A small water surface jumping robot and jumping method based on efficient energy storage and rapid recoil

Abstract

The present invention provides a small-sized water surface jumping robot and jumping method based on efficient energy storage and rapid recoil, belonging to the field of mobile robots. In order to solve the problem that the existing water surface jumping robot has low driving efficiency of its driving mechanism when carrying the load required for work, which will reduce the jumping performance of the robot. It includes a water surface support system, a transmission system, an energy storage system and a driving system. Foam support legs are used as the water surface support system to make the robot float stably on the water surface. The driving system is symmetrically distributed on the left and right sides of the robot. The driving system is a double four-bar latch mechanism that can realize torque reversal and has the ability of rapid recoil and power amplification. The transmission system is installed on the driving system. The transmission system is a screw slider module, which drives the energy storage system to store energy in the carbon fiber sheet and the latex strip to provide the energy required for jumping. The SMA spring is used as the trigger device of the driving system to achieve rapid release.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a small-sized water surface jumping robot and a jumping method based on efficient energy storage and rapid recoil. Background Art

[0002] Water surface jumping robots have the ability to move quickly on the water surface, cross obstacles, and perform tasks. They can be applied to environmental monitoring, search and rescue missions, military reconnaissance and other fields. In the rapid development of modern robotics technology, water surface jumping robots have gradually attracted the attention of researchers due to their unique movement mode and broad application prospects. Robots jumping on rigid ground can theoretically completely convert the impulse of the ground reaction force into the momentum of jumping. Increasing its actuation force and the reaction force action time can effectively increase its jumping height and distance. However, this principle is not applicable to water surface jumping. Due to the fluidity of the water surface, energy dissipation caused by splashing water, and the drag resistance of the robot leaving the water surface, the water surface jumping robot cannot efficiently utilize the reaction force of the water, and the energy utilization rate is greatly reduced, affecting the jumping performance. At the same time, the mass of the water surface jumping robot is also an important factor affecting the robot's impulse. According to the momentum theorem, when the impulse value is fixed, the robot's jumping speed decreases rapidly with the increase of mass. However, the batteries, sensors and other equipment carried by the robot for application will inevitably increase the mass, which will undoubtedly greatly reduce the robot's jumping performance and affect practical applications.

[0003] Existing patents such as a high energy storage water surface jumping robot and jumping method (application number: CN202311740492.3), including a main support frame, a water surface support system, an efficient transmission system, an energy storage system and a drive system. The energy storage energy density is increased through optimization analysis. The drive system is symmetrically distributed on the left and right sides of the robot. The water surface support system is located at the bottom of the robot. The efficient transmission system is installed inside the water surface support system. The efficient transmission system drives the energy storage system to store and release energy to the carbon fiber sheet and latex strip, providing the energy required for jumping, and driving the drive system to realize the water surface jumping movement; the motor shaft direct drive method is used to greatly improve the energy storage efficiency, and the carbon fiber sheet and latex strip are used as energy storage elements, which have the characteristics of light weight and high energy storage density. However, the robot itself will reduce the jumping performance of the robot when it needs to carry a certain load. In addition, the driving mechanism of the robot is inefficient, and its driving method will increase the flipping of the robot, resulting in effective energy loss and jump failure. Summary of the invention

[0004] The technical problems to be solved by the present invention are:

[0005] In order to solve the problem that when the existing surface jumping robot carries the necessary loads for work, due to the low driving efficiency of its driving mechanism, the jumping performance of the robot will be reduced.

[0006] The technical solution adopted by the present invention to solve the above technical problems:

[0007] The present invention provides a small surface jumping robot based on high-efficiency energy storage and rapid recoil, including a water surface support system, a transmission system, an energy storage system, and a driving system. The driving system is hinged above the water surface support system, and the energy storage system and the transmission system are arranged on the driving system.

[0008] The driving system is a double four-bar torque reversal mechanism, which is used to cooperate with the energy storage system and the transmission system for energy storage and energy release to enable the jumping robot to complete jumping actions.

[0009] The energy storage system is used to couple and store energy through carbon fiber and latex.

[0010] The water surface support system is used to enable the surface jumping robot to float stably on the water surface.

[0011] The transmission system is used to drive the driving system to compress the energy storage system for energy storage, and provide the energy required during jumping. When releasing energy, it drives the driving system to generate a water paddling action to achieve surface jumping.

[0012] Further, the water surface support system includes spherical foam legs, support carbon sheets, a support chassis, support leg seats, and rectangular foam legs. The support chassis is a rectangular frame in the shape of a Chinese character "ri". Inside the support chassis, there are cross-shaped reinforcing ribs and T-shaped reinforcing ribs. A plurality of adjustment holes are evenly distributed on the vertical reinforcing ribs of the T-shaped reinforcing ribs. Hinge holes are provided on the side edges of the cross-shaped reinforcing ribs of the support chassis away from the T-shaped reinforcing ribs. The hinge holes and the adjustment holes are used to support and adjust the driving system. At two corners on one side of the support chassis, they are respectively connected to the corresponding spherical foam legs through support carbon sheets and support leg seats in sequence. At the other two corners of the support chassis, they are both connected to a rectangular foam leg through support carbon sheets and support leg seats in sequence.

[0013] Further, the energy storage system includes energy storage carbon sheets, latex, carbon fiber sheet seats, and energy storage connection seats. There are two energy storage carbon sheets and they are symmetrically arranged. Both ends of each energy storage carbon sheet are inserted into the carbon fiber sheet seats on both sides. The carbon fiber sheet seats are hinged to the plate-shaped energy storage connection seat. The energy storage connection seat is provided with a hinge hole and is connected to the driving system through the hinge hole. Two latex are symmetrically and crossly arranged in the middle of the two energy storage carbon sheets. Both ends of each latex are respectively fixed to the two energy storage carbon sheets.

[0014] Furthermore, the driving system includes an SMA spring, a gear 1, a gear 2, a guide wheel frame, a guide wheel, a connecting rod base frame, a front pressure rod seat, a carbon fiber shaft, a baffle, a pressure rod, a connecting rod 1, a connecting rod 3, a connecting rod 2, an angle adjustment bracket, a rear pressure rod seat, a driving leg seat, a carbon fiber driving leg and a driving plate.

[0015] The driving system is a symmetrically arranged four-bar linkage, the connecting rod base is an axisymmetric tripod structure, one end of the connecting rod one is hinged to a corner of a right-angled side of the connecting rod base, the other end of the connecting rod one is hinged to the end of the connecting rod two, both ends of the connecting rod three are provided with bent sections, the bent section at one end of the connecting rod three is hinged to the corners of the two sides of the connecting rod base, and the other end of the connecting rod three is hinged to the other end of the connecting rod two;

[0016] An extended end is provided in the middle of the connecting rod three, and the two ends of the SMA spring are respectively connected to the extended ends of the two connecting rods three; the rotating shafts of the gear one and the gear two are coaxial with the hinges of the connecting rod three and the connecting rod base frame, and the gear one and the gear two are respectively fixed to the bent heads of the connecting rod three on both sides;

[0017] The two baffles are symmetrically fixed on the connecting rod base frame, and the connecting rods on both sides pass through the hollow parts of the baffles on both sides respectively;

[0018] The front pressure rod seat is cylindrical and fixed on the connecting rod base frame, and vertical and cross through holes are opened on the cylindrical side wall of the front pressure rod seat, and the transverse through hole close to the connecting rod base frame is hinged to the angle adjustment bracket through the carbon fiber shaft, and the angle adjustment bracket is provided with a plurality of equidistant holes for fixing with the adjustment hole of the support base frame, one end of the pressure rod is connected with a vertical side through hole on the front pressure rod seat, and the other end of the pressure rod is connected with the through hole on the rear pressure rod seat, and the rear pressure rod seat is fixed on the connecting rod base frame, and a through hole is opened on the side of the rear pressure rod seat for hinged with the support base frame; two guide wheel frames are respectively arranged on the two side heads of the connecting rod base frame, and each guide wheel frame is provided with a guide wheel for installing a pull wire; the connecting rod second is connected to the carbon fiber driving leg through the driving leg seat, and the end of the carbon fiber driving leg is connected to the driving plate.

[0019] Furthermore, the gear 1 is meshed with the gear 2.

[0020] Furthermore, the transmission system includes a motor, a motor seat, a carbon fiber baffle rod, a slider groove, a lead screw, a bearing, a bearing seat and a slider, the motor seat and the bearing seat are both fixedly connected to the connecting rod base frame, the motor seat is provided with a motor, two symmetrical carbon fiber baffle rods are installed between the motor seat and the bearing seat, a bearing is installed at the center position of the bearing seat, one end of the lead screw is fixedly connected to the motor output shaft, and the other end of the lead screw is supported by the inner ring of the bearing, the slider is sleeved on the lead screw and meshed with the lead screw, the slider groove is connected to the slider, and the cylindrical protruding ends on both sides of the slider groove are respectively in contact with the two carbon fiber baffle rods.

[0021] Furthermore, one end of the pull wire is tied to the second end of the connecting rod on one side, and the other end of the pull wire passes around the guide wheel in the guide wheel frame on one side and passes through the two through holes on the slider, then passes around the guide wheel in the guide wheel frame on the other side, and is finally fixed to the second end of the connecting rod on the other side.

[0022] Furthermore, the support leg seat and the rectangular foam leg are bonded and fixed by hot melt adhesive.

[0023] Furthermore, the baffle, guide wheel frame, front pressure rod seat, rear pressure rod seat, motor seat and bearing seat are all fixed to the connecting rod base frame by bolts; and the hinges between the connecting rods are all hinged by pins.

[0024] A jumping method of a small water surface jumping robot based on efficient energy storage and rapid recoil comprises the following steps:

[0025] During the energy storage locking process, the motor drives the lead screw to rotate and drives the slider to move downward, driving the pull wire to move downward, and then driving the ends of the pull wire to pull the connecting rod two. Under the meshing of gear one and gear two, the connecting rods on both sides rotate symmetrically, the connecting rod two and the connecting rod three on the left rotate clockwise, and the connecting rod one rotates counterclockwise, the connecting rod two and the connecting rod three on the right rotate counterclockwise, and the connecting rod one rotates clockwise. At this time, the hinge points of connecting rod one and connecting rod two on both sides are compressed inward, driving the energy storage connecting seats and carbon fiber sheet seats on both sides to compress, causing the energy storage carbon sheet to bend and deform, and at the same time, the latex is passively stretched, and the energy storage carbon sheet and the latex are coupled to store energy. Finally, the hinge points of connecting rod one and connecting rod two contact the outer wall of connecting rod three, the motor stops driving, the slider stops moving, and under the action of the storage capacity, the drive system is locked;

[0026] During the energy release and jumping process, the drive motor rotates in the opposite direction, the slider returns to its initial position, the pull wire is in a relaxed state, the SMA spring is energized and heated, and the SMA spring generates a pulling force. As the pulling force gradually increases, the locking position of the drive system is destroyed. The drive system is released under the energy storage capacity and the pulling force of the SMA spring, and the second connecting rod drives the drive plate to produce a paddling action, causing the robot to jump.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The main parts of the present invention can be manufactured by high-precision 3D printing, which reduces the production time and cost. Carbon fiber sheets and latex strips are used as energy storage elements to improve the energy storage density. A connecting rod drive system with torque reversal characteristics is used to enable the driving plate to quickly recoil and amplify the power, improve the driving force of the robot, and obtain sufficient take-off momentum. A symmetrical drive system is used to improve the stability of the robot's surface movement. The drive system is made of aluminum alloy to improve the stability and load-bearing capacity of the mechanism. Foam is used as the robot's surface support to reduce the drag force of the water surface during the take-off process, and the jumping height, distance, and load capacity;

[0029] 2. The robot of the present invention has the ability to continuously jump on the water surface, which effectively expands the robot's movement space and improves its movement flexibility;

[0030] 3. The robot of the present invention has the ability to carry loads and jump, which makes the robot have certain practical applicability;

[0031] 4. The connecting rod parameters of the robot driving system and the carbon fiber latex energy storage system of the present invention adopt different characteristic parameters, which can achieve different jumping motion effects. By optimizing the connecting rod parameters, carbon fiber and latex installation size parameters and performance parameters, the driving force can be improved, and the jumping height and jumping distance can be increased;

[0032] 5. The present invention has a wide range of applications. With the corresponding sensor modules, it can be used in the fields of monitoring the outer surface of ships and warships, crossing obstacles on the water surface, rescue search, and communication nodes. It can also be used in the exploration of unknown or dangerous waters, water quality inspection, etc.

[0033] 6. The total weight of the water jumping robot of the present invention is about 185g, and its length, width and height are 270mm, 195mm and 135mm respectively. Buoyancy material foam is used as supporting legs, and the robot support and driving methods both utilize water pressure; the robot energy storage element adopts a combination of carbon fiber sheets and latex strips, which has better energy storage density and support stiffness than springs; the robot driving system is a double four-bar driving mechanism with torque reversal, which has the ability of rapid recoil and power amplification; the single jumping height is about 748mm, which is 2.77 times the length of the robot body, and the single jumping distance is about 1176mm, which is 4.35 times the length of the robot body; when the load is 100g, the jumping height and distance reach 455mm and 593mm respectively, indicating that the robot has a certain load capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is an axonometric diagram of a small water surface jumping robot based on efficient energy storage and rapid recoil in an embodiment of the present invention;

[0035] Figure 2 It is a front view of a small water surface jumping robot based on efficient energy storage and rapid recoil in an embodiment of the present invention;

[0036] Figure 3 A side view of a small water surface jumping robot based on efficient energy storage and rapid recoil in an embodiment of the present invention;

[0037] Figure 4 A top view of a small water surface jumping robot based on efficient energy storage and rapid recoil in an embodiment of the present invention;

[0038] Figure 5It is a structural diagram of the water surface support system in an embodiment of the present invention;

[0039] Figure 6 A structural diagram of an energy storage system in an embodiment of the present invention;

[0040] Figure 7 A structural diagram of a drive system in an embodiment of the present invention;

[0041] Figure 8 A structural diagram of a transmission system in an embodiment of the present invention;

[0042] Fig. 9 This is a schematic diagram of the installation of the pull wire in an embodiment of the present invention;

[0043] Fig.10 Schematic diagram of the locking-release principle of the drive system in an embodiment of the present invention, wherein (a) is a schematic diagram of the locking of the drive system when the SMA spring is not heated, (b) is a schematic diagram of the locking of the drive system when the SMA spring is heated, and (c) is a schematic diagram of the release of the drive system triggered by the SMA spring being heated.

[0044] Description of reference numerals:

[0045] 1. Water surface support system; 2. Transmission system; 3. Energy storage system; 4. Drive system; 5. Spherical foam legs; 6. Support carbon sheet; 7. Support chassis; 8. Support leg seat; 9. Rectangular foam legs; 10. Pins; 11. Carbon fiber sheet seat; 12. Energy storage carbon sheet; 13. Latex; 14. Energy storage connection seat; 15. SMA spring; 16. Gear 1; 17. Gear 2; 18. Guide wheel frame; 19. Guide wheel; 20. Connecting rod chassis; 21. Front pressure rod seat; 22. Carbon fiber shaft; 23. Connecting rod one; 24. Baffle; 25. Pressure rod; 26. Connecting rod three; 27. Connecting rod two; 28. Angle adjustment bracket; 29. ​​Rear pressure rod seat; 30. Driving leg seat; 31. Carbon fiber driving leg; 32. Driving plate; 33. Motor; 34. Motor seat; 35. Carbon fiber baffle rod; 36. Slider slot; 37. Lead screw; 38. Bearing; 39. Bearing seat; 40. Slider; 41. Pull wire. DETAILED DESCRIPTION

[0046] In the description of the present invention, it should be noted that the terminology nouns in the various embodiments, such as "up", "down", "front", "back", "left", "right", etc., which indicate directions, are only for simplifying the description of the positional relationship based on the drawings in the specification, and do not mean that the referred elements and devices must be operated according to the specific directions and defined operations and methods and structures in the specification. Such directional nouns do not constitute a limitation on the present invention.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0048] Specific implementation method 1: As shown in Figures 1 to 10 , the present invention provides a small water surface jumping robot based on high-efficiency energy storage and rapid recoil, including a water surface support system 1, a transmission system 2, an energy storage system 3, and a drive system 4. The drive system 4 is hinged above the water surface support system 1. The energy storage system 3 and the transmission system 2 are arranged on the drive system 4. The drive system 4 is a double four-bar torque reversal mechanism with rapid recoil characteristics. The energy storage system 3 uses carbon fiber and latex to couple energy storage, with high-efficiency energy storage characteristics. The water surface jumping robot realizes stable floating on the water surface through the water surface support system 1. The transmission system 2 drives the drive system 4 to compress the energy storage system 3 for energy storage, providing the energy required for jumping. When released, it drives the drive system 4 to generate a water paddling action to realize water surface jumping;

[0049] As shown in Figure 5 , the water surface support system 1 includes spherical foam legs 5, support carbon sheets 6, a support chassis 7, support leg seats 8, and rectangular foam legs 9. The support chassis 7 is a rectangular frame in the shape of a Chinese character "ri". The inside of the support chassis 7 is provided with cross-shaped reinforcing ribs and T-shaped reinforcing ribs. A plurality of adjustment holes are evenly distributed on the vertical reinforcing ribs of the T-shaped reinforcing ribs. Hinge holes are provided on the side edges of the cross-shaped reinforcing ribs of the support chassis 7 away from the T-shaped reinforcing ribs. The hinge holes and the adjustment holes are used to support and adjust the drive system 4. At two corners on one side of the support chassis 7, they are respectively connected to the corresponding spherical foam legs 5 through the support carbon sheets 6 and the support leg seats 8 in sequence. At the other two corners of the support chassis 7, they are both connected to a rectangular foam leg 9 through the support carbon sheets 6 and the support leg seats 8 in sequence;

[0050] As shown in Figure 6 , the energy storage system 3 includes energy storage carbon sheets 12, latex 13, carbon fiber sheet seats 11, energy storage connection seats 14, and pins 10. There are two energy storage carbon sheets 12, which are symmetrically arranged. The two ends of each energy storage carbon sheet 12 are respectively inserted into the carbon fiber sheet seats 11 on both sides. The carbon fiber sheet seats 11 are hinged to the plate-shaped energy storage connection seat 14 through pins 10. Hinge holes are also provided on the energy storage connection seat 14 and are connected to the drive system 4 through the hinge holes. Two latex 13 are symmetrically and cross-arranged in the middle of the two energy storage carbon sheets 12. The two ends of each latex 13 are respectively bound to the two energy storage carbon sheets 12;

[0051] As shown in Figure 7As shown, the driving system 4 includes an SMA spring 15, a gear 1 16, a gear 2 17, a guide wheel frame 18, a guide wheel 19, a connecting rod base 20, a front pressure rod seat 21, a carbon fiber shaft 22, a baffle 24, a pressure rod 25, a connecting rod 1 23, a connecting rod 3 26, a connecting rod 27, an angle adjustment bracket 28, a rear pressure rod seat 29, a driving leg seat 30, a carbon fiber driving leg 31 and a driving plate 32.

[0052] The driving system is a symmetrically arranged four-bar linkage, wherein the link 1 23, link 2 27, link 3 26 and the hinge hole on one side of the link base 20 are hinged to form a four-bar linkage, and the hinge hole on the other side and the symmetrical link 1 23, link 2 27 and link 3 26 form a four-bar linkage, the link base 20 is an axisymmetric tripod structure and a cross reinforcement rib is arranged in the tripod structure, one end of the link 1 23 is hinged to a corner of a right angle side of the link base 20 through a hinge hole, the other end of the link 1 23 is hinged to the end of the link 2 27, and both ends of the link 3 26 are provided with There is a bending section, at the end of which a hinge hole is provided, the bending section at one end of the connecting rod three 26 is hinged to the two side corners of the connecting rod base 20, and the other end of the connecting rod three 26 is hinged to the other end of the connecting rod two 27; an extended end is provided in the middle of the connecting rod three 26, and the two ends of the SMA spring 15 are respectively connected and fixed to the extended ends of the two connecting rods three 26; the rotating axes of the gear one 16 and the gear two 17 are coaxial with the hinges of the connecting rod three 26 and the connecting rod base 20, and the gear one 16 and the gear two 17 are respectively fixed to the bent heads of the connecting rod three 26 on both sides, and the meshing device of the gear one 16 and the gear two 17 is provided The two baffles 24 are symmetrically fixed on the connecting rod base 20, and the connecting rods 23 on both sides pass through the hollow parts of the baffles 24 on both sides respectively; the front pressure rod seat 21 is cylindrical and fixed on the connecting rod base 20 through the holes on the end faces, and vertical and cross through holes are opened on the cylindrical side wall of the front pressure rod seat 21. The through holes on the vertical side and the through holes on the horizontal side are not located in the same plane. The transverse through hole close to the connecting rod base 20 is hinged to the angle adjustment bracket 28 through the carbon fiber shaft 22. The angle adjustment bracket 28 is provided with a plurality of equidistant holes for fixing with the adjustment holes of the support base 7 through pins. 25 passes through and is fixed in a vertical through hole on one side, the other end of the pressure rod 25 is connected to the through hole on the rear pressure rod seat 29, the rear pressure rod seat 29 is fixed to the end face of the connecting rod base frame 20, and a through hole is opened on the side of the rear pressure rod seat 29 for forming a hinge connection with the support base frame 7; the guide wheel frame 18 is installed on the head of the connecting rod base frame 20, and the guide wheel 19 is installed inside the guide wheel frame 18 for installing the pull wire 41; the connecting rod 27 is connected to the carbon fiber driving leg 31 through the driving leg seat 30, and the end of the carbon fiber driving leg 31 is connected to the driving plate 32, and the driving plate 32 is a circular plate structure;

[0053] Combination Figure 8As shown, the transmission system includes a motor 33, a motor seat 34, a carbon fiber baffle 35, a slider groove 36, a lead screw 37, a bearing 38, a bearing seat 39 and a slider 40. The motor seat 34 and the bearing seat 39 are fixedly connected to the connecting rod base 20 through end holes. The motor 33 is installed in the square hole of the motor seat 34. Two symmetrical carbon fiber baffles 35 are installed between the motor seat 34 and the bearing seat 39 through axial holes. The bearing 38 is installed at the center of the bearing seat 39. One end of the lead screw 37 is fixedly connected to the output shaft of the motor 33, and the other end of the lead screw 37 is supported by the inner ring of the bearing. The internal thread of the slider 40 is engaged with the thread of the lead screw 37. The slider groove 36 is fixed to the slider 40 through two through holes, and the cylindrical protruding ends on both sides of the slider groove 36 are respectively in contact with the two carbon fiber baffles 35.

[0054] Combination Fig. 9 As shown, one end of the pull wire 41 is tied to the end of the second connecting rod 27 on one side, and the other end of the pull wire 41 passes around the guide wheel 19 in the guide wheel frame 18 on one side and passes through the two through holes on the slider 40, and then passes around the guide wheel 19 in the guide wheel frame 18 on the other side, and is finally fixed to the end of the second connecting rod 27 on the other side.

[0055] Combination Fig. 9 and Fig.10 As shown, the key feature of the drive system 4 is that the four-bar mechanism with torque reversal forms a latch, and the trigger device causes the four-bar linkage to unlock the system through the center. The torque change of the left link is explained. The torque change of the corresponding link on the right is opposite to that of the corresponding link on the left. At the initial moment, the SMA spring 15 does not generate tension, the torque M1 received by the link 1 23 is clockwise, the torques M2 and M3 received by the link 2 27 and the link 3 26 are clockwise, and the outer part of the hinge B contacts the link 3 26. At this time, the mechanism is locked; when releasing, the SMA spring 15 is powered on and heated, which generates a tension Fs. As Fs increases, the torque M3 received by the link 3 26 gradually decreases and increases in the opposite direction, causing the link 3 26 to rotate counterclockwise, the contact point disappears, and finally makes point B cross the line connecting the hinges C and D. At this time, the torque of the link 2 27 is reversed, and the drive system 4 is quickly released under the action of the output force Fe of the energy storage system 3 and the action force Fs of the SMA spring 15.

[0056] The gear 1 16, gear 2 17, support base 7, baffle 24, front pressure rod seat 21, rear pressure rod seat 29, drive plate 32, drive leg seat 30, angle adjustment bracket 28, support leg seat 8, carbon fiber sheet seat 11, energy storage connecting seat 14, motor seat 34, bearing seat 39 and slider slot 36 are all made of photosensitive resin, and the materials of connecting rod 1 23, connecting rod 27, connecting rod 3 26 and connecting rod base 20 are all made of aluminum alloy 7075. The material of SMA spring 15 is nickel-titanium shape memory alloy, which can be energized and contracted for mechanism release.

[0057] The support leg seat 8 and the rectangular foam leg 9 are both bonded and fixed by hot melt adhesive.

[0058] The plurality of equidistant holes on the angle adjustment bracket 28 are used to arbitrarily cooperate with the adjustment holes on the T-shaped reinforcement ribs on the support base 7 to achieve adjustment of the pitch angle of the drive system 4 .

[0059] The baffle 24, the guide wheel frame 18, the front pressure rod seat 21, the rear pressure rod seat 29, the motor seat 34 and the bearing seat 39 are all fixed to the connecting rod base frame 20 by bolts; the hinges between the connecting rods are all hinged by pins.

[0060] Specific implementation plan 2: Combined Figures 1 to 10 As shown, the present invention provides a jumping method of a small water surface jumping robot based on efficient energy storage and rapid recoil, comprising the following steps:

[0061] Energy storage locking process, combined with Fig. 9 and Fig.10 In (a) and (b), the motor 33 drives the lead screw 37 to rotate and drive the slider 40 to move downward, driving the pull wire 41 to move downward, and then driving the ends of the pull wire 41 to pull the connecting rod 27. Under the meshing of the gear 16 and the gear 2 17, the connecting rods on both sides rotate symmetrically, the connecting rod 2 27 and the connecting rod 3 26 on the left side rotate clockwise, and the connecting rod 1 23 rotates counterclockwise, and the connecting rod 2 27 and the connecting rod 3 26 on the right side rotate counterclockwise, and the connecting rod 1 23 rotates clockwise. At this time, the two connecting rods rotate symmetrically. The hinge point of the side link 1 23 and the link 2 27 is compressed inward, driving the energy storage connection seat 14 and the carbon fiber sheet seat 11 on both sides to compress, causing the energy storage carbon sheet 12 to bend and deform, and at the same time, the latex 13 is passively stretched, and the energy storage carbon sheet 12 and the latex 13 are coupled to store energy. Finally, the hinge point of the link 1 23 and the link 2 27 contacts the outer wall of the link 3 26, the motor 33 stops rotating, and the slider 40 stops moving. At this time, because the drive system 4 is in the locked position, the drive system 4 is locked under the action of the storage capacity;

[0062] Energy release jump process, combined with Fig. 9 and Fig.10 In (c), the driving motor 33 rotates in the opposite direction, the slider 40 returns to the initial position, the pull wire 41 is in a relaxed state, the SMA spring 15 is energized and heated, and the SMA spring 15 generates a pulling force. As the pulling force gradually increases, the locking position of the driving system 4 is destroyed. The driving system 4 is released under the storage capacity and the pulling force of the SMA spring 15, and the connecting rod 27 drives the driving plate 32 to produce a paddling action, causing the robot to jump.

[0063] The other combinations and connection relationships of this embodiment are the same as those of the first embodiment.

[0064] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A small water-jumping robot based on efficient energy storage and rapid recoil, characterized in that: The invention comprises a water surface support system (1), a transmission system (2), an energy storage system (3) and a drive system (4), wherein the drive system (4) is hingedly connected above the water surface support system (1), and the drive system (4) is provided with the energy storage system (3) and the transmission system (2). The driving system (4) is a double four-bar torque reversal mechanism, which is used to cooperate with the energy storage system (3) and the transmission system (2) to store energy and release energy so that the jumping robot can complete a jumping action; the driving system (4) comprises an SMA spring (15), a gear one (16), a gear two (17), a guide wheel frame (18), a guide wheel (19), a connecting rod base frame (20), a front pressure rod seat (21), a carbon fiber shaft (22), a baffle (24), a pressure rod (25), a connecting rod one (23), a connecting rod three (26), a connecting rod two (27), an angle adjustment bracket (28), a rear pressure rod seat (29), a driving leg seat (30), a carbon fiber driving leg (31) and a driving plate (32). The driving system (4) is a symmetrically arranged four-bar linkage, the connecting rod base (20) is an axisymmetric tripod structure, one end of the connecting rod one (23) is hinged to a corner of a right-angled side of the connecting rod base (20), the other end of the connecting rod one (23) is hinged to the end of the connecting rod two (27), both ends of the connecting rod three (26) are provided with bent sections, one end of the bent section of the connecting rod three (26) is hinged to the corners of two sides of the connecting rod base (20), and the other end of the connecting rod three (26) is hinged to the other end of the connecting rod two (27); The middle of the connecting rod three (26) is provided with an extended end, and the two ends of the SMA spring (15) are respectively connected to the extended ends of the two connecting rods three (26); the rotation axes of the gear one (16) and the gear two (17) are coaxial with the hinge of the connecting rod three (26) and the connecting rod base frame (20), and the gear one (16) and the gear two (17) are respectively fixed to the bending heads of the connecting rod three (26) on both sides; The two baffles (24) are symmetrically fixed on the connecting rod base frame (20), and the connecting rods (23) on both sides pass through the hollow parts of the baffles (24) on both sides respectively; The front pressure rod seat (21) is cylindrical and fixed on the connecting rod chassis (20). Through holes that are perpendicular and cross-shaped are formed on the cylindrical side wall of the front pressure rod seat (21). The lateral through hole close to the connecting rod chassis (20) is hinged to the angle adjustment bracket (28) through a carbon fiber shaft (22). A number of equally spaced holes are provided on the angle adjustment bracket (28) for fixing to the adjustment holes of the support chassis (7). One end of the pressure rod (25) is connected to the vertical side through hole on the front pressure rod seat (21), and the other end of the pressure rod (25) is connected to the through hole on the rear pressure rod seat (29). The rear pressure rod seat (29) is fixed on the connecting rod chassis (20), and a through hole is formed on the side surface of the rear pressure rod seat (29) for hinging to the support chassis (7). Two guide wheel brackets (18) are respectively arranged at the two side heads of the connecting rod chassis (20), and a guide wheel (19) is arranged in each guide wheel bracket (18) for installing the wire rope (41). The second connecting rod (27) is connected to the carbon fiber driving leg (31) through the driving leg seat (30), and the end of the carbon fiber driving leg (31) is connected to the driving plate (32). The energy storage system (3) is used to couple and store energy through carbon fiber and latex (13). The energy storage system (3) includes energy storage carbon sheets (12), latex (13), carbon fiber sheet seats (11), and an energy storage connection seat (14). There are two energy storage carbon sheets (12) which are symmetrically arranged. The two ends of each energy storage carbon sheet (12) are respectively inserted into the carbon fiber sheet seats (11) on both sides. The carbon fiber sheet seats (11) are hinged to the plate-shaped energy storage connection seat (14). The energy storage connection seat (14) is provided with a hinge hole and is connected to the drive system (4) through the hinge hole. Two latexes (13) are symmetrically and cross-shapedly arranged in the middle of the two energy storage carbon sheets (12), and the two side ends of each latex (13) are respectively fixed to the two energy storage carbon sheets (12). The water surface support system (1) is used to enable the water surface jumping robot to stably float on the water surface. The water surface support system (1) includes spherical foam legs (5), support carbon sheets (6), a support chassis (7), support leg seats (8), and rectangular foam legs (9). The support chassis (7) is a rectangular frame in the shape of a Chinese character 'Ri'. Cross-shaped stiffeners and T-shaped stiffeners are arranged inside the support chassis (7). A number of adjustment holes are evenly distributed on the vertical stiffeners of the T-shaped stiffeners. Hinge holes are arranged on the side edges of the cross-shaped stiffeners of the support chassis (7) away from the T-shaped stiffeners. The hinge holes and adjustment holes are used to support and adjust the drive system (4). At the two corners on one side of the support chassis (7), they are respectively connected to the corresponding spherical foam legs (5) through the support carbon sheets (6) and support leg seats (8). At the two corners on the other side of the support chassis (7), they are both connected to a rectangular foam leg (9) through the support carbon sheets (6) and support leg seats (8). The transmission system (2) is used to drive the drive system (4) to compress the energy storage system (3) for energy storage, and provide the energy required during jumping. When releasing, it drives the drive system (4) to generate a water paddling action to achieve water surface jumping.

2. A small water surface jumping robot based on efficient energy storage and rapid recoil according to claim 1, characterized in that: The gear one (16) is meshed with the gear two (17).

3. A small water surface jumping robot based on efficient energy storage and rapid recoil according to claim 2, characterized in that: The transmission system (2) comprises a motor (33), a motor seat (34), a carbon fiber baffle rod (35), a slider groove (36), a lead screw (37), a bearing (38), a bearing seat (39) and a slider (40), wherein the motor seat (34) and the bearing seat (39) are both fixedly connected to the connecting rod base frame (20), the motor seat (34) is provided with a motor (33), two symmetrical carbon fiber baffle rods (35) are installed between the motor seat (34) and the bearing seat (39), a bearing (38) is installed at the center position of the bearing seat (39), one end of the lead screw (37) is fixedly connected to the output shaft of the motor (33), and the other end of the lead screw (37) is supported by the inner ring of the bearing (38), the slider (40) is sleeved on the lead screw (37) and meshedly connected to the lead screw (37), the slider groove (36) is connected to the slider (40), and the cylindrical protruding ends on both sides of the slider groove (36) are respectively in contact with the two carbon fiber baffle rods (35).

4. A small water surface jumping robot based on efficient energy storage and rapid recoil according to claim 3, characterized in that: One end of the pull wire (41) is tied to the end of the second connecting rod (27) on one side, and the other end of the pull wire (41) passes around the guide wheel (19) in the guide wheel frame (18) on one side and passes through the two through holes on the slider (40), then passes around the guide wheel (19) in the guide wheel frame (18) on the other side, and finally is fixed to the end of the second connecting rod (27) on the other side.

5. A small water surface jumping robot based on efficient energy storage and rapid recoil according to claim 4, characterized in that: The support leg seat (8) and the rectangular foam leg (9) are bonded and fixed by hot melt adhesive.

6. A small water-surface jumping robot based on efficient energy storage and rapid recoil according to claim 5, characterized in that: The baffle plate (24), the guide wheel frame (18), the front pressure rod seat (21), the rear pressure rod seat (29), the motor seat (34) and the bearing seat (39) are all fixed to the connecting rod base frame (20) by bolts; and the connecting rods are hinged by pins (10).

7. A jumping method for a small water surface jumping robot based on efficient energy storage and rapid recoil as claimed in any one of claims 3 to 6, characterized in that: The following steps are involved: During the energy storage locking process, the motor (33) drives the lead screw (37) to rotate, drives the slider (40) to move downward, drives the pull wire (41) to move downward, and then drives the ends of the pull wire (41) to pull the connecting rod 2 (27). Under the meshing of the gear 1 (16) and the gear 2 (17), the connecting rods on both sides rotate symmetrically, the connecting rod 2 (27) and the connecting rod 3 (26) on the left side rotate clockwise, and the connecting rod 1 (23) rotates counterclockwise, and the connecting rod 2 (27) and the connecting rod 3 (26) on the right side rotate counterclockwise, and the connecting rod 1 (23) rotates clockwise. Rotate, at this time, the hinge points of the connecting rods 1 (23) and 2 (27) on both sides are compressed inward, driving the energy storage connection seats (14) and the carbon fiber sheet seats (11) on both sides to compress, causing the energy storage carbon sheet (12) to bend and deform, and at the same time, the latex (13) is passively stretched, and the energy storage carbon sheet (12) and the latex (13) are coupled to store energy, and finally the hinge points of the connecting rods 1 (23) and 2 (27) contact the outer wall of the connecting rod 3 (26), the motor (33) stops driving, the slider (40) stops moving, and under the action of the storage capacity, the drive system (4) is locked; During the energy release jumping process, the drive motor (33) rotates in the opposite direction, the slider (40) returns to the initial position, the pull wire (41) is in a relaxed state, the SMA spring (15) is energized and heated, and the SMA spring (15) generates a tensile force. As the tensile force gradually increases, the locking position of the drive system (4) is destroyed, and the drive system (4) is released under the energy storage capacity and the tensile force of the SMA spring (15). The second connecting rod (27) drives the drive plate (32) to generate a paddling action, causing the robot to generate a jumping action.

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