Bionic frog and use method

Abstract

The invention provides a bionic frog and a using method. A frog body is hollow, a rib plate is installed in the center of the front end of the frog body, a pair of spring fixing ends are arranged on the two sides of the rib plate, one end of an extension spring is fixed to the spring fixing ends, and connecting parts I are installed on the front portions of the two sides of the upper layer of the frog body. The rear portions of the two sides of the upper layer of the frog body are provided with second connecting portions, the middle of the upper layer of the frog body is provided with a semicircular fixing piece, the front end of the fixing piece is connected with a rib plate, the fixing piece and the rib plate form a supporting body, the supporting body is provided with a round through hole, and a long and thin screw fixes a motor on the supporting body through the round through hole. The upper layer and the lower layer of the rear portion in the frog body are each provided with two bosses, the tail end of the frog body is provided with a pair of double-leg synchronous connecting pieces parallel to the frog body, and the frog leg A is rotationally connected with the connecting part and located at the end of the connecting part. The invention provides a novel bionic frog structure.

Description

Technical Field

[0001] The invention belongs to the fields of biology, mechanical engineering, material science, and in particular relates to a bionic frog structure processed by PLA material and a use method thereof. Background Art

[0002] With the continuous development of artificial intelligence, the development of robotics technology is becoming more and more diverse, especially in robots in special fields where there are dangers, such as rescue, detection, troubleshooting, etc. Bionic robots are robots made based on the biological characteristics of existing organisms in nature, and use the characteristics of the organisms they imitate to complete certain specific tasks.

[0003] For bionic frog robots, the main purpose is to imitate the frog's super jumping function, so that the robot can have better jumping ability, so as to play a role in complex scenes with many obstacles. At the same time, the individual frogs also determine that the bionic frogs will have better maneuverability. The bionic frogs currently on the market are basically powered by torsion springs, and the internal structure mostly uses gear sets as transmission mechanisms. This makes the overall weight of the bionic frogs higher and the structure more complex, making maintenance inconvenient. The heavier body weight also makes it difficult for the frog to control its posture during jumping. At the same time, the existing frog bionic robots do not truly use bouncing to achieve the frog's jumping, and cannot achieve true simulation.

[0004] The application number is 202410764283.0, and the name of the invention is an amphibious bionic frog, which includes a bionic shell, and movable units are symmetrically arranged on both sides of the bionic shell along its axis. The movable units include a mounting shaft rotatable along its axis and arranged on the bionic shell, and a mounting plate is fixedly arranged on the mounting shaft, and a main shaft and a mounting frame are arranged on the mounting plate. A rotatable sleeve on the main shaft is provided with a hind leg rod, and a driving mechanism connected to the hind leg rod is arranged on the mounting plate, and the hind leg rod is driven to reciprocate along the main shaft by the driving mechanism. The hind leg rod is provided with a hind foot connected by a linkage mechanism, and the linkage mechanism converts the rotation of the backward rod into driving the hind foot to perform a kicking action. One end of the front leg rod is hinged on the mounting frame, and the other end is provided with a front foot. The front leg rod and the hind leg rod are connected by a connecting assembly, and the front leg rod is driven by the connecting assembly to move synchronously with the hind leg rod.

[0005] Although the coordination of the front and rear legs was taken into consideration, there was no way to simulate the effect of jumping on the thigh and calf of the frog leg.

[0006] The application number is 202410708372.3, and the invention name is a bionic frog jumping robot, which includes an abdominal frame, an abdominal mechanism located in the abdominal frame and used to move the center of gravity of the robot downward when bouncing and storing power, a power storage mechanism arranged on the abdominal mechanism and capable of moving back and forth relative to the abdominal frame, and a leg mechanism symmetrically arranged on both sides of the abdominal frame and cooperating with the power storage mechanism to achieve bouncing, wherein the abdominal mechanism includes a slide bar fixed on the abdominal frame, a slider that is slidably connected to the slide bar and abutted against one end of a straight spring sleeved on the periphery of the slide bar, and the power storage mechanism is fixedly mounted on the top of the slider. The robot has high stability and is not prone to rollover; the meshing state of the incomplete teeth and the take-up wheel is used to compress and release the thigh and calf with the elastic rope, simulating the leg movement of the frog when jumping, and the thigh and calf use tension springs to simulate the frog's leg muscles, simulating the muscle condition, and the movement mode fits the real jumping method of the frog.

[0007] However, the defect is that the thigh and the calf move independently, so the coordination of the legs during jumping cannot be guaranteed, and the frog legs are simulated by tension springs, so the thigh and the calf cannot achieve a coordinated and unified effect. Summary of the invention

[0008] The purpose of the present invention is to solve the defects of the above-mentioned prior art and provide a bionic frog and a method of use, which can realize automatic power storage and release and continuous jumping without human touch.

[0009] The present invention can increase the number of tension springs to increase the elastic potential energy stored in the bionic frog itself, thereby lengthening the jumping length of the bionic frog. By fixing the frog legs and leg shafts to the frog body, the synchronization of the legs of the bionic frog when jumping can be better ensured. The leg mechanism adopts two parallelogram structures, so that the three frog legs and the two leg shafts play a role of mutual fixing and driving.

[0010] The present invention adopts the following technical solution:

[0011] The bionic frog has a hollow body, a rib plate is installed at the center of the front end of the frog body, a pair of spring fixed ends are arranged on both sides of the rib plate, and one end of the tension spring is fixed on the spring fixed end.

[0012] A semicircular fixing plate is provided in the middle of the upper layer of the frog body, the front end of which is connected to the rib plate, the fixing plate and the rib plate form a supporting body, and a circular through hole is provided on the supporting body, and a slender screw fixes the motor on the supporting body through the circular through hole.

[0013] The end of the frog body is provided with a pair of double-leg synchronous connecting pieces parallel to the frog body, the frog legs A are rotatably connected with the double-leg synchronous connecting pieces, and the frog legs A are located at the ends of the double-leg synchronous connecting pieces.

[0014] The spring connector is a horizontal convex-shaped structure, with a slot on the side, a through hole in the slot, the other end of the tension spring is connected to the through hole, the stopper is installed in the slot, the middle of the stopper has a cylindrical slot, one end of the connecting shaft IX is installed in the cylindrical slot, and the other end is connected to the connecting rod, so that the connecting rod is connected to the spring connector. The connecting rod is a sheet structure with a certain curvature, and the other end of the connecting rod is connected to the double-leg synchronous fixing member through the connecting shaft I.

[0015] The motor is connected to the screw rod through a gear, the upper part of the traction hook connection piece has a through hole, the screw rod screw is fixed in the through hole, and one end of the screw rod is threadedly connected to the screw rod screw. The middle part of the traction hook connection piece has a through hole, the middle part of the connecting rod passes through the through hole, and the two sides of the traction hook connection piece have a pair of circular through holes, the middle part of the traction hook is movably connected to the circular through hole through a pin shaft, and the traction hook can rotate around the pin shaft at a certain angle.

[0016] The front end of the traction hook is a hook with a smooth outer surface, and the rear end has an overall downward slanting trend. The outer surface of the outer end is a smooth curved surface and is adapted to the inner eight-shaped groove surface of the frog body. The inner surface of the rear end has a pair of cylinders, and the spring is installed on the cylinders. The front end of the traction hook hooks the spring connector, and the cylinder on the lower surface of the rear end is used to squeeze the spring.

[0017] The front part of both sides of the upper layer of the frog body is equipped with a connection part I, the frog front leg is rotatably connected to the connection part I, the other end of the frog front leg is connected to the frog front foot through a connecting shaft II, the two ends of the double-leg synchronous fixing piece are connected to the frog leg A structure, the other end of frog leg A is connected to frog leg B through a connecting shaft III, the other end of frog leg B is connected to frog leg C through a connecting shaft V; the other end of frog leg C is connected to the frog rear foot through a connecting shaft IV. Leg axis A is fixed to the frog body by screws, the other end of leg axis A is fixed to frog leg B through a connecting shaft VI, one end of leg axis B is fixed to frog leg A by a connecting shaft VII and a C-type baffle II, and the other end is fixed to frog leg C by a connecting shaft VIII and a C-type baffle III.

[0018] Furthermore, the frog body is in a rectangular parallelepiped shape and has two layers.

[0019] Furthermore, a through hole for connecting the tension spring is provided on the spring fixing end.

[0020] Furthermore, a battery is fixedly installed at the bottom of the frog body, and the battery supplies power to the motor.

[0021] Furthermore, the double-leg synchronous fixing piece has a regular pentagonal fixing cavity, and the frog leg A is rotatably connected to the regular pentagonal fixing cavity of the double-leg synchronous fixing piece through a regular quadrilateral prism coupling.

[0022] The method of using the bionic frog includes the following steps:

[0023] S1. First, the bionic frog is placed in a stretched state, that is, the bionic frog is placed in a state where a stretched spring does not store elastic potential energy;

[0024] S2. Press the controller to start the motor, which drives the lead screw to move counterclockwise. The lead screw fixed on the traction hook connector moves backward as the lead screw rotates.

[0025] S3. The traction hook on the traction hook connector will hook the spring connector and move backward together, and the tension spring fixed on the spring connector will be stretched to accumulate elastic potential energy;

[0026] S4. When the towing hook is pulled to the rear end upper surface and contacts the boss inside the frog body, the rear end of the towing hook will be squeezed. Since the upper and lower towing hooks on one side of the towing hook connector cooperate with each other, the spring pressed between the two towing hooks will keep it stable. The towing hook moves clockwise around the connecting shaft. At this time, the front end of the towing hook will be slowly lifted;

[0027] S5. When it turns to a certain angle, the front end of the traction hook will be separated from the spring connector. At the moment of separation, the tension spring will be quickly retracted. Since the connecting rod is tightly fixed on the spring connector, the connecting rod will also be retracted. The other end of the connecting rod is fixed on the double-leg synchronization fixing piece. The movement of the connecting rod will pull it to move counterclockwise.

[0028] S6. Since frog leg A is tightly fixed to the double-leg synchronous fixing piece, the rotation of the double-leg synchronous fixing piece will drive the rotation of frog leg A. Since leg shaft A is fixed on frog leg B and forms a parallelogram, the rotation of frog leg A will drive the rotation of frog leg B. Leg shaft B is fixed on frog leg A and frog leg C and forms a parallelogram, so it will drive the rotation of frog leg C. The three frog legs and two leg shafts play a role in fixing and driving each other. This triggers the operation of the entire frog leg mechanism.

[0029] S7. After the bionic frog jumps, the spring connector returns to its initial position. The controller adjusts the motor to rotate in the opposite direction, so that the traction hook on the traction hook connector slowly approaches the spring connector. When the traction hook contacts the surface of the spring connector, the front end of the traction hook will be slowly squeezed upwards due to the smooth curves of both surfaces. At the same time, the spring clamped by the rear end of the traction hook is compressed to accumulate elastic potential energy. When the front end of the traction hook falls into the groove of the spring connector, the spring at the rear end of the traction hook will release the elastic potential energy. When the front end of the traction hook falls into the groove of the spring connector, the spring at the rear end of the traction hook will release the elastic potential energy. The front end of the traction hook will be re-embedded in the spring connector, and then the motor will be stopped and returned to S1. This cycle will be repeated to achieve the purpose of multiple consecutive jumps.

[0030] Beneficial effects of the present invention:

[0031] The present invention is provided with a spring connector, a traction hook, a traction hook connector and a tension spring. The traction hook connector is driven by a screw rod. The traction hook on the traction hook connector hooks the spring connector and drives the spring connector to move backward, thereby stretching the tension spring, thereby realizing the energy storage process of the bionic frog.

[0032] By setting a traction hook, a spring and a rear end boss of the frog body shell, the tension spring will be driven to move during the movement of the traction hook connector. When the traction hook connector moves to a certain position, the end of the traction hook on the traction hook connector will contact the boss at the rear end of the frog body shell, so the boss will squeeze the traction hook to rotate, and the front end of the traction hook will gradually withdraw from the groove on the spring connector until it is completely withdrawn. The spring connector will be restored to its original position by the tension spring, and this process will realize the energy release process of the bionic frog.

[0033] By setting two leg axes on the frog legs, the frog legs and the leg axes form a parallelogram mechanism when moving, which can ensure that the frog legs remain in a very stable state during the subsequent movement. This mechanism can also increase the jumping distance of the bionic frog. By fixing the leg axes and frog legs with C-shaped baffles, the movement of the frog leg joints can be kept flexible while preventing the leg axes from falling. By setting a double-leg synchronization connector at the rear end of the frog body shell and connecting the frog legs on both sides, the movement of the legs on both sides can be effectively synchronized to the maximum extent, reducing unnecessary useless work. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the external structure of the present invention;

[0035] Figure 2 A cross-sectional schematic diagram of an angle of the present invention;

[0036] Figure 3 A schematic diagram of the frog leg structure at one angle of the present invention;

[0037] Figure 4 It is a schematic diagram of the cross-sectional structure at another angle of the present invention.

[0038] Figure 5 It is a schematic diagram of the parts coordination of the internal mechanism of the present invention during energy storage.

[0039] Figure 6 It is a schematic diagram of the parts coordination of the internal mechanism of the present invention when releasing energy.

[0040] In the figure: 1- frog body, 2- motor, 3- screw rod, 4- traction hook connector, 5- connecting rod, 6- double leg synchronous connector, 7- connecting shaft Ⅰ, 8- frog leg A, 9- leg shaft A, 10- frog leg B, 11- leg shaft B, 12- frog leg C, 13- frog hind foot, 14- frog front leg, 15- frog front foot, 16- tension spring, 17- C-type baffle Ⅰ, 18- connecting shaft Ⅱ , 19-C-type baffle II, 20-coupling III, 21-coupling IV, 22-coupling V, 23-C-type baffle III, 24-screw, 25-spring connector, 26-traction hook, 27-spring, 28-screw, 29-coupling VI, 30-coupling VII, 31-coupling VIII, 32-block, 33-coupling IX, 34-slender screw, 35-battery, 36-pin shaft. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are 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.

[0042] like Figure 1-Figure 4 As shown, the bionic frog of the present invention, the bionic frog 1 includes a frog body 1, a power self-storage and self-release mechanism, a screw mechanism, and a frog leg mechanism.

[0043] The bionic frog has a frog body 1 that is nearly hollowed out, and the frog body 1 is in the shape of a cuboid. A rib plate is installed at the center of the front end of the frog body 1, and a pair of spring fixing ends are provided on both sides of the rib plate. The spring fixing ends have through holes for connecting a tension spring 16, and the tension spring 16 faces the inside of the frog body 1. The other end of the tension spring 16 is connected to a spring connector 25.

[0044] The frog body 1 is a two-layer body. The front parts of the upper layer of the frog body 1 are provided with connecting parts I. The connecting part I is cylindrical and has a fixed cavity in the middle. The frog front legs 14 are rotatably connected to the cylindrical fixed cavity of the connecting part I.

[0045] The frog body 1 has a semicircular fixing plate in the middle of the upper layer, and the front end of the fixing plate is connected to the rib plate, which serves as a support. The fixing plate and the rib plate form a support body, and a circular through hole is provided on the support body, through which a slender screw 34 fixes the motor 2 to the support body. A battery 35 is fixedly installed at the bottom of the frog body 1, and the battery supplies power to the motor 2. The operator can control the motor movement of the bionic frog through the controller, so that the power self-storage and self-release mechanism can operate, thereby driving the frog leg mechanism to operate.

[0046] The end of the frog body 1 has a pair of symmetrical double-leg synchronous connecting pieces 6 for fixing the frog legs A8. The double-leg synchronous connecting piece 6 has a regular pentagonal fixing cavity. The frog legs A8 are rotatably connected to the regular pentagonal fixing cavity of the double-leg synchronous connecting piece 6 through a regular pentagonal prism coupling, and the frog legs A8 are located at the end of the double-leg synchronous connecting piece 6.

[0047] like Figure 4 , Figure 5 As shown, the spring connector 25 is a horizontal convex-shaped structure, the side of the convex has a slot, and the slot has a through hole. The other end of the tension spring 16 is fixed on the through hole, and the stopper 32 is installed in the slot. The middle of the stopper 32 has a cylindrical slot. One end of the connecting shaft IX 33 is installed in the cylindrical slot, and the other end is connected to the connecting rod 5, so that the connecting rod 5 is connected to the spring connector 25. The connecting rod 5 is a sheet structure with a certain curvature, and the other end of the connecting rod 5 is connected to the double-leg synchronous fixing member 6 through the connecting shaft I 7. The bottom of the spring connector 25 contacts the upper surface of the frog body 1 platform, so that it can make horizontal linear motion on the frog body 1 platform, and the surface friction can be ignored.

[0048] The screw mechanism includes:

[0049] like Figure 4 As shown, the motor 2 is connected to the screw rod 3 through its side gear, and the front end of the screw rod 3 is fixed on the mounting seat, and the screw rod 3 is connected to the screw screw 28 on the traction hook connector 4. When the gear on the motor 2 rotates, it will drive the screw rod 3 to rotate, so that the traction hook connector 4 moves forward and backward. Figure 1 , Figure 4 , Figure 5 As shown, the upper part of the traction hook connecting member 4 has a through hole, and the screw 28 is fixed in the through hole. When the jump is completed, the motor 2 can be driven to reverse to move the screw 28 of the traction connecting member 4 backward to a certain position, and the traction hook 26 hooks the spring connecting member 25. The middle part of the traction hook connecting member 4 has a through hole, and the middle part of the connecting rod 5 passes through the through hole. Figure 5 As shown, a pair of circular through holes are provided on both sides of the traction hook connecting member 4, and the middle part of the traction hook is movably connected in the circular through holes through a pin shaft 36, and the traction hook 26 can rotate around the pin shaft 36 at a certain angle.

[0050] like Figure 6 As shown, the front end of the traction hook 26 is a pair of hooks with a smooth outer surface. The rear end has an overall downward tilt. The outer surface of the outer end is a smooth curved surface and is adapted to the inner eight-shaped groove surface of the frog body 1. The inner surface of the rear end has a pair of cylinders, and the spring 27 is installed on the cylinders. The front end of the traction hook 26 hooks the spring connector 25, and the cylinder on the lower surface of the rear end is used to squeeze the spring 27. Figure 5As shown, the two ends of the extrusion spring 27 are fixed by the cylinders at the rear ends of the upper and lower traction hooks 26. The bottom of the traction hook connector 4 just contacts the upper surface of the frog body 1 platform, so that it can do horizontal linear motion on the frog body 1 platform, and the surface friction can be ignored.

[0051] The frog-leg mechanism includes:

[0052] The other end of the frog front leg 14 is connected to the frog front foot 15 through the connecting shaft II 18, and the two ends of the double-leg synchronous fixing member 6 are connected to the frog leg A8 structure. The other end of the frog leg A8 is connected to the frog leg B10 through the connecting shaft III 20, and the other end of the frog leg B10 is connected to the frog leg C12 through the connecting shaft V 22; the other end of the frog leg C12 is connected to the frog hind foot 13 through the connecting shaft IV 21. One end of the leg axis A9 is fixed to the frog body 1 with a screw 24, and the other end is fixed to the frog leg B11 through the connecting shaft VI 29. One end of the leg axis B11 is fixed to the frog leg A8 with the connecting shaft VII 30 and the C-type baffle II 19, and the other end is fixed to the frog leg C12 with the connecting shaft VIII 31 and the C-type baffle III 23. The frog legs and the leg axes form a parallelogram structure in pairs, making the frog leg structure more stable.

[0053] The power self-storage and self-release mechanism includes:

[0054] The motor 2 drives the screw rod 3 to rotate, and the screw rod 3 drives the traction hook connector 4 to move backward. The traction hook 26 on the traction hook connector 4 will hook the spring connector 25 and move backward together, and the tension spring 16 fixed at one end on the spring connector 25 will be stretched to accumulate elastic potential energy. When the upper surface of the rear end of the traction hook 26 contacts the inner eight-shaped groove surface of the frog body, the rear end of the traction hook 26 will be squeezed and move clockwise around the pin 36. At the same time, the front end of the traction hook 26 will be slowly lifted. When it turns to a certain angle, the front end of the traction hook 26 will be separated from the spring connector 25. At the moment of separation, the tension spring 16 will be quickly retracted. The connecting rod 5 is quickly pulled back to the original position, and the connecting rod 5 drives the double-leg synchronous connector 6 to rotate the frog leg A 8, thereby triggering the frog leg mechanism in an instant, so that the bionic frog performs a jumping movement.

[0055] The present invention provides a method for using a bionic frog, comprising the following steps:

[0056] S1. First, the bionic frog is placed in a stretched state, that is, the bionic frog is placed in a state where the stretch spring 16 does not store elastic potential energy;

[0057] S2. Press the controller to start the motor 2. The motor 2 rotates forward to drive the screw 3 to move counterclockwise. The screw 28 fixed on the traction hook connector 4 will move backward with the rotation of the screw 3.

[0058] S3. The traction hook 26 on the traction hook connector 4 will hook the spring connector 25 and move backward together, and the tension spring 16 fixed on the spring connector 25 will be stretched to accumulate elastic potential energy;

[0059] S4. When the upper surface of the traction hook 26 is pulled to the rear end and contacts the splayed groove surface in the frog body 1, the rear end of the traction hook 26 will be squeezed. Since the two traction hooks 26 on one side of the traction hook connector 4 cooperate with each other, the spring 27 pressed between the two traction hooks 26 will keep it stable. The traction hook 26 moves clockwise around the pin 36. At this time, the front end of the traction hook 26 will be slowly lifted;

[0060] S5. When the vehicle is turned to a certain angle, the front end of the traction hook 26 will be separated from the spring connector 25. At the moment of separation, the tension spring 16 will be quickly retracted. Since the connecting rod 5 is tightly fixed on the spring connector 25, the connecting rod 5 will also be retracted. The other end of the connecting rod 5 is fixed on the double-leg synchronization fixing member 6. The movement of the connecting rod 5 will pull it to move counterclockwise.

[0061] S6. Since frog leg A8 is tightly fixed to the double-leg synchronous fixing member 6, the rotation of the double-leg synchronous fixing member 6 will drive the rotation of frog leg A8; since leg shaft A9 is fixed on frog leg B10 and forms a parallelogram, the rotation of frog leg A8 will drive the rotation of frog leg B10; leg shaft B11 is fixed on frog leg A8 and frog leg C12 and forms a parallelogram, so it will drive the rotation of frog leg C12. The three frog legs and two leg shafts play a role in fixing and driving each other, thereby triggering the operation of the entire frog leg mechanism. Steps S5 and S6 will be completed in an instant.

[0062] S7. After the bionic frog jumps, the spring connector 25 returns to its initial position. The controller adjusts the motor to rotate in the opposite direction, so that the traction hook 26 on the traction hook connector 4 slowly approaches the spring connector 25. When the traction hook 26 contacts the surface of the spring connector 25, since the surfaces of both are smooth curves, the front end of the traction hook 26 will be slowly squeezed upwards through extrusion; at the same time, the spring 27 clamped by the rear end of the traction hook 26 is compressed to accumulate elastic potential energy. When the front end of the traction hook 26 is trapped in the groove of the spring connector 25, the spring 27 at the rear end of the traction hook 26 will release the elastic potential energy, and the front end of the traction hook 26 will be re-embedded in the spring connector 25, and then the motor is stopped and returned to S1, and the cycle is repeated to achieve the purpose of multiple consecutive jumps.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Bionic frog, It is characterized in that The interior of the frog body is hollow, a rib plate is installed at the center of the front end of the frog body, a pair of spring fixed ends are provided on both sides of the rib plate, one end of the tension spring is fixed on the spring fixed end, a semicircular fixing plate is provided in the middle of the upper layer of the frog body, the front end of the fixing plate is connected to the rib plate, the fixing plate and the rib plate form a support body, a circular through hole is provided on the support body, and a slender screw fixes the motor on the support body through the circular through hole, and a pair of double-leg synchronous connecting pieces parallel to the frog body are provided at the end of the frog body, the frog leg A is rotatably connected to the double-leg synchronous connecting piece, and the frog leg A is located at the end of the double-leg synchronous connecting piece; The spring connector is a horizontal convex-shaped structure, with a slot on the side, a through hole in the slot, the other end of the tension spring is connected to the through hole, the stopper is installed in the slot, the middle of the stopper has a cylindrical slot, one end of the connecting shaft IX is installed in the cylindrical slot, and the other end is connected to the connecting rod, so that the connecting rod is connected to the spring connector, the connecting rod is a sheet structure with a certain curvature, and the other end of the connecting rod is connected to the double-leg synchronous fixing member through the connecting shaft I; The motor is connected to the screw rod through a gear, the upper part of the traction hook connecting piece is provided with a through hole, the screw rod screw is fixed in the through hole, one end of the screw rod is threadedly connected with the screw rod screw, the middle part of the traction hook connecting piece is provided with a through hole, the middle part of the connecting rod passes through the through hole, the lower part of the traction hook connecting piece is provided with a pair of through holes, the middle part of the traction hook is movably connected to the through hole through a pin shaft, and the traction hook can rotate around the pin shaft at a certain angle; The front end of the traction hook is a pair of hooks with a smooth outer surface, and the rear end has an overall downward slanting tendency. The outer surface of the outer end is a smooth curved surface and is adapted to the inner eight-shaped groove surface of the frog body. The inner surface of the rear end has a pair of cylinders, and the spring is installed on the cylinders. The front end of the traction hook hooks the spring connector, and the cylinder on the lower surface of the rear end is used to squeeze the spring; A connection part I is installed on the front parts of both sides of the upper layer of the frog body, the frog front leg is rotatably connected to the connection part I, the other end of the frog front leg is connected to the frog front foot through a connecting shaft II, the other end of the frog leg A is connected to the frog leg B through a connecting shaft III, the other end of the frog leg B is connected to the frog leg C through a connecting shaft V; the other end of the frog leg C is connected to the frog hind foot through a connecting shaft IV, the leg axis A is fixed to the frog body through a screw, the other end of the leg axis A is fixed to the frog leg B through a connecting shaft VI, one end of the leg axis B is fixed to the frog leg A by a connecting shaft VII and a C-type baffle II, and the other end is fixed to the frog leg C by a connecting shaft VIII and a C-type baffle III.

2. The bionic frog according to claim 1, It is characterized in that The frog body is in a rectangular shape and has two layers.

3. The bionic frog according to claim 1, It is characterized in that The spring fixing end is provided with a through hole for connecting the tension spring.

4. The bionic frog according to claim 1, It is characterized in that A battery is fixedly installed at the bottom of the frog body, and the battery supplies power to the motor.

5. The bionic frog according to claim 1, It is characterized in that The double-leg synchronous fixing piece has a regular pentagonal fixing cavity, and the frog leg A is rotatably connected to the regular pentagonal fixing cavity of the double-leg synchronous fixing piece through a regular quadrilateral prism coupling.

6. How to use the bionic frog, It is characterized in that The steps include: S1. First, put the bionic frog in a stretched state; S2. Press the controller to start the motor, which drives the lead screw to move counterclockwise. The lead screw fixed on the traction hook connector moves backward as the lead screw rotates. S3. The traction hook on the traction hook connector will hook the spring connector and move backward together, and the tension spring fixed on the spring connector will be stretched to accumulate elastic potential energy; S4. When the towing hook is pulled to the rear end upper surface and contacts the boss inside the frog body, the front end of the towing hook will be slowly lifted; S5. When it is turned to a certain angle, the movement of the connecting rod will pull it to move counterclockwise; S6. Frog leg A is tightly fixed to the double-leg synchronous fixing member, and the rotation of the double-leg synchronous fixing member will drive the rotation of frog leg A. Since leg axis A is fixed to frog leg B and forms a parallelogram, the rotation of frog leg A will drive the rotation of frog leg B; leg axis B is fixed to frog leg A and frog leg C and forms a parallelogram, which will drive frog leg C to rotate together. The three frog legs and the two leg axes play a role in fixing and driving each other, thereby triggering the operation of the entire frog leg mechanism; S7. After the bionic frog jumps, the spring connector returns to its initial position, and the controller adjusts the motor to rotate in the opposite direction, so that the traction hook on the traction hook connector slowly approaches the spring connector. When the traction hook contacts the surface of the spring connector, since the surfaces of both are smooth curves, the front end of the traction hook will be slowly squeezed upwards through extrusion. At the same time, the spring clamped by the rear end of the traction hook is compressed to accumulate elastic potential energy. When the front end of the traction hook sinks into the groove of the spring connector, the spring at the rear end of the traction hook will release the elastic potential energy, and the traction hook will re-hook the spring connector, and then stop the motor and return to S1, and repeat this cycle to achieve the purpose of multiple consecutive jumps.

7. The method according to claim 6, It is characterized in that S4 is specifically: the rear end of the towing hook will be squeezed, because the upper and lower towing hooks on one side of the towing hook connecting piece cooperate with each other, the spring pressed between the two towing hooks will keep it stable, and the towing hook moves clockwise around the connecting shaft.

8. The method according to claim 6, It is characterized in that S5 is specifically: the front end of the towing hook will be separated from the spring connecting piece. At the moment of separation, the tension spring will be quickly retracted. Since the connecting rod is tightly fixed on the spring connecting piece, the connecting rod will also be pulled back. The other end of the connecting rod is fixed on the double-leg synchronization fixing piece.

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