A bionic kangaroo jumping special robot

Abstract

The present invention relates to the field of robot technology, and specifically discloses a bionic kangaroo jumping special robot, comprising a fuselage, wherein a kangaroo head and neck are arranged on the top front side of the fuselage; a kangaroo stepping forelimb is arranged on the bottom front side of the fuselage for independently stepping; kangaroo jumping hind legs are rotatably arranged on both sides of the fuselage and penetrate the fuselage; the two kangaroo jumping hind legs are connected by a hind leg separation and combination adjustment mechanism arranged on the top of the fuselage; and a kangaroo foot is rotatably arranged on the bottom of the kangaroo jumping hind legs. The bionic kangaroo jumping special robot makes the hind leg joint motor located at the center of the leg joint of the kangaroo jumping hind leg to avoid damage to the motor due to excessive torque during the jumping process. During the movement of the robot, after the robot jumps into the air, the robot kangaroo jumping hind legs open to increase the lowest point of the body. As the legs are opened, the projection area of ​​the robot body increases, ensuring that the robot can land stably during the landing process.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a bionic kangaroo jumping special robot. Background Art

[0002] Robots are increasingly being used in areas such as exploring the complex natural world and traveling in complex working environments. These applications require robots to have strong obstacle-crossing capabilities to adapt to changing terrain environments. Traditional wheeled and tracked robots perform poorly when faced with gullies and obstacles; while walking and crawling robots can adapt to complex terrain, they have slow movement speeds and limited obstacle-crossing capabilities, and their control is relatively complex. Therefore, jumping robots are valued for their excellent obstacle-crossing capabilities. They can choose the best support point within the reachable area and cross obstacles that are several times their own height. The suddenness and explosiveness of the jumping movement help them avoid danger and are more flexible when performing dangerous tasks.

[0003] Kangaroos in nature have become an important research object of bionics because of their well-developed hind limbs and their way of jumping instead of running. Kangaroos are one of the species with the best jumping ability in nature. Therefore, developing a robot that imitates kangaroos has important research significance and practical value.

[0004] Existing kangaroo bionic robots have defects in jumping performance and landing stability. Some robots have poor jumping performance, unstable landing, and are prone to tipping over. The impact force caused by jumping forward also makes the robots need frequent maintenance. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic kangaroo jumping special robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bionic kangaroo jumping special robot, comprising a fuselage, wherein a kangaroo head and neck are arranged on the top front side of the fuselage; a kangaroo stepping forelimb for independent stepping is arranged on the bottom front side of the fuselage, and a front supporting wheel is arranged at the bottom of the kangaroo stepping forelimb; kangaroo jumping hind legs that penetrate the fuselage are rotatably arranged on both sides of the fuselage, and the two kangaroo jumping hind legs are connected by a hind leg separation and combination adjustment mechanism arranged on the top of the fuselage, and a kangaroo foot is rotatably arranged at the bottom of the kangaroo jumping hind leg, and a driving wheel is arranged in the middle of the kangaroo foot; a kangaroo rear tail is arranged on the bottom rear side of the fuselage, and a rear supporting wheel is arranged at the end of the kangaroo rear tail.

[0007] Preferably, the kangaroo's bouncing hind legs include a hind leg joint motor, the output end of the hind leg joint motor is provided with a cross joint, the left and right ends of the cross joint are respectively rotatably connected with the first hind leg rod and the fourth hind leg rod, the fourth hind leg rod is rotatably connected with the second hind leg rod and the third hind leg rod side by side, the second hind leg rod and the third hind leg rod are cross-rotatably connected to the kangaroo's foot, the first hind leg rod is rotatably connected to the third hind leg rod, one end of the bottom of the cross joint is rotatably connected to the hind leg driving component, and the moving end of the hind leg driving component is rotatably connected to the kangaroo's foot.

[0008] Preferably, a motor bracket is provided on the outer wall of the hind leg joint motor, and the motor bracket clamps the hind leg joint motor in the middle. A motor torque plate is also provided on the outside of the output end of the hind leg joint motor, and the hind leg joint motor is connected to the hind leg separation and combination adjustment mechanism through the motor bracket and the motor torque plate.

[0009] Preferably, a first torsion spring is sleeved on the outer wall of the pin connecting the second hind leg rod and the kangaroo foot.

[0010] Preferably, the hind leg separation and combination adjustment mechanism includes a servo fixed on the top of the fuselage, a second rocker arm is provided at the output end of the servo, traction rods are rotatably provided at both ends of the second rocker arm, one end of the traction rod away from the second rocker arm is coaxially rotatably connected to a limit slide and a slide rail connector, one side of the limit slide is slidably connected to a limit rail fixed on the fuselage, a hind leg slide rail is slidably connected in the slide rail connector, the hind leg slide rail is rotatably connected to the fuselage through a frame, and the hind leg slide rail is slidably connected to the kangaroo jumping hind legs.

[0011] Preferably, a third buffer is provided between the slide rail connector and the kangaroo's jumping hind legs.

[0012] Preferably, the kangaroo foot comprises a heel, a sole and a toe, the heel and the sole are integrally formed, and the sole and the toe are fixed by bolts.

[0013] Preferably, the kangaroo's stepping forelimbs include a first front leg rod, the front supporting wheel is arranged at the bottom of the first front leg rod, the end of the first front leg rod away from the front supporting wheel is rotatably connected to the second front leg rod and the third front leg rod which are rotatably connected to the fuselage, the second front leg rod is provided with a sliding rod, the outer wall of the sliding rod is slidably sleeved with a first rocker arm, one end of the first rocker arm is fixedly connected to a front leg motor, and a first buffer is provided between the first front leg rod and the third front leg rod.

[0014] Preferably, the kangaroo's rear tail comprises a plurality of coccyx sections, two adjacent coccyx sections are rotationally connected, a second torsion spring is arranged on the connecting pin, and a second buffer is arranged between the kangaroo's rear tail and the fuselage.

[0015] Preferably, detection modules are provided at the bottom of the fuselage and the front side of the kangaroo's head and neck, and a neck joint motor is provided between the kangaroo's head and neck and the fuselage.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The bionic kangaroo jumping robot has the hind leg joint motor located in the center of the leg joint of the kangaroo's jumping hind leg to avoid damage to the motor due to excessive torque during jumping. The joint adopts a three-section shaft system design, in which the left and right shaft sections connect the motor bracket plate and the motor torque plate to bear the overall gravity of the robot, and the middle section is replaced by the motor to provide torque for the robot's legs to swing back and forth. Under the action of the left and right shaft sections, the motor in the middle shaft section does not bear the weight of the motor and only provides torque for leg rotation, which protects the motor to a greater extent.

[0018] During the robot's movement, after the robot jumps into the air, the robot kangaroo spreads its legs after jumping, raising the lowest point of the robot body and reducing the possibility of the robot being blocked by the ground during the jump. At the same time, due to the spread of legs, the projection area of ​​the robot body is increased, ensuring that the robot can land stably during the landing process.

[0019] When the robot is in standby mode, the robot's traction rod is pushed outward, and the two kangaroos jump with their hind legs inward, reducing the ground area for the robot to stand on and increasing the robot's structural compactness during storage.

[0020] Multiple compression springs are used for passive shock absorption. During the robot's jumping process, the kangaroo's front limbs land on the ground and cooperate with the kangaroo's hind legs to achieve four-point landing, improving the robot's stable posture after landing. The kangaroo's four limbs all have shock absorption functions. After the robot lands stably and its four limbs stably contact the ground, the robot stably enters the next movement stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a side three-dimensional structure of a robot in a preferred embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the rear three-dimensional structure of the robot in a preferred embodiment of the present invention;

[0023] Figure 3 This is a schematic structural diagram of a robot jumping form in a preferred embodiment of the present invention;

[0024] Figure 4 It is a structural schematic diagram of a rear leg separation and closing adjustment mechanism in a preferred embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of a kangaroo's jumping hind legs in a preferred embodiment of the present invention;

[0026] Figure 6 for Figure 5 Schematic diagram of the enlarged structure at the circle;

[0027] Figure 7 This is a schematic diagram of the structure of a motor bracket in a preferred embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of a kangaroo's head and neck in a preferred embodiment of the present invention;

[0029] Fig. 9 It is a schematic structural diagram of the front support wheel in a preferred embodiment of the present invention.

[0030] In the figure: 1, fuselage; 2, kangaroo head and neck; 3, kangaroo stepping forelimbs, 31, front support wheel, 32, first front leg rod, 33, second front leg rod, 34, first buffer, 35, third front leg rod, 36, limit slide, 37, slide bar, 38, first rocker arm, 39, front leg motor; 4, kangaroo jumping hind legs, 41, hind leg joint motor, 42, cross joint, 43, first hind leg rod, 44, second hind leg rod, 45, third hind leg rod, 46, hind leg driving member, 47, fourth hind leg rod, 48, motor bracket, 49, motor torque force plate; 5. kangaroo foot, 51. driving wheel, 52. toe, 53. first torsion spring, 54. walking motor; 6. kangaroo tail, 61. rear support wheel, 62. coccyx, 63. second torsion spring, 64. second buffer; 7. hind leg separation and combination adjustment mechanism, 71. second rocker arm, 72. servo, 73. limit track, 74. limit slide plate, 75. hind leg slide rail, 76. traction rod, 77. slide rail connector, 78. third buffer, 79. sleeve, 710. frame; 8. detection module; 9. neck joint motor. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-9 , the present invention provides a technical solution:

[0033] A bionic kangaroo jumping special robot comprises a body 1, a rotatable kangaroo head and neck 2 is arranged on the top front side of the body 1, and the rotation between the kangaroo head and neck 2 and the body 1 uses a neck joint motor 9. The bottom of the body 1 and the front side of the kangaroo head and neck 2 are both provided with detection modules 8, the detection module 8 arranged at the eye part of the front side of the kangaroo head and neck 2 uses a camera, and the detection module 8 at the bottom of the body 1 uses radar detection.

[0034] The front side of the bottom of the fuselage 1 is provided with a kangaroo forelimb 3 for independent walking, which can move up and down, can overcome obstacles when lifted, and plays a supporting role when falling to the ground. The bottom of the kangaroo forelimb 3 is provided with a front support wheel 31, which is a driven wheel.

[0035] The two sides of the fuselage 1 are rotatably provided with kangaroo jumping hind legs 4 that penetrate the fuselage 1. The kangaroo jumping hind legs 4 serve as the main driving legs for the robot to walk and jump. The two kangaroo jumping hind legs 4 are connected by a hind leg separation and combination adjustment mechanism 7 arranged on the top of the fuselage 1. When the robot jumps and lands, the kangaroo jumping hind legs 4 are controlled to be separated by the hind leg separation and combination adjustment mechanism 7, that is, the distance between the two kangaroo feet 5 is increased to increase the stability of the robot when landing; when the robot is stationary, the two kangaroo jumping hind legs 4 can be controlled by the hind leg separation and combination adjustment mechanism 7 to be close to each other to reduce the occupied area.

[0036] A kangaroo foot 5 is rotatably arranged at the bottom of the kangaroo jumping hind leg 4, a driving wheel 51 is arranged in the middle of the kangaroo foot 5, and a walking motor 54 is arranged on the side of the kangaroo foot 5, and the walking motor 54 is connected to the driving wheel 51. When the walking motor 54 is working, it drives the driving wheel 51 to rotate, thereby driving the robot to walk as a whole.

[0037] The bottom rear side of the body 1 is provided with a kangaroo tail 6, and the end of the kangaroo tail 6 is provided with a rear support wheel 61, which is also a driven wheel. The kangaroo tail 6 is one of the supporting points of the robot, realizing five-point support and improving the stability of the robot.

[0038] The kangaroo jumping hind leg 4 includes a hind leg joint motor 41, which can adjust the front and rear tilt angles of the kangaroo jumping hind leg 4. At the same time, when the robot jumps, the hind leg joint motor 41 can provide a certain auxiliary force for the jump, thereby improving the jumping effect.

[0039] The output end of the hind leg joint motor 41 is provided with a cross joint 42, and the left and right ends of the cross joint 42 are respectively rotatably connected with the first hind leg rod 43 and the fourth hind leg rod 47, and the second hind leg rod 44 and the third hind leg rod 45 are rotatably connected side by side on the fourth hind leg rod 47, and the second hind leg rod 44 and the third hind leg rod 45 are cross-rotatably connected with the kangaroo foot 5, and the first hind leg rod 43 is rotatably connected with the third hind leg rod 45. The bottom end of the cross joint 42 is rotatably connected with the hind leg driving member 46, and the moving end of the hind leg driving member 46 is rotatably connected with the kangaroo foot 5. The first hind leg rod 43 is arranged in an arc shape near the end of the hind leg driving member 46 to prevent the first hind leg rod 43 from colliding with the hind leg driving member 46.

[0040] The hind leg driving member 46 uses a pneumatic telescopic rod, which extends to push the first hind leg rod 43 and the third hind leg rod 45, so that the kangaroo foot 5 is parallel, and the driving wheel 51 located in the middle of the kangaroo foot 5 lands, driving the robot to walk. When the pneumatic telescopic rod is retracted, the pneumatic telescopic rod pulls the second hind leg rod 44, the second hind leg rod 44 pushes the fourth hind leg rod 47 upward, the fourth hind leg rod 47 drives the third hind leg rod 45, and the third hind leg rod 45 pulls the heel of the kangaroo foot 5, so that the toe of the kangaroo foot 5 lands, the driving wheel 51 is separated from the ground, and then the jump is completed. After the robot jumps, the pneumatic telescopic rod is extended to the maximum, so that the toe end of the kangaroo foot 5 is tilted, and the heel landing is more stable.

[0041] The outer wall of the hind leg joint motor 41 is provided with a motor bracket 48, and the motor bracket 48 clamps the hind leg joint motor 41 in the middle. A motor torque plate 49 is also provided on the outer side of the output end of the hind leg joint motor 41. The hind leg joint motor 41 is connected to the hind leg separation and combination adjustment mechanism 7 through the motor bracket 48 and the motor torque plate 49. The tops of the motor bracket 48 and the motor torque plate 49 are fixed with a sliding sleeve 79, and the sliding sleeve 79 is slidably connected to the hind leg slide rail 75. The motor bracket 48 and the motor torque plate 49 are used to bear the shear force brought to the hind leg joint motor 41 by the hind leg separation and combination adjustment mechanism 7 when adjusting the distance between the two kangaroo jumping hind legs 4.

[0042] The outer wall of the pin connecting the second hind leg rod 44 and the kangaroo foot 5 is sleeved with a first torsion spring 53. The first torsion spring 53 always applies a force to the kangaroo foot 5 to flip it in the direction of the toes of the kangaroo foot 5, which can greatly increase the force for the robot to bounce.

[0043] The rear leg separation and combination adjustment mechanism 7 includes a steering gear 72 fixed on the top of the fuselage 1, and a second rocker arm 71 is provided at the output end of the steering gear 72. Both ends of the second rocker arm 71 are rotatably provided with traction rods 76. The output end of the steering gear 72 is provided in the middle of the second rocker arm 71. The steering gear 72 rotates the second rocker arm 71, and then drives the traction rod 76 to move equidistantly through the second rocker arm 71. The second rocker arm 71 is integrally provided in a semicircular protractor shape, and a pointer is provided at the output end of the steering gear 72, so that the traction angle can be observed.

[0044] The end of the traction rod 76 away from the second rocker arm 71 is coaxially rotatably connected to the limiting slide plate 74 and the slide rail connector 77. One side of the limiting slide plate 74 is slidably connected to the limiting track 73 fixed on the fuselage 1. The movement of the traction rod 76 drives the limiting slide plate 74 to move on the limiting track 73, so that the slide rail connector 77 is supported and the moving track is limited. The slide rail connector 77 is slidably connected to the rear leg slide rail 75. The slide rail connector 77 is in a square shape. A slider is set on the side adjacent to the rear leg slide rail 75 to be slidably connected to the rear leg slide rail 75. When the slide rail connector 77 is pulled to move and rotate, it drives the rear leg slide rail 75 to rotate. The rear leg slide rail 75 is rotatably connected to the fuselage 1 through the frame 710. The frame 710 is connected to the fuselage 1 through a pin shaft, and the rear leg slide rail 75 is fixedly connected to the frame 710. The rear leg slide rail 75 is slidably connected to the kangaroo jumping rear leg 4, and the rear leg slide rail 75 is slidably connected to the sliding sleeve 79. When the hind leg slide rail 75 rotates, it drives the sliding sleeve 79, and then drives the motor bracket 48 and the motor torque plate 49 to tilt, so as to achieve the tilting of the kangaroo's jumping hind legs 4.

[0045] A third buffer 78 is provided between the slide rail connector 77 and the kangaroo jumping hind leg 4. The third buffer 78 uses a compression spring, which will give a certain impact force to the hind leg when the robot jumps and lands. In order to reduce the impact on the parts, a compression spring is used for buffering.

[0046] The kangaroo foot 5 includes a heel, a sole and a toe 52. The heel and the sole are integrally formed, and the sole and the toe 52 are arranged to be detachable, for example, fixed by bolts. The toe 52 is made of a material with high friction and will be greatly worn during the robot's jumping process, so it is arranged to be replaceable.

[0047] The kangaroo's forelimb 3 comprises a first front leg rod 32, the front support wheel 31 is arranged at the bottom of the first front leg rod 32, the first front leg rod 32 is rotatably connected to the second front leg rod 33 and the third front leg rod 35 which are rotatably connected to the fuselage 1 at one end away from the front support wheel 31, the second front leg rod 33 is provided with a slide bar 37, the outer wall of the slide bar 37 is slidably sleeved with a first rocker arm 38, the surface of the first rocker arm 38 is provided with a limiting slide groove 36, and the slide bar 37 can move inside the limiting slide groove 36. The first rocker arm 38 is fixedly connected to a front leg motor 39 at one end, and the front leg motor 39 drives the first rocker arm 38 to rotate when it works, the first rocker arm 38 drives the slide bar 37, the slide bar 37 drives the second front leg rod 33, and the second front leg rod 33 drives the first front leg rod 32 to move up or down, completing the action of lifting or putting down the leg.

[0048] A first buffer 34 is provided between the first front leg rod 32 and the third front leg rod 35. The first buffer 34 uses a compression spring to reduce the impact force of the robot jumping and landing on the fuselage 1.

[0049] The kangaroo tail 6 includes multiple coccyx 62, two adjacent coccyx 62 are rotatably connected, and a second torsion spring 63 is arranged on the connecting pin, and a second buffer 64 is arranged between the kangaroo tail 6 and the fuselage 1. The second buffer 64 uses a compression spring to reduce the impact force of the robot jumping and landing on the fuselage 1.

[0050] The coccyx 62 of the multiple sections is connected by a second torsion spring 63 and a pin shaft, the pin shaft ensures the stable structure of the tail, the second torsion spring 63 forces the robot tail to have a downward force, and the tail is provided with a rear support wheel 61. The robot kangaroo rear tail 6 can actively press down during the movement of the robot, providing a certain support force for the robot tail.

[0051] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0053] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic kangaroo jumping special robot, characterized by: The invention comprises a fuselage (1), wherein a kangaroo head and neck (2) is arranged at the front side of the top of the fuselage (1); a kangaroo stepping forelimb (3) for independently stepping is arranged at the front side of the bottom of the fuselage (1), and a front supporting wheel (31) is arranged at the bottom of the kangaroo stepping forelimb (3); kangaroo jumping hind legs (4) penetrating the fuselage (1) are rotatably arranged on both sides of the fuselage (1), and the two kangaroo jumping hind legs (4) are connected by a hind leg separation and combination adjustment mechanism (7) arranged at the top of the fuselage (1); a kangaroo foot (5) is rotatably arranged at the bottom of the kangaroo jumping hind legs (4), and a driving wheel (51) is arranged at the middle of the kangaroo foot (5); a kangaroo rear tail (6) is arranged at the rear side of the bottom of the fuselage (1), and a rear supporting wheel (61) is arranged at the end of the kangaroo rear tail (6); The kangaroo jumping hind leg (4) comprises a hind leg joint motor (41), the output end of the hind leg joint motor (41) is provided with a cross joint (42), the left and right ends of the cross joint (42) are respectively rotatably connected to a first hind leg rod (43) and a fourth hind leg rod (47), the fourth hind leg rod (47) is rotatably connected to a second hind leg rod (44) and a third hind leg rod (45) in parallel, the second hind leg rod (44) and the third hind leg rod (45) are cross-rotatably connected to the kangaroo foot (5), the first hind leg rod (43) is rotatably connected to the third hind leg rod (45), one end of the bottom of the cross joint (42) is rotatably connected to a hind leg driving member (46), the moving end of the hind leg driving member (46) is rotatably connected to the kangaroo foot (5); The rear leg separation and combination adjustment mechanism (7) comprises a steering gear (72) fixed on the top of the fuselage (1); a second rocker arm (71) is provided at the output end of the steering gear (72); traction rods (76) are rotatably provided at both ends of the second rocker arm (71); one end of the traction rod (76) away from the second rocker arm (71) is rotatably connected to a limit slide plate (74) and a slide rail connector (77) coaxially; one side of the limit slide plate (74) is slidably connected to a limit rail (73) fixed on the fuselage (1); a rear leg slide rail (75) is slidably connected inside the slide rail connector (77); the rear leg slide rail (75) is rotatably connected to the fuselage (1) through a frame (710), and the rear leg slide rail (75) is slidably connected to the kangaroo jumping rear leg (4).

2. A bionic kangaroo jumping special robot according to claim 1, characterized in that: A motor bracket (48) is provided on the outer wall of the hind leg joint motor (41), the motor bracket (48) clamps the hind leg joint motor (41) in the middle, and a motor torque plate (49) is also provided on the outer side of the output end of the hind leg joint motor (41), and the hind leg joint motor (41) is connected to the hind leg separation and combination adjustment mechanism (7) via the motor bracket (48) and the motor torque plate (49).

3. A bionic kangaroo jumping special robot according to claim 1, characterized in that: A first torsion spring (53) is sleeved on the outer wall of the pin connecting the second hind leg rod (44) and the kangaroo foot (5).

4. A bionic kangaroo jumping special robot according to claim 1, characterized in that: A third buffer member (78) is provided between the slide rail connector (77) and the kangaroo's jumping hind leg (4).

5. The bionic kangaroo jumping special robot according to claim 1, characterized in that: The kangaroo foot (5) comprises a heel, a sole and a toe (52); the heel and the sole are integrally formed, and the sole and the toe (52) are fixed by bolts.

6. The bionic kangaroo jumping special robot according to claim 1, characterized in that: The kangaroo stepping forelimb (3) comprises a first front leg rod (32), the front supporting wheel (31) is arranged at the bottom of the first front leg rod (32), one end of the first front leg rod (32) away from the front supporting wheel (31) is rotatably connected to a second front leg rod (33) and a third front leg rod (35) rotatably connected to the fuselage (1), the second front leg rod (33) is provided with a sliding rod (37), the outer wall of the sliding rod (37) is slidably sleeved with a first rocker arm (38), one end of the first rocker arm (38) is fixedly connected to a front leg motor (39), and a first buffer (34) is provided between the first front leg rod (32) and the third front leg rod (35).

7. The bionic kangaroo jumping special robot according to claim 1, characterized in that: The kangaroo rear tail (6) comprises a plurality of coccyx sections (62), two adjacent coccyx sections (62) are rotatably connected, and a second torsion spring (63) is provided on the connecting pin shaft, and a second buffer (64) is provided between the kangaroo rear tail (6) and the fuselage (1).

8. The bionic kangaroo jumping special robot according to claim 1, characterized in that: The bottom of the body (1) and the front side of the kangaroo's head and neck (2) are both provided with detection modules (8), and a neck joint motor (9) is provided between the kangaroo's head and neck (2) and the body (1).

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