Bionic jumping robot

Abstract

According to the bionic jumping robot, a rear leg mechanism comprises an energy storage assembly and a rear leg rod assembly, the rear leg rod assembly mainly comprises thigh rods and shank rods, the pair of thigh rods and the pair of shank rods are movably connected through first connecting pieces, and each thigh rod is movably connected with the corresponding shank rod through a second connecting piece. Therefore, the thigh rods and the shank rods are hinged end to end through the connecting pieces to form a closed hexagon, namely a six-rod structure, a pair of gears of the first connecting piece is one side of the hexagon, the overall degree of the bionic jumping robot is high, and therefore the strength and stability are good; an incomplete gear mechanism of the front leg mechanism can be driven by a transmission part to achieve energy storage of an energy storage assembly and can be disengaged at an incomplete gear to release energy storage of the energy storage assembly, the structural design of the bionic jumping robot is simplified, a certain point in a six-rod structure serves as a force application point in the transmission process of the transmission part, and therefore the mechanical performance of the bionic jumping robot is improved. The transmission link is simplified, so that the transmission efficiency is higher.

Description

Technical Field

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

[0002] In disaster relief, precision operations and high-load work tasks, bionic robots improve the original mechanical equipment by imitating the characteristics of organisms, such as flexibility, biological motion characteristics and environmental adaptability, so that they have more reasonable and advantageous structural characteristics.

[0003] In the existing research on bionic robots, the bionic frog robot has shown excellent obstacle-crossing ability and good maneuverability due to its unique skeletal structure and excellent leg strength. It is of great significance in scientific research, environmental monitoring, exploration and military fields and has received widespread attention. Most bionic frog robots use a combination of elastic elements and locking release mechanisms to store energy and then release it to achieve intermittent jumping. However, the number of mechanical parts of the jumping robots currently driven by mechanical elastic energy is large, and the structure is complex, which leads to an increase in self-weight, resulting in an unstable center of gravity in the air after jumping and easy to roll over. In addition, these robots generally have problems such as insufficient jumping ability and inflexible transmission. Due to the above defects, it is urgent to develop a bionic jumping robot. Summary of the invention

[0004] In view of some of the shortcomings of the above-mentioned prior art, the present invention provides a bionic jumping robot, which has significantly improved jumping ability and stability through gear drive, energy storage assembly energy storage and six-rod structure connection, can better imitate the biomechanical characteristics of frogs, and has broad application prospects.

[0005] To achieve the above purpose and other related purposes, a bionic jumping robot comprises:

[0006] The hind leg mechanism includes an energy storage assembly and a hind leg rod assembly. The hind leg rod assembly includes a pair of thigh rods, a pair of shank rods and a hind foot. The pair of thigh rods and the pair of shank rods are movably connected through a first connecting member. Each thigh rod and the corresponding shank rod are movably connected through a second connecting member. The energy storage assembly is connected between the two second connecting members.

[0007] The front leg mechanism includes a driving unit, a front leg rod assembly and a mounting plate, the front leg rod assembly and the driving unit are respectively mounted on the mounting plate, the driving unit includes an incomplete gear mechanism and a transmission member, and the transmission member is connected between the incomplete gear mechanism and the connecting ends of a pair of shank rods;

[0008] Wherein, the first connecting member connecting a pair of thigh rods is installed on the mounting plate, and the first connecting member connecting a pair of calf rods is installed on the rear foot through the rear foot connecting plate.

[0009] As one embodiment of the present invention, the incomplete gear mechanism includes a reduction motor, a driving wheel and a driven wheel. The reduction motor is installed on the bottom surface of the mounting plate through a motor mounting seat. The driving wheel is a missing gear. The driving wheel and the driven wheel are correspondingly installed on the bottom surface and top surface of the mounting plate through a gear seat.

[0010] As one embodiment of the present invention, the incomplete gear mechanism also includes a capstan, which is mounted on the axle of the driven wheel. The transmission member is a transmission rope, which is wound around the capstan and has a free end connected to the rear foot connecting plate.

[0011] As one embodiment of the present invention, each thigh rod is made of nylon material, and both ends of each thigh rod are connecting plates. Each first connecting member includes a pair of meshing gears. A pair of connecting plates at the connecting ends of a pair of thigh rods are coaxially connected to the corresponding pair of gears through a pair of first rotating shafts, and each first rotating shaft is installed on the corresponding mounting plate.

[0012] As one embodiment of the present invention, each calf rod is made of nylon material, and one end of each calf rod is a connecting disk, and the other end is a U-shaped connecting plate. A pair of connecting disks at the connecting ends of a pair of calf rods are coaxially connected to a corresponding pair of gears through a pair of second rotating shafts, and each second rotating shaft is installed on the rear foot connecting plate.

[0013] As one embodiment of the present invention, each second connecting member includes a pair of baffles, and each connecting plate of the connecting end of the thigh rod and the calf rod is correspondingly arranged between the openings of the U-shaped connecting plate, and a pair of baffles are correspondingly arranged outside the two side plates of the U-shaped connecting plate and are connected through a third rotating shaft.

[0014] As one embodiment of the present invention, the energy storage assembly includes two groups of springs arranged in parallel, and the two groups of springs are arranged corresponding to the top surface and the bottom surface of the mounting plate respectively, and the two ends of each group of springs are correspondingly connected to a pair of baffles of the second connecting members.

[0015] As one embodiment of the present invention, it also includes a linkage guide mechanism, which includes a reinforcement bracket and at least two groove wheels. The reinforcement bracket is semi-enclosed and arranged on the top surface of the mounting plate and surrounds the driven gear. Each groove wheel is rotatably installed on the first side of the reinforcement bracket. The transmission rope is wound around each groove wheel. The second side of the reinforcement bracket is connected to each first rotating shaft.

[0016] As one embodiment of the present invention, the front leg rod assembly includes a pair of front leg rods and a pair of front leg connecting plates. The lower end of each front leg rod is provided with a raised arc-shaped front foot plate, and the upper end of the front leg rod is rotatably connected to the mounting plate through the front leg connecting plate; a connecting column is upright on each front leg rod, and an arc groove cooperating with the connecting column is opened on the front leg connecting plate for limiting the front leg rod.

[0017] As one embodiment of the present invention, the rear foot connecting plate is U-shaped, and both side plates of the U-shape are T-shaped, wherein the lateral ends of the T-shape of one side plate are respectively connected to the second rotating shaft, and the lateral end of the T-shape of the other side plate is connected to the rear foot rotationally through the connecting shaft.

[0018] The beneficial technical effects of the present invention include at least:

[0019] (1) A bionic jumping robot of the present invention, the hind leg mechanism includes an energy storage component and a hind leg rod component, wherein the hind leg rod component mainly includes a thigh rod and a shank rod, a pair of thigh rods and a pair of shank rods are movably connected through a first connecting member, and each thigh rod and the corresponding shank rod are movably connected through a second connecting member. Therefore, the thigh rod and the shank rod are hinged to each other end to end through the connecting member to form a closed hexagon, i.e., a six-rod structure, wherein a pair of gears of the first connecting member is one side of the hexagon, so that the bionic jumping robot has a high degree of integrity, and thus good strength and stability; and the incomplete gear mechanism of the front leg mechanism can not only realize the energy storage of the energy storage component through the drive of the transmission member, but also can be disengaged at the incomplete gear to release the energy storage of the energy storage component, thereby simplifying the structural design of the bionic jumping robot, and in the transmission process of the transmission member, a certain point in the six-rod structure (and the connection point of the transmission member) is used as the force application point, thereby simplifying the transmission link and making the transmission efficiency higher.

[0020] (2) In a bionic jumping robot of the present invention, the first connecting member includes a pair of gears, and the incomplete gear mechanism includes a driving wheel and a driven wheel, both of which utilize a two-stage gear transmission, that is, two gears meshing transmission, to improve transmission efficiency and make energy utilization higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of a bionic jumping robot provided by an embodiment of the present invention Figure 1 ;

[0022] Figure 2 A schematic diagram of the structure of a bionic jumping robot provided by an embodiment of the present invention Figure 2 ;

[0023] Figure 3 A schematic structural diagram of a rear leg mechanism provided by an embodiment of the present invention;

[0024] Figure 4 A diagram showing a second connecting member in use according to an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the structure of a thigh rod provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the structure of a calf rod provided by an embodiment of the present invention;

[0027] Figure 7 A diagram showing the installation and use of a hind foot and a hind foot connecting plate provided in one embodiment of the present invention;

[0028] Figure 8 A schematic diagram of the structure of a linkage guide mechanism provided by an embodiment of the present invention;

[0029] Fig. 9 A diagram showing the installation and use of a front leg rod, a front leg connecting plate and a mounting plate provided in one embodiment of the present invention;

[0030] Fig.10 A schematic structural diagram of an incomplete gear mechanism provided in one embodiment of the present invention.

[0031] Component Symbols:

[0032] Hind leg mechanism 1, energy storage assembly 11, hind leg rod assembly 12, thigh rod 121, calf rod 122, hind foot 123, hind foot connecting plate 1230, connecting shaft 1231, perforation 1232, gear 411, first rotating shaft 412, second rotating shaft 413, second connecting member 42, baffle 421, third rotating shaft 422, front leg mechanism 2, drive unit 21, incomplete gear mechanism 211, transmission member 212, reduction motor 2111, driving wheel 2112, driven wheel 2113, motor mounting seat 2110, winch 2114, front leg rod assembly 22, front leg rod 221, connecting column 2211, front leg connecting plate 222, arc groove 2221, front foot plate 223, mounting plate 23, linkage guide mechanism 3, reinforcement bracket 31, groove wheel 32, connecting plate 100, U-shaped connecting plate 200. DETAILED DESCRIPTION

[0033] The following is an explanation of the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are intended to describe specific embodiments, rather than to limit the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are usually carried out under conventional conditions or under the conditions recommended by the manufacturers.

[0034] See also Figures 1 to 10It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportion relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0035] When numerical ranges are given in the embodiments, it should be understood that unless otherwise specified in the present invention, both endpoints of each numerical range and any value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention are familiar to those skilled in the art and the description of the present invention, and any method, device and material of the prior art similar or equivalent to the method, device and material in the embodiments of the present invention can also be used to implement the present invention.

[0036] See also Figure 1 and Figure 2 To achieve the above-mentioned purpose and other related purposes, a bionic jumping robot includes a hind leg mechanism 1 and a front leg mechanism 2. The hind leg mechanism 1 includes an energy storage assembly 11 and a hind leg rod assembly 12. The hind leg rod assembly 12 includes a pair of thigh rods 121, a pair of shank rods 122 and a hind foot 123. The pair of thigh rods 121 and the pair of shank rods 122 are movably connected through a first connecting member. Each thigh rod 121 and the corresponding shank rod 122 are movably connected through a second connecting member 42. The energy storage assembly 11 is connected between the two second connecting members 42. The front leg mechanism 2 includes a driving unit 21, a front leg rod assembly 22 and a mounting plate 23. The front leg rod assembly 22 and the driving unit 21 are respectively mounted on the mounting plate 23. The driving unit 21 includes an incomplete gear mechanism 211 and a transmission member 212. The transmission member 212 is connected between the connecting ends of the incomplete gear mechanism 211 and the pair of shank rods 122. Among them, the first connecting member connecting a pair of thigh rods 121 is installed on the mounting plate 23, and the first connecting member connecting a pair of calf rods 122 is installed on the rear foot 123 through the rear foot connecting plate 1230.

[0037] In the above-mentioned bionic jumping robot, a pair of thigh rods 121 of the hind leg mechanism and a pair of shank rods 122 are movably connected by a first connecting member, each thigh rod 121 and shank rod 122 are movably connected by a second connecting member 42, and an energy storage component 11 is connected between the two second connecting members 42. The linear force displacement characteristics of the energy storage component are converted into the displacement characteristics of the rod structure composed of the thigh rod 121 and the shank rod 122. During the energy storage process, the rod structure is expanded horizontally and compressed longitudinally, which effectively utilizes the energy storage space while increasing the energy storage efficiency. The jumping energy storage process of the rod structure imitates the frog's jumping action and has bionic characteristics.

[0038] See also Fig.10 As one embodiment of the present invention, the incomplete gear mechanism 211 includes a reduction motor 2111, a driving wheel 2112 and a driven wheel 2113. The reduction motor 2111 is mounted on the bottom surface of the mounting plate 23 through a motor mounting seat 2110. The driving wheel 2112 is a missing gear. The driving wheel 2112 and the driven wheel 2113 are correspondingly mounted on the bottom surface and the top surface of the mounting plate 23 through a gear seat. The incomplete gear mechanism 211 also includes a capstan 2114, which is mounted on the axle of the driven wheel 2113. The transmission member 212 is a transmission rope, which is wound on the capstan 2114 and its free end is connected to the rear foot connecting plate 1230.

[0039] It should be noted that the transmission member 212 used between the incomplete gear mechanism 211 of the driving part of the present invention and the energy storage component 11 of the energy storage part is a transmission rope, and the driving part also uses a winch 2114 to wind the rope to achieve the contraction and release of the energy storage part. The transmission rope transmission has the characteristics of saving space and flexible retraction and release, and gets rid of the transmission bracket of the traditional track, making the structure of the bionic jumping robot of the present invention more streamlined. The winch 2114 of the incomplete gear mechanism 211 is installed on the axle of the driven wheel 2113, reducing the number of components in the energy storage link and improving the efficiency and stability of the energy storage process. At the same time, the driving wheel 2112 is a gearless gear, that is, an incomplete gear, and the reduction motor 2111 only needs to rotate in the same direction to achieve continuous energy storage and control of the release process, which greatly simplifies the design complexity of the driving part.

[0040] The driving wheel 2112 and the driven wheel 2113 are correspondingly mounted on the bottom and top surfaces of the mounting plate 23 through the gear seat, so that the center of gravity of the driving part is close to the take-off force track, thereby improving the stability of the bionic jumping robot during the jumping and take-off process.

[0041] The driving unit 21 may also include a signal receiving and processing and motor driving circuit board, a lithium-ion battery, and a controller.

[0042] See also Figure 3-Figure 6As one embodiment of the present invention, each thigh rod 121 is made of nylon material, and both ends of each thigh rod 121 are connecting plates 100, each first connecting member includes a pair of meshing gears 411, and a pair of connecting plates 100 at the connecting ends of a pair of thigh rods 121 are coaxially connected to the corresponding pair of gears 411 through a pair of first rotating shafts 412, and each first rotating shaft 412 is installed on the corresponding mounting plate 23. Each calf rod 122 is made of nylon material, and one end of each calf rod 122 is a connecting plate 100, and the other end is a U-shaped connecting plate 200, and a pair of connecting plates 100 at the connecting ends of a pair of calf rods 122 are coaxially connected to the corresponding pair of gears 411 through a pair of second rotating shafts 413, and each second rotating shaft 413 is installed on the rear foot connecting plate 1230. Each second connecting member 42 includes a pair of baffles 421, and the connecting plate 100 at the connecting end of each thigh rod 121 and calf rod is correspondingly arranged between the openings of the U-shaped connecting plate 200. A pair of baffles 421 are correspondingly arranged outside the two side plates of the U-shaped connecting plate 200 and are connected through a third rotating shaft 422.

[0043] It should be noted that each thigh bar 121 and shank bar 122 is provided with a hollow hole, i.e., a weight-reducing hole. Combined with the reinforced design of the nylon material used, the results of stress analysis on the thigh bar 121 and the shank bar 122 show that the maximum concentrated stress on the thigh bar 121 and the shank bar 122 is less than its yield strength, so the hind leg mechanism of the bionic jumping robot meets the safety factor required for use. While effectively improving the bending and torsion resistance, the hollow holes reduce the weight and increase the jumping distance of the bionic jumping robot.

[0044] See also Figure 3 At the same time, the first connecting member includes a pair of gears 411. The two pairs of gears 411 of the first connecting member and the four leg rods (a pair of thigh rods 121 and a pair of shank rods 122) are hinged to each other end to end to form a closed hexagon, i.e., a six-rod structure. The upper and lower opposite sides of the six-rod structure are two pairs of gears 411. The four gears 411 are installed at the same height and are each connected to a leg rod. The articulated joint between the thigh rod 121 and the shank rod 122 is composed of a U-shaped connecting plate 200 and a connecting plate 100 to ensure the strength of the joint connection. Therefore, it has a simple structure and stable performance.

[0045] As one embodiment of the present invention, the energy storage assembly 11 includes two groups of springs arranged in parallel, and the two groups of springs are arranged corresponding to the top surface and the bottom surface of the mounting plate 23 respectively, and the two ends of each group of springs are correspondingly connected to a pair of baffles 421 of the second connecting members 42.

[0046] See also Figure 8As one embodiment of the present invention, it also includes a linkage guide mechanism 3, which includes a reinforcement bracket 31 and at least two groove wheels 32. The reinforcement bracket 31 is semi-enclosed and arranged on the top surface of the mounting plate 23, and surrounds the driven gear 411. Each groove wheel 32 is rotatably installed on the first side of the reinforcement bracket 31. The transmission rope is wound around each groove wheel 32. The second side of the reinforcement bracket 31 is connected to each first rotating shaft 412.

[0047] It should be noted that the linkage guide mechanism 3 provides guidance for the transmission rope connection, so that the winch 2114 and the energy storage assembly 11 are no longer in a straight line, further optimizing the layout of the main part of the bionic jumping robot. The reinforcement bracket 31 of the linkage guide mechanism 3 also serves as the frame of other parts, increasing the strength and impact resistance of the overall structure.

[0048] See also Fig. 9 As one embodiment of the present invention, the front leg rod assembly 22 includes a pair of front leg rods 221 and a pair of front leg connecting plates 222. The lower end of each front leg rod 221 is provided with a raised arc-shaped front foot plate 223, and the upper end of the front leg rod 221 is rotatably connected to the mounting plate 23 through the front leg connecting plate 222; a connecting column 2211 is upright on each front leg rod 221, and an arc groove 2221 cooperating with the connecting column 2211 is opened on the front leg connecting plate 222 for limiting the front leg rod 221.

[0049] It should be noted that, when the bionic jumping robot is in the air, the front leg rod 221 naturally swings back within the limited range of the arc groove 2221, effectively reducing air resistance. At the same time, the non-fixed cooperation between the front leg rod 221 and the front leg connecting plate 222 can act as a protective mechanism to reduce the impact force of the collision after jumping and landing. The front leg rod 221 can also be adjusted to control the launch angle of the bionic jumping robot. The arc-shaped front foot plate 223 has a strong ability to adapt to the environment, and can provide a stable take-off support height for the bionic jumping robot under complex terrain. The arc-shaped front foot plate 223 has the prominent characteristics of the frog's front flippers, which can ensure that the front foot touches the ground smoothly during debugging.

[0050] See also Figure 7 As one embodiment of the present invention, the rear foot connecting plate 1230 is U-shaped, and both side plates of the U-shape are T-shaped, wherein the lateral ends of the T-shape of one side plate are respectively connected to the second rotating shaft 413, and the lateral ends of the T-shape of the other side plate are rotatably connected to the rear foot 123 through the connecting shaft 1231.

[0051] It should be noted that the U-shaped bottom plate of the rear foot connecting plate 1230 is provided with a through hole 12321231, and the free end of the transmission rope is wound around the groove wheel 32 and passed through a pair of first rotating shafts 412, and then fixed to the rear foot connecting plate 1230 through the through hole 12321231; the rear foot 123 is a rectangular plate, and the length direction of the rectangle is parallel to the expansion and contraction direction of the spring. The contact area with the ground is increased, which can effectively improve the stability of the robot during the take-off process.

[0052] In summary, the working principle and process of the present invention are as follows:

[0053] In the initial state, the energy storage assembly 11 is in a relaxed state, the spring is not stretched, the driving wheel 2112 and the driven wheel 2113 are in a disengaged state, and the rear leg mechanism 1 is in a relatively extended state. Figure 2 .

[0054] Subsequently, the reduction motor 2111 starts to rotate and drives the driving wheel 2112 to rotate, which in turn drives the driven wheel 2113 to rotate. As the winch 2114 on the driven wheel 2113 rotates, the transmission rope fixed on the winch 2114 gradually stretches, driving the hind foot connecting plate 1230 to move along the direction of the transmission rope, thereby compressing the six-bar structure. At this time, the two sets of springs are stretched and store energy. In this process, both the hind leg mechanism 1 and the front leg mechanism 2 contract adaptively, the connection between the pair of front leg rods 221 is pulled backwards, while the ground-connected ends remain stationary, and the hind feet 123 are always in contact with the ground without moving. The entire bionic jumping robot shows a tendency to compress backwards and downwards, similar to the bending of the hind limbs of a frog before taking off, see Figure 1 .

[0055] When the toothless portion of the driving wheel 2112 rotates again to disengage from the driven gear 2113, the stretched spring is quickly released. Under the action of the spring elastic force, the transmission rope drives the driven wheel 2113 to rotate rapidly in the opposite direction, and the force of the spring is applied to the ground through the hind legs 123, thereby driving the entire body to jump forward along the axis direction of the six-bar structure. At this time, the six-bar structure gradually stretches to a straight line state, propping up the bionic frog jumping robot and completing the jumping action.

[0056] If the reduction motor 2111 continues to run, the driving wheel 2112 will continue to rotate, and the spring will stretch and pop out, and the bionic jumping robot will return to the initial state. When the gear teeth of the driving wheel 2112 mesh with the driven gear 2112 again, the spring will be compressed again, and the above jumping action will be repeated, so that the bionic jumping robot will jump forward continuously. When the reduction motor 2111 stops running, the robot will stop jumping.

[0057] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A bionic jumping robot, characterized in that: include: A hind leg mechanism (1), the hind leg mechanism (1) comprising an energy storage assembly (11) and a hind leg rod assembly (12), the hind leg rod assembly (12) comprising a pair of thigh rods (121), a pair of shank rods (122) and a hind foot (123), the pair of thigh rods (121) and the pair of shank rods (122) being movably connected via a first connecting member, each thigh rod (121) and the corresponding shank rod (122) being movably connected via a second connecting member (42), the energy storage assembly (11) being connected between two of the second connecting members (42); A front leg mechanism (2), the front leg mechanism (2) comprising a drive unit (21), a front leg rod assembly (22) and a mounting plate (23), the front leg rod assembly (22) and the drive unit (21) being mounted on the mounting plate (23) respectively, the drive unit (21) comprising an incomplete gear mechanism (211) and a transmission member (212), the transmission member (212) being connected between the incomplete gear mechanism (211) and the connecting ends of a pair of shank rods (122); Wherein, a first connecting member connecting a pair of thigh rods (121) is installed on the mounting plate (23), and a first connecting member connecting a pair of calf rods (122) is installed on the hind foot (123) via a hind foot connecting plate (1230).

2. The bionic jumping robot according to claim 1, characterized in that: The incomplete gear mechanism (211) comprises a reduction motor (2111), a driving wheel (2112) and a driven wheel (2113); the reduction motor (2111) is mounted on the bottom surface of the mounting plate (23) via a motor mounting seat (2110); the driving wheel (2112) is a missing gear; the driving wheel (2112) and the driven wheel (2113) are correspondingly mounted on the bottom surface and the top surface of the mounting plate (23) via a gear seat.

3. The bionic jumping robot according to claim 2, characterized in that: The incomplete gear mechanism (211) further comprises a capstan (2114), wherein the capstan (2114) is mounted on the axle of the driven wheel (2113), and the transmission member (212) is a transmission rope, which is wound around the capstan (2114) and has a free end connected to the rear foot connecting plate (1230).

4. The bionic jumping robot according to claim 3, characterized in that: Each thigh rod (121) is made of nylon material, and both ends of each thigh rod (121) are connecting plates (100), and each of the first connecting members includes a pair of meshing gears (411). A pair of connecting plates (100) at the connecting ends of a pair of thigh rods (121) are coaxially connected to a corresponding pair of gears (411) through a pair of first rotating shafts (412), and each of the first rotating shafts (412) is installed on the corresponding mounting plate (23).

5. The bionic jumping robot according to claim 4, characterized in that: Each of the calf rods (122) is made of nylon material, and one end of each of the calf rods (122) is a connecting plate (100), and the other end is a U-shaped connecting plate (200). A pair of connecting plates (100) at the connecting ends of a pair of calf rods (122) are coaxially connected to a corresponding pair of gears (411) through a pair of second rotating shafts (413), and each of the second rotating shafts (413) is installed on the rear foot connecting plate (1230).

6. The bionic jumping robot according to claim 5, characterized in that: Each of the second connecting members (42) comprises a pair of baffles (421), and the connecting plates (100) at the connecting ends of each of the thigh rods (121) and the calf rods are correspondingly arranged between the openings of the U-shaped connecting plate (200), and a pair of the baffles (421) are correspondingly arranged outside the two side plates of the U-shaped connecting plate (200) and are connected via a third rotating shaft (422).

7. The bionic jumping robot according to claim 6, characterized in that: The energy storage assembly (11) comprises two groups of springs arranged in parallel, and the two groups of springs are arranged corresponding to the top surface and the bottom surface of the mounting plate (23), respectively, and the two ends of each group of springs are correspondingly connected to the baffles (421) of a pair of the second connecting members (42).

8. The bionic jumping robot according to claim 7, characterized in that: The invention also comprises a linkage guide mechanism (3), wherein the linkage guide mechanism (3) comprises a reinforcing bracket (31) and at least two groove wheels (32), wherein the reinforcing bracket (31) is semi-enclosedly arranged on the top surface of the mounting plate (23) and surrounds the driven gear (411), each of the groove wheels (32) is rotatably mounted on a first side of the reinforcing bracket (31), the transmission rope is wound around each of the groove wheels (32), and the second side of the reinforcing bracket (31) is connected to each of the first rotating shafts (412).

9. The bionic jumping robot according to claim 8, characterized in that: The front leg rod assembly (22) comprises a pair of front leg rods (221) and a pair of front leg connecting plates (222); the lower end of each front leg rod (221) is provided with a protruding arc-shaped front foot plate (223); the upper end of the front leg rod (221) is rotatably connected to the mounting plate (23) via the front leg connecting plate (222); a connecting column (2211) is uprightly provided on each front leg rod (221); and the front leg connecting plate (222) is provided with an arc-shaped groove (2221) that cooperates with the connecting column (2211) and is used to limit the front leg rod (221).

10. The bionic jumping robot according to claim 9, characterized in that: The rear foot connection plate (1230) is U-shaped, and both side plates of the U-shape are T-shaped, wherein the lateral ends of the T-shape of one side plate are respectively connected to the second rotating shaft (413), and the lateral end of the T-shape of the other side plate is rotationally connected to the rear foot (123) via a connecting shaft (1231).

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