a downward force. Attached Figure Description

[0017] 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a six-legged locust-inspired jumping robot according to the present invention.

[0019] Figure 2 This is a schematic diagram of the torso structure in this invention.

[0020] Figure 3 This is a schematic diagram of the forelimb structure in this invention.

[0021] Figure 4 This is a schematic diagram of the hind limb structure in this invention.

[0022] Figure 5 This is a schematic diagram of the drive mechanism in this invention.

[0023] Figure 6 This is a real-life photo of a six-legged locust-inspired jumping robot jumping on the water surface, as described in this invention.

[0024] In the figure:

[0025] 1. Torso; 11. Upper plate; 12. Lower plate; 13. Front fixing hook; 14. Front connecting pin; 15. Front guide groove; 16. Middle guide groove; 17. Rear guide groove; 18. Drive groove; 2. Forelimb; 21. Foreleg segment; 22. Fore tibia segment; 23. Front vertical buckle; 24. Front vertical rotating component; 25. Front horizontal rotating component; 26. Front top seat; 27. Front horizontal buckle; 28. Front gear; 3. Middle limb; 4. Hindlimb; 41. Hind leg segment; 42. Hind tibia segment; 43. Thin plate; 44. Connecting plate; 5. Drive mechanism; 51. Front drive plate; 52. Front horizontal hook; 53. Front guide post; 54. Connecting seat; 55. Middle drive plate; 56. Middle horizontal hook; 57. Rear drive plate; 58. Vertical hook; 59. Pneumatic linear actuator. Detailed Implementation

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0029] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0030] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0031] See appendix Figure 1-5 This invention discloses a six-legged locust-inspired jumping robot, comprising a torso 1, with forelimbs 2, midlimbs 3, and hindlimbs 4 arranged sequentially from front to back on both sides of the torso 1. A drive mechanism 5 is mounted on the torso 1, comprising a stop unit and a trigger unit connected by transmission. The stop unit limits the forelimbs 2, midlimbs 3, and hindlimbs 4 after they have completed accumulating power, while the trigger unit releases the stop unit from limiting the forelimbs 2, midlimbs 3, and hindlimbs 4, thus enabling the jumping action. This invention can achieve jumps at different speeds or in different directions by changing the triggering sequence and time interval of the trigger unit on the forelimbs 2, midlimbs 3, and hindlimbs 4, thereby improving overall flexibility.

[0032] The torso 1 includes an upper plate 11 and a lower plate 12. The upper plate 11 and the lower plate 12 are fixedly connected by two front connecting pins 14 and two middle connecting pins. In this embodiment, the upper plate 11 is a 0.5mm thick carbon fiber plate; the lower plate 12 is composed of a 1mm thick carbon fiber plate and an 8mm thick EPS foam board to improve the buoyancy of the lower plate 12.

[0033] The entire surface of the lower plate 12 is treated with superhydrophobic material to improve the buoyancy of the lower plate 12, so that the torso 1 can float on the water surface.

[0034] The forelimb 2 includes a foreleg segment 21, a foretibialis segment 22, and a front vertical rotating member 24. In this embodiment, both the foreleg segment 21 and the foretibialis segment 22 are composed of 0.5mm thick carbon fiber sheets. The foreleg segment 21 has a V-shaped structure. One end of the foreleg segment 21 is hinged to the foretibialis segment 22, and the middle part is hinged to the front vertical rotating member 24. The bottom of the front vertical rotating member 24 is provided with a front clearance groove for the end of the foreleg segment 21 away from the foretibialis segment 22 to rotate. In this embodiment, the front vertical rotating member is composed of two 1mm thick carbon fiber sheets. The hinge point between the foreleg segment 21 and the front vertical rotating member 24... A front vertical torsion spring is provided. By twisting the front vertical torsion spring, the front leg segment 21 can be charged vertically. A front horizontal rotating member 25 is fixedly provided on the side of the front vertical rotating member 24 near the torso 1. The front horizontal rotating member 25 is hinged to the front connecting pin 14, and a front horizontal torsion spring is provided at the hinge. By twisting the front horizontal torsion spring, the front horizontal rotating member 25 can be charged horizontally. A front gear 28 is provided at the end of the front horizontal rotating member 25 near the torso 1, and the front gears 28 on both sides of the torso 1 mesh with each other to ensure that the forelimbs 2 on both sides of the torso 1 rotate synchronously.

[0035] The foreleg segment 21 near the foretibia 22 and the foretibia 22 are both T-shaped cross sections, which improves the strength of the forelimb 2 and gives it a larger fluid resistance coefficient. The end of the foreleg segment 21 near the foretibia 22 and the end of the foretibia 22 near the foreleg segment 21 are both provided with a stop to limit the foretibia 22 to rotate counterclockwise along the foreleg segment 21.

[0036] The middle limb 3 includes a middle femur, a middle tibia, and a middle vertical rotating member. In this embodiment, both the middle femur and the middle tibia are composed of 0.5mm thick carbon fiber sheets. The middle femur has a V-shaped structure, with one end hinged to the middle tibia and the middle section hinged to the middle vertical rotating member. By torturing the middle vertical torsion spring, the middle femur can store force in the vertical direction. The bottom of the middle vertical rotating member is provided with a central clearance groove for the middle femur to rotate away from the middle tibia. In this embodiment, the middle vertical rotating member is composed of two 1mm thick carbon fiber sheets. Composed of fiber sheets, a central vertical torsion spring is provided at the hinge of the central leg segment and the central vertical rotating component. A central horizontal rotating component is fixedly provided on the side of the central vertical rotating component near the torso 1. The central horizontal rotating component is hinged to the central connecting pin, and a central horizontal torsion spring is provided at the hinge. By twisting the central horizontal torsion spring, the central horizontal rotating component can store force in the horizontal direction. A central gear is provided at the end of the central horizontal rotating component near the torso 1. The central gears on both sides of the torso 1 mesh with each other to ensure that the central limbs 3 located on both sides of the torso 1 rotate synchronously.

[0037] The middle leg segment near the middle tibia and the middle tibia are both T-shaped sections, which improves the strength of the middle leg and gives it a larger fluid resistance coefficient. Both the end of the middle leg segment near the middle tibia and the end of the middle tibia near the middle leg segment are equipped with a stop to limit the middle tibia segment to rotate counterclockwise along the middle leg segment.

[0038] The hind limb 4 includes a connecting plate 44, a hind leg segment 41, and a hind tibia segment 42. The connecting plate 44, the hind leg segment 41, and the hind tibia segment 42 form a four-bar linkage. Using this linkage, the hind leg segment 41 and the hind tibia segment 42 can be closed or unfolded. One end of the connecting plate 44 is fixedly mounted on both sides of the upper plate 11, and the other end is hinged to the hind leg segment 41. A rear vertical torsion spring is provided at the hinge point between the connecting plate 44 and the hind leg segment 41. By twisting the rear vertical torsion spring, the hind leg segment 41 can be charged vertically. One end of the hind tibia segment 42 is hinged to the end of the hind leg segment 41 away from the connecting plate 44, and the other end is fixedly mounted with a thin plate 43, so that the hind limb 4 has a large fluid resistance coefficient.

[0039] The stopping unit includes a front horizontal hook 52, a middle horizontal hook 56, a front fixed hook 13, a middle fixed hook, and a vertical hook 58. In this embodiment, the front horizontal hook 52, the middle horizontal hook 56, the front fixed hook 13, the middle fixed hook, and the vertical hook 58 are all made of 1mm thick carbon fiber plates. The front horizontal hook 52 and the middle horizontal hook 56 are hinged between the upper plate 11 and the lower plate 12. The top of the front vertical rotating member 24 is provided with a front top seat 26, and a front horizontal buckle 27 is fixedly provided on the front top seat 26. The front horizontal hook 52 cooperates with the front horizontal buckle 27 to limit the front horizontal rotating member 25 that has been charged in the horizontal direction. The top of the middle vertical rotating member is provided with a middle top seat, and a middle horizontal buckle is fixedly provided on the middle top seat. The middle horizontal hook 56 cooperates with the middle horizontal buckle. In conjunction with each other, the horizontal rotating part that has been charged in the horizontal direction can be limited. The front fixed hook 13 and the middle fixed hook are fixedly set on both sides of the lower plate 12. The front leg segment 21 is provided with a front vertical buckle 23 at the end away from the front tibia 22. The front fixed hook 13 cooperates with the front vertical buckle 23 to limit the front leg segment 21 that has been charged in the vertical direction. The middle leg segment is provided with a middle vertical buckle at the end away from the middle tibia. The middle fixed hook cooperates with the middle vertical buckle to limit the middle leg segment that has been charged in the vertical direction. The upper plate 11 is provided with a rear guide groove 17 near the hind limb 4. The vertical hook 58 is hinged in the rear guide groove 17 through a rotating shaft. The vertical hook 58 cooperates with the thin plate 43 to limit the hind leg segment 41 that has been charged in the vertical direction.

[0040] The triggering unit includes a pneumatic linear actuator 59, a front drive plate 51, a middle drive plate 55, and a rear drive plate 57. One end of the middle drive plate 55 is fixedly connected to the front drive plate 51 via a connecting seat 54, and the other end is fixedly connected to the rear drive plate 57 on its top surface. The fixed end of the pneumatic linear actuator 59 is fixedly disposed between the upper plate 11 and the lower plate 12, and the driving end is fixedly connected to the bottom surface of the connecting seat 54. The upper plate 11 is provided with a drive groove 18 for accommodating the movement of the connecting seat 54. The top surface of the front horizontal latch 52 is provided with a front guide post 53. The upper plate 11 is provided with a front guide groove 15 that matches the front guide post 53 near the front horizontal latch 52. The side of the front drive plate 51 near the front guide post 53... The edge is arc-shaped, used to drive the front guide post 53 to move along the front guide groove 15. When the pneumatic linear actuator 59 drives the connecting seat 54 to move to the rear of the torso 1, the front horizontal latch 27 separates from the front horizontal hook 52, releasing the limit of the front horizontal rotating member 25 that has been storing force in the horizontal direction. Under the action of the front horizontal torsion spring, the front horizontal rotating member 25 rotates backward, causing the forelimb 2 to generate a rearward force. After the front horizontal rotating member 25 has rotated a certain angle, the front vertical latch 23 separates from the front fixed hook 13, releasing the limit of the foreleg segment 21 that has been storing force in the vertical direction. Under the action of the front vertical torsion spring, the foreleg segment 21 rotates downward, causing the forelimb 2 to generate a downward force. The combined effect of the two forces causes the forelimb 2 to rotate backward and downward relative to the torso 1. A guide post is provided on the top surface of the horizontal latch 56. A guide groove 16, adapted to the guide post, is provided on the upper plate 11 near the horizontal latch 56. The side of the middle drive plate 55 near the guide post is arc-shaped, used to drive the guide post to move along the guide groove 16. When the pneumatic linear actuator 59 drives the connecting seat 54 to move towards the rear of the torso 1, the horizontal latch separates from the horizontal latch, releasing the horizontally charged horizontal rotating component's limit. Under the action of the spring, the middle horizontal rotating member rotates backward, causing the middle limb to generate a backward force. After the middle horizontal rotating member rotates to a certain angle, the middle vertical buckle separates from the middle fixed hook, releasing the limitation of the middle leg section that has been storing force in the vertical direction. Under the action of the middle vertical torsion spring, the middle leg section rotates downward, causing the middle limb to generate a downward force. The combination of the above two forces causes the middle limb to rotate backward and downward relative to the torso. The rear drive plate 57 is used to drive the vertical hook 58 to rotate. The vertical hook 58 separates from the thin plate 43, releasing the limitation of the rear leg section 41 that has been storing force in the vertical direction. Under the action of the rear vertical torsion spring, the rear leg section 41 rotates downward, causing the hind limb 4 to generate a downward force.

[0041] In this invention, the lower plate 12 is composed of a 1mm thick carbon fiber plate and an 8mm thick EPS foam plate. The surface of the lower plate 12 is treated with superhydrophobicity so that the entire torso 1 can float on the water surface. The forelimbs, middle limbs and hind limbs all have a large fluid resistance coefficient, which can provide a large force when interacting with water, so that this invention can jump on both the ground and the water surface.

[0042] This invention can achieve different limb triggering sequences and triggering time intervals by designing the motion of the pneumatically driven linear actuator 59 and the geometry and dimensions of the front drive plate 51, middle drive plate 55, and rear drive plate 57, thereby enabling various jumps, such as different speeds and directions. (See appendix.) Figure 6 This demonstrates four different water surface jumping forms of the present invention.

[0043] Working principle of this invention:

[0044] The front horizontal rotating member 25 in the forelimb 2 is rotated horizontally towards the front of the torso 1, and the foreleg segment 21 is rotated vertically upward towards the torso. At this time, both the front horizontal torsion spring and the front vertical torsion spring are charged. The front horizontal hook 52 is locked with the front horizontal buckle 27 to limit the front horizontal rotating member 25 that has been charged in the horizontal direction. The front fixed hook 13 is locked with the front vertical buckle 23 to limit the foreleg segment 21 that has been charged in the vertical direction.

[0045] Rotate the horizontal rotating component in the middle limb 3 horizontally towards the front of the torso, and rotate the middle leg segment vertically upward towards the torso. At this time, both the horizontal and vertical torsion springs are charged. Lock the horizontal hook and the horizontal buckle to limit the horizontal rotating component that has been charged horizontally. Lock the fixed hook and the vertical buckle to limit the middle leg segment that has been charged vertically.

[0046] The hind leg segment 4 is rotated vertically upwards towards the torso. At this time, the vertical torsion spring stores force and locks the vertical hook 58 with the thin plate 43, thus limiting the hind leg segment 41 that has already stored force in the vertical direction. After the invention is placed on the ground or water surface, the linear actuator 59 is driven to push the connecting seat 54 to move backwards.

[0047] When the front drive plate moves backward, the front guide post 53 moves along the front guide groove 15 to the outside of the torso 1. The front horizontal buckle 27 separates from the front horizontal hook 52, releasing the limit of the front horizontal rotating member 25 that has been storing force in the horizontal direction. Under the action of the front horizontal torsion spring, the front horizontal rotating member 25 rotates backward, causing the forelimb 2 to generate a backward force. After the front horizontal rotating member 25 rotates a certain angle, which is about 15° in this embodiment, the front vertical buckle 23 separates from the front fixed hook 13, releasing the limit of the foreleg segment 21 that has been storing force in the vertical direction. Under the action of the front vertical torsion spring, the foreleg segment 21 rotates downward, causing the forelimb 2 to generate a downward force. The combination of the above two forces causes the forelimb 2 to rotate backward and downward relative to the torso 1.

[0048] When the drive plate 55 moves backward, the drive guide post moves along the guide groove 16 to the outside of the torso 1. The horizontal buckle separates from the horizontal hook, releasing the limit of the horizontal rotating component that has been storing force in the horizontal direction. Under the action of the horizontal torsion spring, the horizontal rotating component rotates backward, causing the middle limb to generate a backward force. After the horizontal rotating component rotates a certain angle, which is about 15° in this embodiment, the vertical buckle separates from the fixed hook, releasing the limit of the leg segment that has been storing force in the vertical direction. Under the action of the vertical torsion spring, the leg segment rotates downward, causing the middle limb to generate a downward force. The combination of the two forces causes the middle limb to rotate backward and downward relative to the torso.

[0049] When the rear drive plate 57 moves backward, it drives the vertical hook 58 to rotate clockwise, releasing the limit of the rear leg section 41 that has been storing force in the vertical direction. Under the action of the rear vertical torsion spring, the rear leg section 41 rotates downward, causing the hind limb 4 to generate a downward force.

[0050] With the coordinated action of the forelimbs 2, midlimbs 3, and hindlimbs 4, the present invention enables jumping.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A six-legged locust-inspired jumping robot, characterized in that, The device includes a torso (1), on which forelimbs (2), middle limbs (3) and hind limbs (4) are arranged sequentially from front to back on both sides. A drive mechanism (5) is provided on the torso (1). The drive mechanism (5) includes a stop unit and a trigger unit that are connected by transmission. The stop unit is used to limit the forelimbs (2), middle limbs (3) and hind limbs (4) that have completed power storage. The trigger unit is used to release the stop unit from limiting the forelimbs (2), middle limbs (3) and hind limbs (4) to realize the jumping action. The torso (1) includes an upper plate (11) and a lower plate (12), and the upper plate (11) and the lower plate (12) are fixedly connected by two front connecting pins (14) and two middle connecting pins. The forelimb (2) includes a foreleg segment (21), a foretibia (22), and a front vertical rotating member (24). The foreleg segment (21) has a V-shaped structure. One end of the foreleg segment (21) is hinged to the foretibia (22), and the middle part is hinged to the front vertical rotating member (24). The bottom of the front vertical rotating member (24) is provided with a front clearance groove for the foreleg segment (21) to rotate away from the foretibia (22). The hinge point between the foreleg segment (21) and the front vertical rotating member (24) is provided with... A front vertical torsion spring is provided. The front vertical rotating member (24) is fixedly provided with a front horizontal rotating member (25) on the side near the torso (1). The front horizontal rotating member (25) is hinged to the front connecting pin (14), and a front horizontal torsion spring is provided at the hinge. A front gear (28) is provided at the end of the front horizontal rotating member (25) near the torso (1), and the front gears (28) on both sides of the torso (1) mesh with each other to ensure that the forelimbs (2) on both sides of the torso (1) rotate synchronously. The middle limb (3) includes a middle femur, a middle tibia, and a middle vertical rotating member. The middle femur has a V-shaped structure. One end of the middle femur is hinged to the middle tibia, and the middle position is hinged to the middle vertical rotating member. The bottom of the middle vertical rotating member is provided with a middle clearance groove for the middle femur to rotate away from the middle tibia. A middle vertical torsion spring is provided at the hinge point between the middle femur and the middle vertical rotating member. A middle horizontal rotating member is fixedly provided on the side of the middle vertical rotating member near the torso (1). The middle horizontal rotating member is hinged to a middle connecting pin, and a middle horizontal torsion spring is provided at the hinge point. A middle gear is provided at the end of the middle horizontal rotating member near the torso (1). The middle gears on both sides of the torso (1) mesh with each other to ensure that the middle limb (3) on both sides of the torso (1) rotates synchronously. The hind limb (4) includes a connecting plate (44), a hind leg segment (41), and a hind tibia (42). One end of the connecting plate (44) is fixedly disposed on both sides of the upper plate (11), and the other end is hinged to the hind leg segment (41). A rear vertical torsion spring is provided at the hinge point between the connecting plate (44) and the hind leg segment (41). One end of the hind tibia (42) is hinged to the end of the hind leg segment (41) away from the connecting plate (44), and a thin plate (43) is fixedly disposed at the other end. The stopping unit includes a front horizontal hook (52), a middle horizontal hook (56), a front fixed hook (13), a middle fixed hook, and a vertical hook (58). The front horizontal hook (52) and the middle horizontal hook (56) are both hinged between the upper plate (11) and the lower plate (12). The front vertical rotating member (24) has a front top seat (26) at its top, and a front horizontal buckle (27) is fixedly provided on the front top seat (26). The front horizontal hook (52) cooperates with the front horizontal buckle (27). The middle vertical rotating member has a middle top seat at its top, and a middle horizontal buckle is fixedly provided on the middle top seat. The middle horizontal hook (56) cooperates with the middle horizontal hook. The front fixing hook (13) and the middle fixing hook are fixedly set on both sides of the lower plate (12). The front leg segment (21) is provided with a front vertical buckle (23) at the end away from the front tibia (22). The front fixing hook (13) cooperates with the front vertical buckle (23). The middle leg segment is provided with a middle vertical buckle at the end away from the middle tibia. The middle fixing hook cooperates with the middle vertical buckle. The upper plate (11) is provided with a rear guide groove (17) near the hind limb (4). The vertical hook (58) is hinged to the rear guide groove (17) through a pivot. The vertical hook (58) cooperates with the thin plate (43). By changing the triggering order and triggering time interval of the triggering unit on the forelimb (2), the middle limb (3) and the hind limb (4), jumps at different speeds or in different directions can be achieved.

2. The six-legged locust-inspired jumping robot according to claim 1, characterized in that, The surface of the lower plate (12) is treated with superhydrophobicity.

3. The six-legged locust-inspired jumping robot according to claim 1, characterized in that, The foreleg segment (21) near the fore tibia (22) and the fore tibia (22) are both T-shaped cross sections. The end of the foreleg segment (21) near the fore tibia (22) and the end of the fore tibia (22) near the foreleg segment (21) are both provided with a stop to limit the fore tibia (22) to rotate counterclockwise only along the foreleg segment (21).

4. The six-legged locust-inspired jumping robot according to claim 1, characterized in that, The middle leg segment near the middle tibia and the middle tibia both have a T-shaped cross section. Both the end of the middle leg segment near the middle tibia and the end of the middle tibia near the middle leg segment are provided with a stop block to limit the middle tibia segment to rotate counterclockwise only along the middle leg segment.

5. A six-legged locust-inspired jumping robot according to claim 1, characterized in that, The triggering unit includes a pneumatic linear actuator (59), a front drive plate (51), a middle drive plate (55), and a rear drive plate (57). One end of the middle drive plate (55) is fixedly connected to the front drive plate (51) via a connecting seat (54), and the other end is fixedly connected to the rear drive plate (57) on its top surface. The fixed end of the pneumatic linear actuator (59) is fixedly disposed between the upper plate (11) and the lower plate (12), and the driving end is fixedly connected to the bottom surface of the connecting seat (54). The upper plate (11) is provided with a drive groove (18) for accommodating the movement of the connecting seat (54). The top surface of the front horizontal hook (52) is provided with a front guide post (53). The upper plate (11) is close to the... The front horizontal hook (52) is provided with a front guide groove (15) that is adapted to the front guide post (53). The front drive plate (51) is arc-shaped on the side near the front guide post (53) to drive the front guide post (53) to move along the front guide groove (15). The top surface of the middle horizontal hook (56) is provided with a middle guide post. The upper plate (11) is provided with a middle guide groove (16) that is adapted to the middle guide post near the middle horizontal hook (56). The side of the middle drive plate (55) near the middle guide post is arc-shaped to drive the middle guide post to move along the middle guide groove (16). The rear drive plate (57) is used to drive the vertical hook (58) to rotate.

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