Frog-like water-air-crossing continuous jumping robot

Abstract

The present application relates to the technical field of robots, and more particularly to a frog-like water-air cross-domain continuous jumping robot, a thigh rod and a shank rod are connected through a first rotating shaft; an energy storage assembly is connected between the two groups of first rotating shafts, and the frog-like water-air cross-domain continuous jumping robot further comprises a rack arranged in a head assembly, a first driving motor mounted on the rack, a transmission member connected between the first driving motor and a connecting member, a triggering assembly, and a reset assembly for restoring the triggering assembly to an initial state; the first driving motor drives the connecting member to rise through the transmission member, so that the distance between the two groups of first rotating shafts is increased, the energy storage assembly is continuously stretched to store energy until the triggering assembly triggers the energy storage assembly to release the stored energy; when the energy storage assembly releases the stored energy, the distance between the two groups of first rotating shafts is reduced, the first driving motor is connected to a control circuit board, and the control circuit board is arranged in the head assembly. The frog-like water-air cross-domain continuous jumping robot can realize the action of jumping from water to air, has high flexibility, and has a wide range of applications.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a frog-inspired water and air cross-domain continuous jumping robot. Background Technology

[0002] Bionics studies organisms in nature, particularly their structure, function, behavior, and adaptability. In biology, many animals move by jumping, possessing unique muscle structures, skeletal structures, and neural control mechanisms that enable them to jump efficiently and agilely. Through in-depth research into organisms, bionics attempts to imitate and replicate these excellent designs and functions to improve and create new artificial systems. In nature, frogs are renowned for their efficient jumping ability. Frogs achieve jumping by contracting and extending their hind leg muscles; their jumps are sudden and explosive, demonstrating strong obstacle-crossing ability and environmental adaptability. Frog-inspired jumping robots aim to mimic these biological characteristics to achieve efficient and agile jumping movements in water and on land, showing broad application prospects.

[0003] Currently, most frog-inspired jumping robots are driven by motors or pneumatic muscles. These two methods result in complex structures and large overall weight, making miniaturization difficult. They also struggle to closely resemble the size and shape of a frog, hindering the achievement of continuous underwater leaps. Furthermore, current frog-inspired jumping robots focus on controlling the forelimb's support angle to control the jump's elevation angle, making them suitable for terrestrial jumping but unable to utilize their underwater leaping capabilities. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a frog-inspired water and air cross-domain continuous jumping robot that can leap out of the water, has high flexibility, and a wide range of applications.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A frog-inspired water-and-air continuous jumping robot is provided, comprising a head assembly, thigh rods, lower leg rods, and fin propulsion components connected sequentially. Each thigh rod, lower leg rod, and fin propulsion component is in pairs, with a connector at the connection point between the two pairs of lower leg rods and fin propulsion components. The thigh rods and lower leg rods are connected by a first rotating shaft. An energy storage component is connected between the two sets of first rotating shafts. The frog-inspired water-and-air continuous jumping robot also includes a frame housed within the head assembly, a first drive motor mounted on the frame, a transmission component connecting the first drive motor and the connector, a trigger component for triggering the energy storage component to release stored energy, and a reset component for restoring the trigger component to its initial state. The reset component is connected between the trigger component and the frame. The first drive motor drives the connector to rise via the transmission component, increasing the distance between the two sets of first rotating shafts. The energy storage component continuously extends to store energy until the trigger component triggers the energy storage component to release stored energy. When the energy storage component releases stored energy, it drives the distance between the two sets of first rotating shafts to decrease.

[0007] This invention relates to a frog-inspired water-and-air cross-domain continuous jumping robot. A first drive motor, via a transmission component, raises a connecting component, increasing the distance between two sets of first rotating shafts. The energy storage component continuously extends to store energy, while the distance between the ends of the thigh and lower leg components decreases. When the energy storage component extends to the point where a trigger component activates, it releases the stored energy. This further reduces the distance between the two sets of first rotating shafts and increases the distance between the ends of the thigh and lower leg components. The flipper propulsion component pushes water downwards, causing the robot to leap out of the water and complete the water-and-air cross-domain jump. This frog-inspired water-and-air cross-domain continuous jumping robot can perform leaps from water to air, exhibiting high flexibility and a wide range of applications. The trigger and reset components enable the robot to perform multiple consecutive jumps, effectively improving its environmental adaptability. The control circuit board is installed within the head assembly, integrating electromechanical components and enhancing its autonomy and reliability.

[0008] Furthermore, the output shaft of the first drive motor is connected to a sleeve with a cross-sectional diameter that gradually decreases from top to bottom. The transmission component is a transmission rope, with its two ends connected to the sleeve and the connecting member, respectively. The first drive motor drives the sleeve to rotate, causing the transmission rope to wrap around the outer circumference of the sleeve, which in turn moves the connecting member upward. This reduces the distance between the two ends of the thigh and calf rods and increases the distance between the two sets of first rotating shafts. Because the sleeve has a cross-sectional diameter that gradually decreases from top to bottom, under the action of external force, the transmission rope wrapped around the outer circumference of the sleeve will detach from the outer circumference of the sleeve.

[0009] Furthermore, the triggering assembly includes a trigger element fixed to the outer periphery of the transmission rope, a baffle located at the bottom of the frame, and a swing rod with one end rotatably connected to the bottom of the frame and the other end abutting against the baffle for limitation. The transmission rope passes around the outer periphery of the other end of the swing rod. The baffle is deformed by the trigger element, releasing the baffle's limitation on the swing rod. When the baffle is deformed by the trigger element, the baffle's limitation on the swing rod is released, and the other end of the swing rod falls freely. The entire swing rod rotates around the connection point between one end of the swing rod and the frame. At the same time, the energy storage assembly releases stored energy, increasing the distance between the two ends of the thigh and lower leg rods, pulling the transmission rope so that the transmission rope disengages from the outer periphery of the sleeve, releasing the transmission rope and completing one jump.

[0010] Furthermore, one end of the swing arm has two sets of first circular portions, and the other end has two sets of second circular portions. The first and second circular portions transition smoothly, and the diameter of the first circular portion is smaller than the diameter of the second circular portion. A second rotating shaft, rotatably connected to the frame, connects the two sets of first circular portions, and a third rotating shaft connects the two sets of second circular portions. The transmission rope passes around the outer circumference of the third rotating shaft. The baffle has two sets of stops, which respectively abut against and limit the movement of the two sets of second circular portions. The weight of the second circular portion is greater than that of the first circular portion, so that when the limit is released, the second circular portion rotates downward under the action of gravity. The two limiting points, the stops and the second circular portions, ensure the stability of the overall structure.

[0011] Furthermore, the reset component is a reset spring, which is located between the other end of the swing arm and the bottom of the frame. When the robot completes a jump and falls into the water, the reset spring contracts, locking the swing arm back onto the baffle, preparing for the next jump.

[0012] Furthermore, the trigger element is a teardrop-shaped structure with a cross-sectional diameter that gradually increases and then gradually decreases from top to bottom. The teardrop-shaped structure causes the extrusion force of the trigger element on the baffle to gradually increase, and the deformation of the baffle to gradually occur, thereby ensuring smooth and stable operation.

[0013] Furthermore, the first rotating shaft has multiple fixing slots arranged along its axial direction, and the energy storage component includes several elastic energy storage rings, which are fitted into two fixing slots corresponding to the two sets of first rotating shafts. Specifically, the elastic energy storage rings can be rubber bands, storing energy when stretched and releasing it when contracted.

[0014] Furthermore, it also includes an attitude adjustment component for adjusting the robot's leaping posture in the water, the attitude adjustment component being mounted on the connector. The attitude adjustment component adjusts the robot's leaping posture from the water, enhancing the robot's autonomy and stability, improving motion efficiency, helping to better overcome water resistance and buoyancy, and reducing the impact and disturbance of water flow.

[0015] Furthermore, the attitude adjustment assembly includes a second drive motor, a crank, a rocker arm, a slider, and a slide rail. The second drive motor is connected to the control circuit board, and the second drive motor and the slide rail are fixed to the connector. The crank is connected to the output shaft of the second drive motor. One end of the rocker arm is rotatably connected to the crank, and the slider is rotatably connected to the other end of the rocker arm. The slider is slidably connected to the slide rail. The attitude adjustment assembly consists of two sets, and the center of gravity is adjusted by adjusting the position of the sliders in the two sets of attitude adjustment assemblies. The structure is simple and easy to control.

[0016] Furthermore, one end of the thigh rod is connected to a first gear, and the other end of the thigh rod is movably connected to one end of the lower leg rod via a first rotating shaft. The other end of the lower leg rod is provided with a second gear, and one end of the fin propulsion assembly is connected to a third gear. The first gear is rotatably connected to the head assembly, and the second and third gears are rotatably connected to the connecting member. Two sets of first gears mesh, two sets of second gears mesh, and two sets of third gears mesh, with the second gear meshing with the third gear. The arrangement of the first, second, and third gears allows the coordinated movement of the lower leg rod, thigh rod, and fin propulsion assembly to occur when the distance between the two sets of first rotating shafts changes.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] The frog-inspired water-air cross-domain continuous jumping robot of the present invention obtains reaction force in water to provide jumping mechanical energy, and relatively completely demonstrates the leg movement state of a frog leaping out of the water to catch food. It has rich and novel application scenarios and significant biomimetic characteristics.

[0019] The frog-inspired water and air cross-domain continuous jumping robot of the present invention has a sophisticated and simple structure and a small overall size: the head component is streamlined, which reduces the resistance encountered in water and minimizes the energy loss when breaking through the water surface; the four-bar structure is driven by a transmission rope to store and release energy, and the thigh rod, lower leg rod and fin propulsion component are driven by gear transmission. The transmission method is simple and improves its transmission efficiency and energy utilization.

[0020] The frog-inspired water and air cross-domain continuous jumping robot of the present invention, through the setting of trigger components and reset springs, enables the robot to cyclically jump multiple times continuously, effectively improving its environmental adaptability;

[0021] The frog-like water and air cross-domain continuous jumping robot of the present invention has its control circuit board, battery and motor drive module installed in the head assembly, and wireless module communication to achieve mechatronics integration, thereby improving its autonomy and reliability.

[0022] The frog-inspired water-and-air cross-domain continuous jumping robot of the present invention uses a second drive motor to drive a crank-rocker mechanism to adjust the center of gravity, thereby adjusting the robot's posture when jumping in the water. This improves the robot's autonomy and stability, increases motion efficiency, helps to better overcome water resistance and buoyancy, and reduces the impact and disturbance of water flow. Attached Figure Description

[0023] Figure 1 A 3D model of a frog-inspired water and air-crossing continuous jumping robot;

[0024] Figure 2 A schematic diagram of the head assembly of a frog-inspired water and air cross-domain continuous jumping robot;

[0025] Figure 3 An exploded view of the head assembly of a frog-inspired water and air-crossing continuous jumping robot;

[0026] Figure 4 A schematic diagram illustrating the principle of triggering the energy storage component to release energy for a frog-inspired water and air cross-domain continuous jumping robot.

[0027] Figure 5 A schematic diagram of the structure of the thigh rod, lower leg rod, and fin propulsion assembly;

[0028] Figure 6 A schematic diagram of the attitude adjustment component of a frog-inspired water and air cross-domain continuous jumping robot;

[0029] Figure 7 The circuit control principle diagram of a frog-inspired water and air cross-domain continuous jumping robot;

[0030] In the attached diagram: 100, head assembly; 110, frame; 120, first drive motor; 121, second plane; 130, transmission component; 140, outer shell; 150, base; 160, limiting ring; 170, partition plate; 180, mounting block; 190, sleeve; 191, fixing hole; 192, first plane; 200, thigh rod; 210, first gear; 220, first connector; 300, lower leg rod; 310, second gear; 320, second connector; 400, fin propulsion assembly; 410, third gear; 500, connector; 510, connecting plate; 520, connecting cover; 530, connecting rod; 600, first rotating shaft; 610, fixed... 620. Fixed slot; 700. Energy storage component; 710. Trigger component; 720. Baffle; 721. Stop; 730. Rocker arm; 731. First circular part; 732. Second circular part; 733. Second rotating shaft; 734. Third rotating shaft; 740. Reset spring; 800. Control circuit board; 810. Controller; 820. Motor drive module; 830. Gyroscope; 840. Battery; 850. Wireless communication module; 860. Power supply regulator circuit; 870. Clock oscillation circuit; 880. Reset circuit; 900. Attitude adjustment component; 910. Second drive motor; 920. Crank; 930. Rocker arm; 940. Slider; 950. Slide rail. Detailed Implementation

[0031] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, 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.

[0032] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present 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 used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0033] Example 1

[0034] like Figure 1The first embodiment of the frog-inspired water-and-air cross-domain continuous jumping robot of the present invention is shown. It includes a head assembly 100, thigh rods 200, lower leg rods 300, and a fin-propulsion assembly 400 connected sequentially. Each thigh rod 200, lower leg rod 300, and fin-propulsion assembly 400 is in pairs. A connector 500 is provided at the connection point between the two pairs of lower leg rods 300 and fin-propulsion assemblies 400. The thigh rods 200 and lower leg rods 300 are connected by a first rotating shaft 600. An energy storage assembly 620 is connected between the two pairs of first rotating shafts 600. The frog-inspired water-and-air cross-domain continuous jumping robot also includes a frame 110 disposed within the head assembly 100, a first drive motor 120 mounted on the frame 110, and a connector 500 connected to the first drive motor 120 and the connector 500. The transmission component 130 between the connectors 500, the trigger component 700 for triggering the energy storage component 620 to release stored energy, and the reset component 740 for restoring the trigger component 700 to its initial state are connected between the trigger component 700 and the frame 110. The first drive motor 120 drives the connector 500 to rise through the transmission component 130, thereby increasing the distance between the two sets of first rotating shafts 600. The energy storage component 620 continuously extends to store energy until the trigger component 700 triggers the energy storage component 620 to release stored energy. When the energy storage component 620 releases stored energy, it drives the distance between the two sets of first rotating shafts 600 to decrease. The first drive motor 120 is connected to the control circuit board 800, which is located inside the head assembly 100. The thigh rod 200 and the lower leg rod 300 form a parallelogram-shaped four-bar structure. The fin propulsion assembly 400 is a pair of flat fins that mimic the fins of a frog. The fins mimic the protrusions at the skeletal structure of a frog's fins and have a smooth depression in the middle. The thigh rod 200, lower leg rod 300, and fin propulsion assembly 400 can be made of PLA material, which has good biodegradability and is an environmentally friendly material.

[0035] like Figure 2 , Figure 3 As shown, the head assembly 100 includes a base 150 and a streamlined outer shell 140. The diameter of the outer shell 140 gradually increases from top to bottom and then remains constant, which helps to minimize energy loss during the impact on the water surface and reduces energy loss during the underwater jump. The base 150 is sleeved or snapped onto the inner wall of the bottom of the outer shell 140, and a limiting ring 160 is provided inside the outer shell 140 to abut against the end face of the base 150. A partition 170 is also provided inside the outer shell 140, located at the junction of the diameter-changing section and the diameter-constant section. The frame 110 is fixedly installed on the partition 170. The bottom of the base 150 has two opposing mounting blocks 180, forming an installation space between the two opposing mounting blocks 180.

[0036] The first drive motor 120 is fixedly mounted on the frame 110 and located inside the housing 140. The output shaft of the first drive motor 120 passes through the frame 110 and is connected to a sleeve 190 whose cross-sectional diameter gradually decreases from top to bottom. The transmission component 130 is a transmission rope, and the two ends of the transmission rope are respectively connected to the sleeve 190 and the connecting component 500. Specifically, a fixing hole 191 is provided on the sleeve 190. One end of the transmission rope is fixed in the fixing hole 191 to prevent it from falling off, and the other end of the transmission rope is connected to the connecting component 500. A first plane 192 is provided on the side of the sleeve 190, and a second plane 121 is provided on the output shaft of the first drive motor 120. The first plane 192 and the second plane 121 fit together to limit and prevent the sleeve 190 from rotating relative to the output shaft of the first drive motor 120. Figure 2 , Figure 3 As shown. In this embodiment, the first drive motor 120 drives the sleeve 190 to rotate, causing the transmission rope to wrap around the outer circumference of the sleeve 190, which in turn drives the connector 500 to move upward. This reduces the distance between the two ends of the thigh rod 200 and the calf rod 300, increases the distance between the two sets of first rotating shafts 600, and causes the energy storage component 620 to continuously extend and store energy. When the trigger component 700 meets the triggering condition, the energy storage component 620 releases the stored energy, which increases the distance between the two ends of the thigh rod 200 and the calf rod 300, decreases the distance between the two sets of first rotating shafts 600, and applies a downward force to the transmission rope. Under the action of external force, since the sleeve 190 has a cross-sectional diameter that gradually decreases from top to bottom, the transmission rope wrapped around the outer circumference of the sleeve 190 will fall off the outer circumference of the sleeve 190, thereby releasing the transmission rope.

[0037] The trigger assembly 700 includes a trigger element 710 fixed to the outer periphery of the transmission rope, a baffle 720 located at the bottom of the frame 110, and a swing rod 730 with one end rotatably connected to the bottom of the frame 110 and the other end able to abut against and limit the movement of the baffle 720. The transmission rope passes around the outer periphery of the other end of the swing rod 730, and the baffle 720 is deformed by the trigger element 710, releasing the limitation of the baffle 720 on the swing rod 730. The swing arm 730 has two sets of first circular portions 731 at one end and two sets of second circular portions 732 at the other end. The first circular portions 731 and the second circular portions 732 are smoothly transitioned, and the diameter of the first circular portion 731 is smaller than the diameter of the second circular portion 732. A second rotating shaft 733, which is rotatably connected to the frame 110, is connected between the two sets of first circular portions 731. A third rotating shaft 734 is rotatably connected between the two sets of second circular portions 732. The transmission rope passes around the outer circumference of the third rotating shaft 734. The baffle 720 has two sets of stop portions 721, which respectively abut and limit the movement of the two sets of second circular portions 732. Figure 2 , Figure 3As shown. The two ends of the third rotating shaft 734 are rotatably connected between the two sets of second circular portions 732 via bearings, converting the contact friction between the transmission rope and the third rotating shaft 734 into rolling friction, thus avoiding wear caused by friction between the two. A reset spring 740 is connected between the other end of the swing arm 730 and the bottom of the frame 110. The reset spring 740 serves as a reset component and is specifically disposed between the third rotating shaft 734 and the bottom surface of the frame 110, or specifically disposed between the circumferential side of the second circular portion 732 and the bottom surface of the frame 110. The trigger element 710 has a teardrop-shaped structure with a cross-sectional diameter that gradually increases and then gradually decreases from top to bottom. In addition, in this embodiment, the triggering time of the trigger element 710 and the complete energy storage time of the energy storage component 620 can be the same time, which can be achieved by setting the position of the trigger element on the transmission rope and the model parameters of the energy storage component 620.

[0038] In a specific implementation of the trigger component 700 in this embodiment, the first drive motor 120 drives the sleeve 190 to rotate, causing the transmission rope to wrap around the outer circumference of the sleeve 190, which in turn drives the connecting member 500 to move upward. This reduces the distance between the two ends of the thigh rod 200 and the lower leg rod 300, increases the distance between the two sets of first rotating shafts 600, and causes the energy storage component 620 to continuously extend and store energy. At the same time, the trigger member 710 on the transmission rope gradually moves upward. When the trigger member 710 moves to the position of the baffle 7... When contact occurs, if the baffle 720 is deformed by the trigger 710, the baffle 720 releases its restriction on the swing arm 730, allowing the other end of the swing arm 730 to fall freely. The swing arm 730 then swings downwards around the axis of the second pivot 733, stretching the return spring 740. Simultaneously, the energy storage component 620 releases its stored energy, increasing the distance between the ends of the thigh rod 200 and the lower leg rod 300, pulling the transmission rope and causing it to disengage from the outer periphery of the sleeve 190, releasing the transmission rope. The return force of the return spring 740 pulls the third pivot 734 and the second circular part 732 upwards until the second circular part 732 re-engages with the two sets of stops 721, preparing for the next jump. Figure 4 As shown. Therefore, this invention can achieve continuous jumping across water and air domains.

[0039] One end of the thigh rod 200 is connected to a first gear 210, and the other end of the thigh rod 200 is movably connected to one end of the lower leg rod 300 via a first rotating shaft 600. The other end of the lower leg rod 300 is provided with a second gear 310. One end of the fin propulsion assembly 400 is connected to a third gear 410. The first gear 210 is rotatably connected to the head assembly 100, and the second gear 310 and third gear 410 are rotatably connected to the connecting member 500. Two sets of first gears 210 mesh, two sets of second gears 310 mesh, and two sets of third gears 410 mesh, with the second gear 310 meshing with the third gear 410. The arrangement of the first gear 210, second gear 310, and third gear 410 allows the coordinated movement of the lower leg rod 300, thigh rod 200, and fin propulsion assembly 400 to occur when the distance between the two sets of first rotating shafts 600 changes. Figure 5 As shown. Specifically, two sets of first gears 210 are rotatably mounted between two sets of mounting blocks 180. The two sets of first gears 210 are incomplete gears, that is, the teeth of the first gear 210 are mainly located on the two end faces of the first gear 210, and the middle part of the first gear 210 is hollowed out to allow the trigger 710 on the transmission rope to pass through.

[0040] When the distance between the two sets of first rotating shafts 600 increases, under the action of the first gear 210, the two sets of lower leg rods 300 expand outward at the same rate of change. Under the action of the second gear 310, the two sets of upper leg rods 200 expand outward at the same rate of change. Under the meshing action of the second gear 310 and the third gear 410, the two sets of fin propulsion components 400 expand outward at the same rate of change.

[0041] Example 2

[0042] This embodiment is the second embodiment of the frog-inspired water-air cross-domain continuous jumping robot of the present invention. This embodiment is similar to the first embodiment, except that the first rotating shaft 600 has multiple fixed slots 610 arranged along its axial direction, and the energy storage component 620 includes several elastic energy storage rings. These elastic energy storage rings are fitted into the two fixed slots 610 corresponding to the two sets of first rotating shafts 600. Figure 1As shown. In this embodiment, the elastic energy storage ring can specifically be a rubber band, which stores energy when stretched and releases energy when contracted, and can repeatedly store and release energy. More specifically, in this embodiment, the rubber band can be a rubber emulsion, which has the characteristics of large elongation, good resilience, and low cost. As an elastic energy storage element, it can convert less mechanical energy into greater elastic potential energy and can be repeatedly recycled. In order to provide sufficient installation space for the installation of the elastic energy storage ring, in this embodiment, a first connector 220 is provided at the other end of the thigh member 200, and a second connector 320 is provided at one end of the lower leg member 300. The first connector 220 and the second connector 320 are connected by a first rotating shaft 600 and a cavity is formed between the first connector 220 and the second connector 320. In this way, a fixing groove 610 can be set on the outer periphery of the first rotating shaft 600 and the elastic energy storage ring can be installed in the fixing groove 610. Several elastic energy storage rings are arranged in parallel to avoid mutual interference during the extension and contraction process.

[0043] Example 3

[0044] This embodiment is the fourth embodiment of the frog-inspired water-and-air cross-domain continuous jumping robot of the present invention. This embodiment is similar to the first or second embodiment, except that it further includes an attitude adjustment component 900 for adjusting the jumping posture in the water. The attitude adjustment component 900 is installed on the connector 500. The attitude adjustment component 900 adjusts the robot's jumping posture from the water, specifically adjusting the robot's pitch angle, roll angle, and yaw angle at takeoff, thereby improving the robot's autonomy and stability, increasing motion efficiency, helping to better overcome water resistance and buoyancy, and reducing the impact and disturbance of water flow. In this embodiment, a gyroscope 830 can be installed in the head assembly 100. The gyroscope 830 provides feedback on the robot's current pitch angle, roll angle, and yaw angle in the water. The controller 810 adjusts the water exit posture based on the robot's current pitch angle, roll angle, and yaw angle in the water.

[0045] The connector 500 includes a connecting plate 510, a connecting cover 520, and a connecting rod 530. There are two sets of connecting plates 510 and connecting covers 520. The connecting rod 530 connects between the two sets of connecting plates 510. The connecting cover 520 is detachably placed over the connecting plate 510, forming an installation space between the connecting plates 510 and the connecting cover 520. The attitude adjustment component 900 is installed within this installation space. The other end of the transmission rope is fixed to the outer periphery of the connecting rod 530 to ensure the transmission rope is vertically positioned. Two sets of second gears 310 and two sets of third gears 410 are rotatably mounted between the two sets of connecting plates 510. The connecting cover 520 can be a transparent cover. To ensure the seal between the connecting plate 510 and the connecting cover 520, sealant can be used to waterproof the connection point. Figure 1 , Figure 6 As shown.

[0046] Specifically, in this embodiment, the attitude adjustment component 900 includes a second drive motor 910, a crank 920, a rocker arm 930, a slider 940, and a slide rail 950. The second drive motor 910 and the slide rail 950 are fixed to the connector 500. The crank 920 is connected to the output shaft of the second drive motor 910. One end of the rocker arm 930 is rotatably connected to the crank 920. The slider 940 is rotatably connected to the other end of the rocker arm 930. The slider 940 is slidably connected to the slide rail 950. Figure 6 As shown. The preferred sliding direction of slider 940 is vertical, and the sliding direction of slider 940 is determined by the orientation of slide rail 950. There are two sets of attitude adjustment components 900. The center of gravity is adjusted by adjusting the position of slider 940 in the two sets of attitude adjustment components 900. The structure is simple and easy to control. In this embodiment, slider 940 is a high-density, heavy-weight slider 940, specifically a 316L stainless steel metal part, to adjust the robot's center of gravity from the head to the connecting piece 500, preventing the robot from jumping head-down.

[0047] In addition, the present invention includes a control circuit board 800 and a mounting cavity provided in the base 150 for mounting the control circuit board 800. A controller 810 and a motor drive module 820 are integrated into the control circuit board 800. A gyroscope 830 can also be integrated into the control circuit board 800. A battery 840 is fixedly disposed within the head assembly 100, providing power to the control circuit board 800, the first drive motor 120, and the second drive motor 910. Since the control circuit board 800 is disposed within the head assembly 100, and the second drive motor 910 is disposed below the head assembly 100 with a certain distance between them, in this embodiment, the second drive motor 910 and the control circuit board 800 can be electrically connected by wires. The controller 810 is also externally connected to a wireless communication module 850 for communication with terminals such as computers or mobile phones. The control circuit board 800 includes a controller 810, a power supply regulator circuit 860, a clock oscillation circuit 870, and a reset circuit 880. The controller 810 is an STM32F405RGT6 main control chip. The controller 810 is connected to the STM32F405RGT6 motor drive module 820 through I / O ports to generate PWM waves to drive the DC geared motors, i.e., the first drive motor 120 and the second drive motor 910. The controller 810 is connected to the E62-433T17D wireless communication module 850 through UART and to the MPU9150 gyroscope 830 through IIC. Figure 7 As shown, the control circuit board 800, battery 840, and motor drive module 820 are all installed inside the head assembly 100. Wireless module communication enables electromechanical integration, improving its autonomy and reliability.

[0048] This embodiment is implemented according to the following steps:

[0049] The first drive motor 120 drives the sleeve 190 to rotate, causing the transmission rope to wrap around the outer circumference of the sleeve 190, which in turn drives the connector 500 to move upward, thereby reducing the distance between the two ends of the thigh rod 200 and the lower leg rod 300, increasing the distance between the two sets of first rotating shafts 600, and causing the energy storage component 620 to continuously extend and store energy.

[0050] During the energy storage process of the energy storage component 620, the gyroscope 830 provides feedback on the current pitch angle, roll angle, and yaw angle of the robot in the water. The controller 810 controls the second drive motor 910 to rotate at the corresponding angle. The output shaft of the second drive motor 910 adjusts the relative position of the slider 940 on the slide rail 950 through the crank 920 and rocker arm 930, thereby causing the robot's front and rear center of gravity to shift, thus tilting the overall angle of the robot to achieve the effect of adjusting the posture when it leaves the water.

[0051] The trigger 710 on the transmission rope gradually moves upward. When the trigger 710 moves to contact the baffle 720, the baffle 720 is deformed by the trigger 710, and the baffle 720 releases its restriction on the swing arm 730. The other end of the swing arm 730 falls freely, and the entire swing arm 730 swings downward around the axis of the second pivot 733. The reset spring 740 is stretched. At the same time, the energy storage component 620 releases stored energy, the distance between the two ends of the thigh rod 200 and the lower leg rod 300 increases, the distance between the two sets of first pivots 600 decreases, the fin push water component 400 pushes the water downward, and the robot leaps out of the water, completing one jump.

[0052] After the robot completes a jump and falls into the water, the retraction force of the reset spring 740 pulls the third rotating shaft 734 and the second circular part 732 upward until the second circular part 732 is once again engaged with the two sets of stops 721. At this time, the height of the transmission rope winding is greater than the height fixed on the sleeve 190, the first drive motor 120 starts again, and the transmission rope is wound around the outer circumference of the sleeve 190 again, entering the energy storage stage in a cycle, preparing for the next water-air cross-domain jump.

[0053] 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.

[0054] 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-inspired water and air cross-domain continuous jumping robot, comprising a head assembly (100), thigh rods (200), lower leg rods (300), and a fin propulsion assembly (400) connected sequentially, wherein each thigh rod (200), lower leg rod (300), and fin propulsion assembly (400) consists of two sets, and a connector (500) is provided at the connection between the two sets of lower leg rods (300) and fin propulsion assembly (400), and the thigh rods (200) and lower leg rods (300) are connected by a first rotating shaft (600); characterized in that, An energy storage component (620) is connected between the two sets of first rotating shafts (600). The frog-like water and air cross-domain continuous jumping robot also includes a frame (110) disposed in the head component (100), a first drive motor (120) mounted on the frame (110), a transmission component (130) connecting the first drive motor (120) and the connector (500), a trigger component (700) for triggering the energy storage component (620) to release stored energy, and a reset component for restoring the trigger component (700) to its initial state. The reset component is connected to the trigger component (700) and the... Between the frames (110); the first drive motor (120) drives the connecting piece (500) to rise through the transmission component (130), thereby increasing the distance between the two sets of first rotating shafts (600), and the energy storage component (620) continuously extends to store energy until the trigger component (700) triggers the energy storage component (620) to release the stored energy; when the energy storage component (620) releases the stored energy, it drives the distance between the two sets of first rotating shafts (600) to decrease; the first drive motor (120) is connected to the control circuit board (800), and the control circuit board (800) is located inside the head assembly (100); The output shaft of the first drive motor (120) is connected to a sleeve (190) with a cross-sectional diameter that gradually decreases from top to bottom. The transmission component (130) is a transmission rope, and the two ends of the transmission rope are respectively connected to the sleeve (190) and the connector (500). The trigger assembly (700) includes a trigger element (710) fixed to the outer periphery of the transmission rope, a baffle (720) located at the bottom of the frame (110), and a swing rod (730) with one end rotatably connected to the bottom of the frame (110) and the other end able to abut against and limit the movement of the baffle (720). The transmission rope passes around the outer periphery of the other end of the swing rod (730), and the baffle (720) is squeezed and deformed by the trigger element (710) to release the limitation of the baffle (720) on the swing rod (730).

2. The frog-inspired water-air cross-domain continuous jumping robot according to claim 1, characterized in that, The swing arm (730) has two sets of first circular portions (731) at one end and two sets of second circular portions (732) at the other end. The first circular portions (731) and the second circular portions (732) are smoothly connected. The diameter of the first circular portion (731) is smaller than the diameter of the second circular portion (732). A second rotating shaft (733) that is rotatably connected to the frame (110) is connected between the two sets of first circular portions (731). A third rotating shaft (734) that is rotatably connected between the two sets of second circular portions (732) is connected. The transmission rope passes around the outer periphery of the third rotating shaft (734). The baffle (720) has two sets of baffles (721). The two sets of baffles (721) respectively abut against and limit the two sets of second circular portions (732).

3. The frog-inspired water-air cross-domain continuous jumping robot according to claim 1, characterized in that, The reset assembly is a reset tension spring (740), which is located between the other end of the swing arm (730) and the bottom of the frame (110).

4. The frog-inspired water-air cross-domain continuous jumping robot according to claim 1, characterized in that, The trigger element (710) is a teardrop-shaped structure with a cross-sectional diameter that gradually increases and then gradually decreases from top to bottom.

5. The frog-inspired water-air cross-domain continuous jumping robot according to any one of claims 1 to 4, characterized in that, The first rotating shaft (600) has a plurality of fixed slots (610) arranged along the axial direction. The energy storage component (620) includes a plurality of elastic energy storage rings, which are fitted into the two fixed slots (610) corresponding to the two sets of first rotating shafts (600).

6. The frog-inspired water-air cross-domain continuous jumping robot according to any one of claims 1 to 4, characterized in that, It also includes an attitude adjustment component (900) for adjusting the jumping posture in the water, the attitude adjustment component (900) being mounted on the connector (500).

7. The frog-inspired water-air cross-domain continuous jumping robot according to claim 6, characterized in that, The attitude adjustment assembly (900) includes a second drive motor (910), a crank (920), a rocker arm (930), a slider (940), and a slide rail (950). The second drive motor (910) is connected to the control circuit board (800). The second drive motor (910) and the slide rail (950) are fixed to the connector (500). The crank (920) is connected to the output shaft of the second drive motor (910). One end of the rocker arm (930) is rotatably connected to the crank (920). The slider (940) is rotatably connected to the other end of the rocker arm (930). The slider (940) is slidably connected to the slide rail (950).

8. The frog-inspired water-air cross-domain continuous jumping robot according to any one of claims 1 to 4, characterized in that, One end of the thigh rod (200) is connected to a first gear (210), and the other end of the thigh rod (200) is movably connected to one end of the lower leg rod (300) via a first rotating shaft (600). The other end of the lower leg rod (300) is provided with a second gear (310). One end of the fin propulsion assembly (400) is connected to a third gear (410). The first gear (210) is rotatably connected to the head assembly (100), and the second gear (310) and the third gear (410) are rotatably connected to the connector (500). Two sets of the first gears (210) mesh, two sets of the second gears (310) mesh, and two sets of the third gears (410) mesh, and the second gear (310) meshes with the third gear (410).

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