A small water surface jumping robot based on a slider-crank mechanism

Abstract

A kind of small water surface jumping robot based on crank slider mechanism imitating locust, it relates to a kind of small water surface jumping robot based on crank slider mechanism imitating locust.The present application is to solve the problems that the existing water surface jumping robot is small in size, energy storage is not enough, and cannot well utilize the resistance of water, and is difficult to realize functional application.The present application includes driving system, transmission system, two spherical foam legs, energy storage system, main body support system and rectangular foam leg;Two spherical foam legs are arranged side by side at the front end of the main body support system, the rectangular foam leg is installed at the rear end of the main body support system, the driving system is installed at the lower part of the main body support system, the transmission system is installed in the main body support system, and the energy storage system is installed at the top of the main body support system;Driving system is connected with energy storage system, and energy storage system is connected with transmission system.The present application belongs to the technical field of bionic robot.

Description

Technical Field

[0001] The invention relates to a small water surface jumping robot imitating a jaguar mole cricket, belonging to the technical field of bionic robots. Background Art

[0002] In recent years, with the advancement of bionics, new materials, microfabrication, and microelectronics, bionic water-surface jumping robots have attracted increasing attention due to their high concealment, wide adaptability, low cost, and wide operational coverage. These robots mimic common aquatic insects, such as water striders, water spiders, and pygmy mole crickets. They typically rely on the robot's own body parts to slap the water surface for propulsion, achieving a certain degree of obstacle-jumping capability. When used in conjunction with other automated equipment, they can be used for exploration of unknown or dangerous waters, covert monitoring, water quality inspection, and surface searches. They hold great promise for application and are of significant research significance.

[0003] Compared to land jumping, the force model between a water-jumping robot and the water surface is more complex and highly nonlinear. Furthermore, unlike rigid ground support, the water surface support cannot provide strong, instantaneous, and sudden force for the robot's jump, otherwise it would cause a lot of splashing and even capsize. Factors such as the robot's mass, the layout of the water support system, the energy storage capacity of the bouncing mechanism, and the efficiency of the drive mechanism all affect the robot's water-jumping height. Water-jumping robots face the more delicate task of configuring their center of mass to ensure they float stably on the water, avoid flipping in mid-air during the jump, and land stably on the water surface.

[0004] Research literature reveals that current bionic surface-jumping robots primarily rely on surface tension and water pressure. Surface tension-based jumping robots are subject to size constraints, requiring their weight to be kept below 1g. This places stringent demands on energy, drive mechanisms, and support structures, making them difficult to implement in the short term. In contrast, water pressure-based surface-jumping robots focus on using a drive plate to pierce the water surface, leveraging the resistance generated by relative motion with the water to achieve jumping motion. These robots weigh over 10 grams, rely on buoyancy for surface support, and possess a certain surface load capacity.

[0005] In summary, existing water-jumping robots have problems such as small size, insufficient energy storage, inability to make good use of water resistance, and difficulty in realizing functional applications. Summary of the Invention

[0006] The present invention aims to solve the problems of existing water surface jumping robots such as small size, insufficient energy storage, inability to make good use of water resistance, and difficulty in realizing functional applications. A small water surface jumping robot imitating the dwarf mole cricket based on a crank slider mechanism is proposed.

[0007] The application is characterized in that the application comprises a driving system, a transmission system, two spherical foam legs, an energy storage system, a main body support system and a rectangular foam leg.

[0008] The two spherical foam legs are arranged side by side at the front end of the main body support system, the rectangular foam leg is installed at the rear end of the main body support system, the driving system is installed at the lower part of the main body support system, the transmission system is installed in the main body support system, and the energy storage system is installed at the top of the main body support system.

[0009] The driving system is connected with the energy storage system, and the energy storage system is connected with the transmission system.

[0010] Further, the main body support system comprises a support frame and four connecting rods.

[0011] The front end of the support frame is connected with the two spherical foam legs through the two connecting rods respectively, and the rear end of the support frame is connected with the rectangular foam leg through the two connecting rods.

[0012] The driving system is installed on the lower surface of the support frame, and the transmission system and the energy storage system are installed on the upper surface of the support frame.

[0013] Further, the main body support system further comprises four fixing seats.

[0014] The two connecting rods at the front end of the support frame are connected with the two spherical foam legs through the two fixing seats respectively, and the two connecting rods at the rear end of the support frame are connected with the rectangular foam leg through the other two fixing seats.

[0015] Further, the driving system comprises two sets of crank slider mechanisms symmetrically arranged on the lower surface of the support frame, each set of crank slider mechanism comprises a carbon fiber leg seat, a driving shaft, a bearing, a pin, a crank, a connecting rod, a carbon fiber leg and a driving plate.

[0016] One end of the connecting rod is connected with the energy storage system, the other end of the connecting rod is rotatably connected with one end of the crank through the pin, the other end of the crank is connected with the driving shaft, the driving shaft is installed on the bearing seat of the support frame through the bearing, one end of the carbon fiber leg seat is connected with the driving shaft, one end of the carbon fiber leg is installed on the carbon fiber leg seat, and the other end of the carbon fiber leg is connected with the driving plate.

[0017] Further, the energy storage system comprises two carbon fiber sheets, two shaft covers, a hollow light shaft, two support blocks, two guide rods, an energy storage slider, a linear bearing and four support rods.

[0018] Two support blocks are symmetrically arranged at the front end and the rear end of the upper surface of the support frame, four support rods are arranged side by side and parallel between the two support blocks, two guide rods are arranged side by side and parallel between the two support blocks, the energy storage slider is installed on the two guide rods through a linear bearing, two carbon fiber sheets are arranged side by side, one end of the carbon fiber sheet is connected with the energy storage slider, the other end of the carbon fiber sheet is in the fixed carbon sheet seat on the support frame, the hollow light shaft is installed in the through hole of the energy storage slider, one end of the hollow light shaft is connected with the connecting rod of the energy storage system, two shaft covers are buckled at the two ends of the hollow light shaft respectively, and the energy storage slider is connected with the transmission system.

[0019] Further, the transmission system comprises a guide wheel, a winding shaft, a wire rope, a power gear, a winding gear and a screw;

[0020] The motor assembly is installed on the support frame, the motor assembly is connected with the power gear, the winding gear is engaged with the power gear, one end of the winding shaft is fixedly connected with the winding gear, the guide wheel is fixed outside the support block, one end of the wire shaft is fixedly connected with the winding shaft, and the other end of the winding shaft is fixedly connected with the energy storage slider through the guide wheel.

[0021] Further, the motor assembly comprises a return sleeve, a shell, a spring, a motor, a motor base, a pressing plate, a one-way bearing and a power shaft.

[0022] The motor is fixed on the motor base, the motor base is fixed on the shell, the shell is fixed on the support frame, one end of the power shaft is fixedly connected with the motor shaft of the motor, the one-way bearing is coaxially fixedly sleeved on the power shaft, the return sleeve is sleeved on the two one-way bearings, one end of the return sleeve is close to the pressing plate, the spring is arranged between the pressing plate and the motor base, the return sleeve is located in the shell, and the return sleeve can move axially in the shell.

[0023] Further, the motor assembly further comprises a plurality of ball bearings.

[0024] The outer wall of the return sleeve is matched with the spiral groove in the inner wall of the shell, the outer wall of the shell is provided with a ball bearing hole, and the ball bearings are installed in the spiral groove through the ball bearing hole.

[0025] The beneficial effects of the present application are:

[0026] 1. In the present application, the main parts of the robot are manufactured by high-precision 3D printing, which reduces the production time and cost, uses carbon fiber sheets and latex strips as energy storage elements, adopts the carbon fiber sheet installation mode with fixed ends, improves the energy storage density, adopts a symmetric drive system, improves the driving force and stability of the robot on the water surface, uses foam as the water surface supporting member of the robot, increases the supporting force, reduces the drag force of the water surface during take-off, and improves the jumping performance.

[0027] 2、The robot in the application has the ability of continuous jumping on water surface, effectively expands the motion space of the robot, and improves the motion flexibility;

[0028] 3、The robot in the application adopts a slider-crank mechanism as a driving mechanism, and the output force and sliding range can be improved by optimizing the length of the crank and connecting rod, effectively improving the driving plate and water force;

[0029] 4、The application has wide application range, and can be applied in the fields of military detection, water surface obstacle search and communication nodes, and can be applied in unknown or dangerous water area exploration, water quality inspection and other work;

[0030] 5、The total weight of the high-energy storage water surface jumping robot is about 303g, the buoyancy material foam is used as the supporting leg, the robot supporting mode and driving mode both use water pressure, the carbon fiber sheet and rubber strip combination are used as the energy storage element of the robot, the robot has better energy storage density and supporting stiffness, and the robot has larger volume and has the ability of carrying sensors, and the single jumping height is about 265mm. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is the axonometric view of the application;

[0032] Figure 2 is the front view of the application;

[0033] Figure 3 is the top view of the application;

[0034] Figure 4 is the left view of the application;

[0035] Figure 5 is the structural schematic view of the main support system of the application;

[0036] Figure 6 is the structural schematic view of the energy storage system of the application;

[0037] Figure 7 is the structural schematic view of the transmission system of the application;

[0038] Figure 8 is the structural schematic view of the support system of the application

[0039] Figures 1 to 8In the figure, 1-drive system, 2-transmission system, 3-spherical foam legs, 4-energy storage system, 5-main support system, 6-rectangular foam legs, 7-support frame, 8-connecting rod, 9-fixed seat, 10-carbon fiber sheet, 11-shaft cover, 12-hollow optical shaft, 13-support block, 14-guide rod, 15-energy storage slider, 16-linear bearing, 17-support rod, 18-wire wheel, 19-winding shaft, 20-rope, 21-ball, 2 2-return sleeve, 23-housing, 24-spring, 25-motor, 26-motor seat, 27-pressure plate, 28-one-way bearing, 29-power shaft, 30-power gear, 31-winding gear, 32-screw, 33-bearing, 34-screw, 35-carbon fiber leg seat, 36-drive shaft, 37-bearing, 38-pin, 39-crank, 40-connecting rod, 41-carbon fiber leg, 42-drive plate, 43-pin shaft, 44-end cover. DETAILED DESCRIPTION

[0040] Specific implementation method 1: Figures 1 to 4 As shown, a small-scale water-jumping robot imitating a Japanese mole cricket based on a crank slider mechanism is characterized by comprising a drive system 1, a transmission system 2, two spherical foam legs 3, an energy storage system 4, a main body support system 5 and rectangular foam legs 6;

[0041] Two spherical foam legs 3 are arranged side by side at the front end of the main support system 5, and the rectangular foam legs 6 are installed at the rear end of the main support system 5. The drive system 1 is installed at the lower part of the main support system 5, the transmission system 2 is installed inside the main support system 5, and the energy storage system 4 is installed on the top of the main support system 5;

[0042] The driving system 1 is connected to the energy storage system 4 , and the energy storage system 4 is connected to the transmission system 2 .

[0043] Among them, the main support system 5 is located in the middle of the robot, the main body of the main support system 5 is the support frame 7, and the lower part of the support frame 7 is distributed with holes for installing spherical foam legs 3 and rectangular foam legs 6 to support the robot floating on the water surface. The energy storage system 4 is located at the upper part of the robot and is installed on the guide rod 14 on the upper part of the main support system 5. The front end of the energy storage system 4 is a support block 13. The drive system 1 is symmetrically distributed on the left and right sides of the main support system 5; the transmission system 2 is installed inside the support frame 7, and its end output rope 20 is connected to the energy storage slider 15 in the energy storage system 4; the robot achieves stable floating on the water surface through the spherical foam legs 3 and rectangular foam legs 6 installed on the support frame 7, and the transmission system 2 drives the energy storage system 4 to store and release energy, provides the energy required for jumping, and drives the drive system 1 to move to achieve water surface jumping movement.

[0044] Specific implementation method 2: Figure 5As shown, the main body support system 5 includes a support frame 7 and four connecting rods 8;

[0045] The front end of the support frame 7 is connected with the two spherical foam legs 3 through two connecting rods 8 respectively, and the rear end of the support frame 7 is connected with the rectangular foam leg 6 through two connecting rods 8;

[0046] The drive system 1 is installed on the lower surface of the support frame 7, and the transmission system 2 and the energy storage system 4 are installed on the upper surface of the support frame 7.

[0047] Among them, the support block 13 and the positioning mounting hole on the support frame 7 are used to install the guide rod 14 and the support rod 17, the four fixed seats 9 are connected with the four protruding hole seats of the support frame 7 through a connecting rod 8 respectively, the two fixed seats 9 on the front side are connected with the two spherical foam legs 3 respectively, and the two fixed seats 9 on the rear side are connected with the rectangular foam leg 6 together. Through the buoyancy of the foam leg, the robot floats on the water surface.

[0048] Specific implementation method three: as shown in the figure, Figure 5 The main body support system 5 further includes four fixed seats 9;

[0049] The two connecting rods 8 at the front end of the support frame 7 are connected with the two spherical foam legs 3 through two fixed seats 9 respectively, and the two connecting rods 8 at the rear end of the support frame 7 are connected with the rectangular foam leg 6 through the other two fixed seats 9.

[0050] Specific implementation method four: as shown in the figure, Figure 8 The drive system 1 includes two sets of crank slider mechanisms symmetrically arranged on the lower surface of the support frame 7, each set of crank slider mechanism includes a carbon fiber leg seat 35, a drive shaft 36, a bearing 37, a pin 38, a crank 39, a connecting rod 40, a carbon fiber leg 41 and a drive plate 42;

[0051] One end of the connecting rod 40 is connected with the energy storage system 4, the other end of the connecting rod 40 is rotatably connected with one end of the crank 39 through the pin 38, the other end of the crank 39 is connected with the drive shaft 36, the drive shaft 36 is installed on the bearing seat of the support frame 7 through the bearing 37, the carbon fiber leg seat 35 is connected with one end of the drive shaft 36, one end of the carbon fiber leg 41 is installed on the carbon fiber leg seat 35, and the other end of the carbon fiber leg 41 is connected with the drive plate 42.

[0052] Among them, one end of the connecting rod 40 is hinged with the hollow light shaft 12 installed on the energy storage system 4, the other end is hinged with one end of the crank 39 through the pin 38, the other end of the crank 39 is matched with the drive shaft 36 through the square hole, and the crank 39 is pressed to make it unable to move axially by screwing the end of the drive shaft 36;

[0053] The drive shaft 36 is installed on the bearing seat of the support frame 7 through the bearing 37. The end cover 44 is installed on the outside of the bearing seat to constrain the axial movement of the drive shaft 36. The carbon fiber leg seat 35 is connected to one end of the drive shaft 36 through the square hole on its side. The purpose of the square hole is to transmit torque. The end of the drive shaft 36 is screwed in by a screw, and the carbon fiber leg seat 35 is pressed so that it cannot move axially. The end face of the carbon fiber leg seat 35 is provided with a hole for installing carbon fiber legs 41 of different lengths. The drive plate 42 is installed on the carbon fiber leg 41. The ends of the connecting rods 40 of the two sets of crank slider drive mechanisms are installed on the ends of the hollow optical axis 12 of the energy storage slider 15. When the energy storage slider 15 moves under the action of the storage capacity, the translational motion is converted into the rotational motion of the drive plate 42 through the crank slider drive mechanism, thereby realizing the rotational striking action of the drive plate and realizing the jumping motion.

[0054] Specific implementation method five: Figure 6 As shown, the energy storage system 4 includes two carbon fiber sheets 10, two shaft covers 11, a hollow optical shaft 12, two support blocks 13, two guide rods 14, an energy storage slider 15, a linear bearing 16 and four support rods 17;

[0055] Two support blocks 13 are symmetrically arranged at the front and rear ends of the upper surface of the support frame 7, four support rods 17 are arranged side by side and in parallel between the two support blocks 13, two guide rods 14 are arranged side by side and in parallel between the two support blocks 13, and the energy storage slider 15 is installed on the two guide rods 14 through a linear bearing 16. Two carbon fiber sheets 10 are arranged side by side, one end of the carbon fiber sheet 10 is connected to the energy storage slider 15, and the other end of the carbon fiber sheet 10 is in the fixed carbon sheet seat on the support frame 7. The hollow optical shaft 12 is installed in the through hole of the energy storage slider 15, one end of the hollow optical shaft 12 is connected to the connecting rod 40 of the energy storage system 1, and the two shaft covers 11 are respectively buckled at both ends of the hollow optical shaft 12, and the energy storage slider 15 is connected to the transmission system 2.

[0056] Among them, the support block 13 is installed on the upper part of the support frame 7 through positioning holes and screws, and the four support rods 17 are fixed in parallel in the positioning mounting holes on the upper part of the support frame 7 and the positioning mounting holes of the support block 13. The upper and lower holes of the energy storage slider 15 are installed with linear bearings 16. The two guide rods 14 pass through the linear bearings 16 and are installed in the positioning mounting holes on the upper part of the support frame 7 and the positioning mounting holes of the support block 13. The energy storage slider 15 can slide on the guide rods 14;

[0057] Two carbon fiber sheets 10 are respectively installed in the fixed carbon sheet seats on the energy storage slider 15 and the support frame 7, and the two carbon fiber sheets 10 are symmetrically distributed on the left and right;

[0058] The hollow light axle 12 is installed in the through hole of the energy storage slider 15, and the two ends thereof extend out of the energy storage slider for mounting the connecting rod 40 of the driving system 1. Two axle covers 11 are buckled on the two ends of the hollow light axle 12. The wire rope 20 in the transmission system 2 is connected on the middle mounting hole of the energy storage slider 15 by passing through the guide wire wheel 18. The wire rope 20 pulls the energy storage slider 15 to slide on the guide rod 14. The movement of the energy storage slider 15 compresses the two carbon fiber sheets 10. Since the carbon sheet seats on the energy storage slider 15 and the support frame 7 are fixed, the two carbon fiber sheets 10 are bent and deformed to the outside, so as to realize the storage and release of energy.

[0059] Specific embodiment six: as shown in the figure, the transmission system 2 includes a guide wire wheel 18, a winding shaft 19, a wire rope 20, a power gear 30, a winding gear 31 and a screw 32. Figure 7

[0060] The motor assembly is installed on the support frame 7. The motor assembly is connected with the power gear 30. The winding gear 31 is engaged with the power gear 30. One end of the winding shaft 19 is fixedly connected with the winding gear 31. The guide wire wheel 18 is fixed on the outside of the support block 13. One end of the wire rope 20 is fixedly connected with the winding shaft 19. The other end of the winding shaft 20 passes through the guide wire wheel 18 and is fixedly connected with the energy storage slider 15.

[0061] Specific embodiment seven: as shown in the figure, the motor assembly includes a return sleeve 22, a shell 23, a spring 24, a motor 25, a motor seat 26, a pressing plate 27, a one-way bearing 28 and a power shaft 29. Figure 7

[0062] The motor 25 is fixed on the motor seat 26. The motor seat 26 is fixed on the shell 23. The shell 23 is fixed on the support frame 7. One end of the power shaft 29 is coaxially fixedly connected with the motor shaft of the motor 25. The one-way bearing 28 is coaxially fixedly sleeved on the power shaft 29. The return sleeve 22 is sleeved on the two one-way bearings 28. One end of the return sleeve 22 is close to the pressing plate 27. The spring 24 is arranged between the pressing plate 27 and the motor seat 26. The return sleeve 22 is located in the shell 23, and the return sleeve 22 can move axially in the shell 23.

[0063] Specific embodiment eight: as shown in the figure, the motor assembly further includes a plurality of balls 21. Figure 7

[0064] The outer wall of the return sleeve 22 is matched with the spiral groove in the inner wall of the shell 23. The outer wall of the shell 23 is provided with a ball hole. The balls 21 are installed in the spiral groove through the ball hole.

[0065] ​​​Among them, the motor base 26 is fixed to the housing 23 by screws, and the housing 23 is fixed to the support frame 7 by bolts. The power shaft 29 transmits torque through the D-shaped shaft of the motor. The power shaft 29 is supported by two one-way bearings 28. The outer side of the one-way bearing 28 is installed on the inner wall of the return sleeve 22. The left end of the return sleeve 22 is against the pressure plate 27. A compression spring 24 is supported between the pressure plate 27 and the motor base 26. The outer wall of the return sleeve 22 is sleeved in the housing 23 and can move along the axis relative to the housing 23.

[0066] The power gear 30 is installed on the right end of the power shaft 29 by screws. The power gear 30 is an end face gear and meshes with the winding gear 31. The winding gear 31 is fixed to the left end face of the winding shaft 19 by two screws. The winding shaft 19 is supported by a large bearing and two small bearings. The rope 20 is tied to the winding shaft between the two small bearings. As the power shaft 29 rotates, the rope 20 is wound around the transmission shaft. The other end of the rope 20 is connected to the energy storage slider 15 through the wire hole on the wire wheel 18 and the support frame 7. The engagement and separation of the power gear 30 and the winding gear 31 in the transmission system 2 realizes the energy storage and release of the energy storage system.

[0067] Working process

[0068] When the robot is not jumping, the robot can float stably on the water surface through the main support system 5. Figure 7 The energy storage and release process shown in (b)(c)(d) is as follows: Figure 7 As shown in (b), at the initial moment, the energy storage system has no energy storage, the energy storage slider is at the far left end, the carbon fiber sheet has no buckling deformation, the power gear is engaged with the winding gear, the motor rotates clockwise, driving the transmission shaft to rotate, at this time the inner and outer rings of the one-way bearing slide relative to each other, the outer ring does not rotate, the power shaft transmits power to the winding gear to rotate the winding shaft so that the rope is wound around the winding shaft, thereby pulling the energy storage mechanism slider to move in the x direction, causing the carbon fiber sheet to be compressed and buckled to store energy; as shown in Figure 7 As shown in (c), when the energy storage is completed, the motor shaft drives the power shaft to rotate counterclockwise. At this time, the inner and outer rings of the one-way bearing rotate synchronously, driving the return sleeve to rotate. When the return sleeve and the outer shell rotate relative to each other, under the action of the ball, the return sleeve and the outer shell also move relative to each other, driving the power shaft to move in the negative direction of the x-axis, thereby separating the power gear from the winding gear and releasing the energy of the energy storage mechanism. At this time, the energy storage slider moves in the negative direction of x-axis under the drive of the deformed carbon fiber sheet, driving the connecting rod to perform planar motion, thereby causing the crank to rotate relative to the support frame. Under the action of the transmission shaft, the driving legs generate circular motion, realizing the paddling action of the driving plate, and using the reaction force of the water to realize the jumping motion. When the robot completes the jump and falls back to the water surface, as shown Figure 7(d) as shown, the next energy storage, motor shaft clockwise power shaft rotation, unidirectional bearing inner and outer ring alone rotation, return sleeve under the compression of the spring, due to the action of the spiral ball, return sleeve drive power shaft rotation along the x-axis direction of movement, make power gear and winding gear mesh, drive winding shaft rotation winding next time to pull the energy storage slider energy storage.

[0069] The above is only the preferred embodiment of the present application, not any form of the present application is limited, although the present application has been disclosed as above, however, not to define the present application, any skilled in the art, without departing from the scope of the present application technical solution, when can use the above disclosed technical content to make a little more or modification of equivalent variation of equivalent embodiments, but whatever is not out of the present application technical solution content, according to the technical essence of the present application, within the spirit and principles of the present application, to the above examples of any simple modification, equivalent replacement and improvement, etc., are still within the scope of the present application technical solution protection.

Claims

1. A small water-jumping robot imitating a mole cricket based on a crank-slider mechanism, characterized in that: It includes a driving system (1), a transmission system (2), two spherical foam legs (3), an energy storage system (4), a main body support system (5) and rectangular foam legs (6); Two spherical foam legs (3) are arranged side by side at the front end of the main support system (5), the rectangular foam legs (6) are installed at the rear end of the main support system (5), the drive system (1) is installed at the bottom of the main support system (5), the transmission system (2) is installed in the main support system (5), and the energy storage system (4) is installed on the top of the main support system (5); The drive system (1) is connected to the energy storage system (4), and the energy storage system (4) is connected to the transmission system (2); The transmission system (2) includes a wire wheel (18), a winding shaft (19), a wire rope (20), a power gear (30), a winding gear (31) and a screw (32); The motor assembly is mounted on the support frame (7), the motor assembly is connected to the power gear (30), the winding gear (31) is meshed with the power gear (30), one end of the winding shaft (19) is fixedly connected to the winding gear (31), the wire wheel (18) is fixed to the outside of the support block (13), one end of the wire rope (20) is fixedly connected to the winding shaft (19), and the other end of the wire rope (20) is passed around the wire wheel (18) and fixedly connected to the energy storage slider (15); The motor assembly includes a return sleeve (22), a housing (23), a spring (24), a motor (25), a motor seat (26), a pressure plate (27), a one-way bearing (28) and a power shaft (29); The motor (25) is fixed on the motor base (26), the motor base (26) is fixed on the housing (23), the housing (23) is fixed on the support frame (7), one end of the power shaft (29) is coaxially fixedly connected to the motor shaft of the motor (25), the one-way bearing (28) is coaxially fixedly sleeved on the power shaft (29), the return sleeve (22) is sleeved on the two one-way bearings (28), one end of the return sleeve (22) is close to the pressure plate (27), the spring (24) is provided between the pressure plate (27) and the motor base (26), the return sleeve (22) is located in the housing (23), and the return sleeve (22) can move axially in the housing (23); The motor assembly also includes a plurality of balls (21); The outer wall of the return sleeve (22) and the inner wall of the shell (23) are matched with a spiral groove, and the outer wall of the shell (23) is provided with a ball hole, and the ball (21) is installed in the spiral groove through the ball hole.

2. The small water-jumping robot imitating mole cricket based on a crank slider mechanism according to claim 1, characterized in that: The main body support system (5) includes a support frame (7) and four connecting rods (8); The front end of the support frame (7) is connected to the two spherical foam legs (3) via two connecting rods (8), and the rear end of the support frame (7) is connected to the rectangular foam legs (6) via two connecting rods (8); The drive system (1) is installed on the lower surface of the support frame (7), and the transmission system (2) and the energy storage system (4) are installed on the upper surface of the support frame (7).

3. The small water-jumping robot imitating mole cricket based on a crank slider mechanism according to claim 2, characterized in that: The main body support system (5) also includes four fixing seats (9); The two connecting rods (8) at the front end of the support frame (7) are connected to the two spherical foam legs (3) via two fixing seats (9), respectively, and the two connecting rods (8) at the rear end of the support frame (7) are connected to the rectangular foam legs (6) via another two fixing seats (9).

4. A small water surface jumping robot imitating a mole cricket based on a crank slider mechanism according to claim 1 or 2, characterized in that: The drive system (1) includes two sets of crank slider mechanisms symmetrically arranged on the lower surface of the support frame (7), each set of crank slider mechanisms includes a carbon fiber leg seat (35), a drive shaft (36), a bearing (37), a pin (38), a crank (39), a connecting rod (40), a carbon fiber leg (41) and a drive plate (42); One end of the connecting rod (40) is connected to the energy storage system (4), the other end of the connecting rod (40) is rotatably connected to one end of the crank (39) through a pin (38), the other end of the crank (39) is connected to the drive shaft (36), the drive shaft (36) is mounted on the bearing seat of the support frame (7) through a bearing (37), the carbon fiber leg seat (35) is connected to one end of the drive shaft (36), one end of the carbon fiber leg (41) is mounted on the carbon fiber leg seat (35), and the other end of the carbon fiber leg (41) is connected to the drive plate (42).

5. The small water-jumping robot imitating mole cricket based on a crank slider mechanism according to claim 4, characterized in that: The energy storage system (4) includes two carbon fiber sheets (10), two shaft covers (11), a hollow optical shaft (12), two support blocks (13), two guide rods (14), an energy storage slider (15), a linear bearing (16) and four support rods (17); Two support blocks (13) are symmetrically arranged at the front and rear ends of the upper surface of the support frame (7), four support rods (17) are arranged side by side and in parallel between the two support blocks (13), two guide rods (14) are arranged side by side and in parallel between the two support blocks (13), an energy storage slider (15) is installed on the two guide rods (14) through a linear bearing (16), two carbon fiber sheets (10) are arranged side by side, one end of the carbon fiber sheet (10) is connected to the energy storage slider (15), and the other end of the carbon fiber sheet (10) is arranged in a fixed carbon sheet seat on the support frame (7), a hollow optical shaft (12) is installed in a through hole of the energy storage slider (15), one end of the hollow optical shaft (12) is connected to a connecting rod (40) of the drive system (1), two shaft covers (11) are buckled at both ends of the hollow optical shaft (12), and the energy storage slider (15) is connected to the transmission system (2).

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