Bionic frog robot

Abstract

The bionic frog robot comprises a body unit, a rear leg unit, a power unit and an energy storage unit, and the rear leg unit is rotationally connected with the body unit; the power unit is mounted on the body unit; the energy storage unit comprises an energy storage assembly, a supporting assembly, a pushing assembly and a connecting rod, the energy storage assembly is connected with the power unit, the supporting assembly and the pushing assembly, and the supporting assembly is connected with the rear leg unit through the connecting rod. Compared with the prior art, the bionic frog robot has the advantages that the energy storage assembly stores energy when the supporting assembly is in the supporting state, the supporting assembly is converted into the releasing state from the supporting state through the pushing assembly after energy storage is completed, and the energy storage assembly releases energy and drives the rear leg unit to act; the bionic frog jumping robot replaces a traditional cam mechanism, so that the bionic frog jumping robot is more compact and light in structure, the flexibility and maneuverability of the robot are improved, energy consumption is reduced, and the cruising ability of the robot is prolonged.

Description

Technical Field

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

[0002] Existing bionic frog robots such as CN202210487422.0 disclose a bionic frog jumping robot based on cam mutation. It uses the travel motion of the cam mechanism to convert the spring compression, and converts the elastic potential energy of the spring compression into the kinetic energy of the legs to enable the robot to achieve a jumping action.

[0003] However, the mass and volume of the cam mechanism are still large, which limits the miniaturization of the bionic frog robot. At the same time, the greater weight also brings greater jumping energy consumption, reducing the endurance of the bionic frog robot. Summary of the invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies, provide a bionic frog robot, and solve the technical problem that the bionic frog robot in the prior art uses a cam mechanism resulting in a large weight and volume.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a bionic frog robot, comprising: a body unit; a hind leg unit, which is rotatably connected to the body unit; a power unit, which is installed on the body unit; and an energy storage unit, which comprises an energy storage component, a support component, a pushing component and a connecting rod, wherein the energy storage component is connected to the power unit, the support component and the pushing component, and the supporting component is connected to the hind leg unit through the connecting rod; The support assembly can switch between a support state and a release state. When the support assembly is in the support state, the power unit can drive the energy storage assembly to move so that the energy storage assembly can store energy. When the energy storage assembly moves, it drives the pushing assembly to move until the pushing assembly collides with the support assembly. When the pushing assembly pushes the support assembly that collides with it, the support assembly switches from the support state to the release state, and transmits the energy released by the energy storage assembly to the rear leg unit via the connecting rod to make the rear leg unit move.

[0006] In some embodiments, the two sides of the body unit are symmetrically connected to the two hind leg units, the two sides of the energy storage assembly are symmetrically connected to the two support assemblies, and the two support assemblies are respectively connected to the two hind leg units through the two connecting rods.

[0007] In some embodiments, the connecting rod is a bent rod, one end of which is rotatably connected to the body unit, the bend of which is rotatably connected to the rear leg unit, and the other end of which is rotatably connected to both the energy storage assembly and the support assembly.

[0008] In some embodiments, the energy storage assembly includes a first cross bar, a second cross bar and an energy storage member, the first cross bar is rotationally connected to the connecting rod and the supporting assembly at the same time, the second cross bar is rotationally connected to the pushing assembly, and the energy storage member connects the first cross bar and the second cross bar; the power unit is transmission-connected to the second cross bar to keep the second cross bar away from the first cross bar.

[0009] In some embodiments, the support assembly includes a first support rod and a second support rod, one end of the first support rod is rotatably connected to the first cross rod, and the other end of the first support rod is rotatably connected to one end of the second support rod, and the other end of the second support rod is rotatably connected to the body unit, and the first support rod also abuts against the second support rod to limit the rotation direction between the first support rod and the second support rod.

[0010] In some embodiments, the pushing assembly includes a push plate and a pull rod, one end of the push plate is rotatably connected to the body unit, and the other end of the push plate is rotatably connected to one end of the pull rod, and the other end of the pull rod is rotatably connected to the second cross rod; the push plate can interfere with the first support rod and push the first support rod to rotate relative to the second support rod, so that the support assembly switches from a supporting state to a released state.

[0011] In some embodiments, the energy storage assembly also includes a third cross bar, which is rotationally connected to the second support bar and the body unit at the same time; the power unit includes a drive rope, which is connected to the second cross bar and bypasses the third cross bar to pull the second cross bar toward the third cross bar.

[0012] In some embodiments, the power unit also includes a motor, a winding wheel, a fixed pulley and a movable pulley. The motor is arranged on the body unit and is transmission-connected to the winding wheel to drive the winding wheel to rotate. The fixed pulley is arranged on the third cross bar, and the movable pulley is arranged on the second cross bar. One end of the driving rope is fixedly connected to the winding wheel, and the other end of the driving rope passes around the fixed pulley and the movable pulley in sequence and is fixedly connected to the fixed pulley.

[0013] In some embodiments, the hind leg unit includes a plurality of transverse links, a plurality of longitudinal links and a hind leg rod, one end of the first transverse link is rotatably connected to the turning point of the connecting rod, the middle part is rotatably connected to the upper end of the first longitudinal link, and the other end is rotatably connected to the upper end of the second longitudinal link; the middle part of the first longitudinal link is rotatably connected to one end of the second transverse link, and the lower end of the first longitudinal link is rotatably connected to one end of the third transverse link; the middle part of the second longitudinal link is rotatably connected to the body unit, the lower end of the second longitudinal link is rotatably connected to the middle part of the second transverse link, the other end of the second transverse link is rotatably connected to the upper end of the hind leg rod, and the other end of the third transverse link is rotatably connected to the middle part of the hind leg rod; the lower end of the hind leg rod is used to contact the ground.

[0014] In some embodiments, two front leg units are further included, and the front leg units are symmetrically arranged on both sides of the body unit. The front leg units include a front leg rod and a front foot. The upper end of the front leg rod is rotatably connected to the body unit, and the lower end of the front leg rod is rotatably connected to the front foot.

[0015] Compared with the prior art, the energy storage component of the bionic frog robot provided by the present invention stores energy when the supporting component is in a supporting state. After the energy storage is completed, the supporting component is transformed from a supporting state to a releasing state by a pushing component, and the energy storage component releases energy and drives the hind leg unit to move; it replaces the traditional cam mechanism, making the bionic frog jumping robot more compact and lightweight in structure, which is not only conducive to improving the flexibility and maneuverability of the robot, but also reduces energy consumption and prolongs the robot's endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the front side of the bionic frog robot provided by an embodiment of the present invention; Figure 2 is a structural schematic diagram of the back side of the bionic frog robot provided by an embodiment of the present invention; Figure 3 yes Figure 1 The structural diagram of the energy storage unit; Figure 4 yes Figure 1 Schematic diagram of the structure of the middle and rear leg unit; Figure 5 Schematic diagram of two states of the hind leg unit of the bionic frog robot provided by an embodiment of the present invention when jumping; Figure 6 Schematic diagram of three states of the bionic frog robot energy storage unit provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In order to solve the technical problems of the existing bionic frog robot having a complex structure and a large volume and weight, the present invention provides a bionic frog robot that can achieve a more compact and lightweight structure, which is beneficial to improving the flexibility and maneuverability of the robot, and also reduces energy consumption and prolongs the robot's endurance.

[0019] See also Figure 1 and Figure 2 , Figure 1 is a schematic structural diagram of the front side of the bionic frog robot provided by an embodiment of the present invention; Figure 2 It is a structural schematic diagram of the back side of the bionic frog robot provided by an embodiment of the present invention.

[0020] The bionic frog robot includes a body unit 1, a hind leg unit 2, an energy storage unit 3 and a power unit 4. Since the robot is a bionic frog robot that simulates a frog in the real world, for ease of description and understanding, the description method corresponding to the real frog is used in this article. For example, the hind leg unit 2 corresponds to the hind leg of the frog, the rear specifically refers to the direction of the projection of the hind leg unit 2 on the horizontal plane when exerting force, and the front specifically refers to the direction of the projection of the bionic frog robot on the horizontal plane when jumping.

[0021] The body unit 1 simulates the trunk of a frog and serves as the main bearing mechanism of the bionic frog robot, and is used to connect the hind leg unit 2, the energy storage unit 3 and the power unit 4.

[0022] The hind leg unit 2 is rotatably connected to the body unit 1, and the power unit 4 is installed on the body unit 1 to provide energy and store it in the energy storage unit 3. The energy stored in the energy storage unit 3 is released to the hind leg unit 2, driving the hind leg unit 2 to move, thereby completing the action of simulating a frog jumping.

[0023] See also Figure 3 , Figure 3 yes Figure 1 The schematic diagram of the structure of the energy storage unit 3. The energy storage unit 3 includes a connecting rod 31, an energy storage assembly 32, a support assembly 33 and a pushing assembly 34, the energy storage assembly 32 is connected to the power unit 4, the support assembly 33 and the pushing assembly 34, and the support assembly 33 is connected to the rear leg unit 2 through the connecting rod 31.

[0024] The support assembly 33 can be switched between a support state and a release state. When the support assembly 33 is in the support state, the power unit 4 can drive the energy storage assembly 32 to move so that the energy storage assembly 32 stores energy. When the energy storage assembly 32 moves, it drives the push assembly 34 to move until the push assembly 34 conflicts with the support assembly 33. When the push assembly 34 pushes the support assembly 33 that conflicts with it, the support assembly 33 is switched from the support state to the release state, and the energy released by the energy storage assembly 32 is transmitted to the rear leg unit 2 via the connecting rod 31, so that the rear leg unit 2 moves.

[0025] The energy storage component 32 of the bionic frog robot provided by the present invention stores energy when the support component 33 is in the support state. After the energy storage is completed, the support component 33 is changed from the support state to the release state through the push component 34, and the energy storage component 32 releases energy and drives the hind leg unit 2 to move. By replacing the traditional cam mechanism, the bionic frog jumping robot is more compact and lightweight in structure, which is not only conducive to improving the flexibility and maneuverability of the robot, but also reduces the energy consumption and prolongs the endurance of the robot.

[0026] In some embodiments, in order to make the bionic frog robot more balanced, the two sides of the body unit 1 are symmetrically connected to the two hind leg units 2, and the two sides of the energy storage component 32 are symmetrically connected to the two support components 33, and the two support components 33 are respectively connected to the two hind leg units 2 through two connecting rods 31. That is, two sets of identical connecting transmission structures are symmetrically arranged on both sides of the energy storage component 32 to connect the energy storage component 32 and the two hind leg units 2, so that the two hind leg units 2 move synchronously.

[0027] In some embodiments, the body unit 1 includes a mounting plate 11 and two mounting rods 12, and the two mounting rods 12 are symmetrically fixedly mounted on both sides of the mounting plate 11. The rear leg unit 2 and the energy storage unit 3 are respectively mounted on the mounting rods 12, and the power unit 4 is mounted on the mounting plate 11. Figure 2 As shown, the mounting rod 12 is a bent rod, and the front end is bent downward. The front end, the bend and the rear end of the mounting rod 12 are all provided with round holes for rotational connection.

[0028] See also Figure 4 , Figure 4 yes Figure 2Schematic diagram of the structure of the middle rear leg unit. In some embodiments, the rear leg unit 2 includes a plurality of transverse connecting rods, a plurality of longitudinal connecting rods and a rear leg rod 21. The front end of the first transverse connecting rod 22 is rotatably connected to the turning point of the connecting rod 31, the middle part of the first transverse connecting rod 22 is rotatably connected to the upper end of the first longitudinal connecting rod 23, and the rear end of the first transverse connecting rod 22 is rotatably connected to the upper end of the second longitudinal connecting rod 24. The middle part of the first longitudinal connecting rod 23 is rotatably connected to the front end of the second transverse connecting rod 25, and the lower end of the first longitudinal connecting rod 23 is rotatably connected to the front end of the third transverse connecting rod 26. The middle part of the second longitudinal connecting rod 24 is rotatably connected to the body unit 1, specifically, rotatably connected to the rear end of the mounting rod 12, and the lower end of the second longitudinal connecting rod 24 is rotatably connected to the middle part of the second transverse connecting rod 25. The rear end of the second transverse connecting rod 25 is rotatably connected to the upper end of the rear leg rod 21, and the rear end of the third transverse connecting rod 26 is rotatably connected to the middle part of the rear leg rod 21. The lower end of the rear leg rod 21 is used to contact the ground.

[0029] The number of various transverse links and longitudinal links in the rear leg unit 2 can be one or more. For example, the form shown in the figure can be adopted, where two transverse links are arranged side by side, and the longitudinal link is clamped in the middle to form a more solid connection structure. In other embodiments, two longitudinal links can be arranged side by side, and the transverse link is clamped in the middle. The longitudinal links and transverse links can also be multiple and arranged side by side, and arranged alternately.

[0030] In some embodiments, the hind leg rod 21 is arc-shaped and bends toward the front and bottom. The hind leg unit 2 also includes a hind foot 27, which is rotatably connected to the lower end of the hind leg rod 21. The hind foot 27 is used to increase the contact area between the bionic frog robot and the ground, so that the bionic frog robot can stand more stably.

[0031] Please see again Figure 1-Figure 3 In some embodiments, the connecting rod 31 is a bent rod, one end of which is rotatably connected to the body unit, specifically to the bent portion of the mounting rod 12. The bent portion of the connecting rod 31 is rotatably connected to the rear leg unit 2, specifically to the front end of the first transverse link 22. The other end of the connecting rod 31 is rotatably connected to both the energy storage assembly 32 and the support assembly 33.

[0032] In some embodiments, the energy storage assembly 32 includes a first cross bar 321, a second cross bar 322 and an energy storage member 323. The first cross bar 321 is rotatably connected to the connecting rod 31 and the support assembly 33 at the same time. In this embodiment, the two ends of the first cross bar 321 are rotatably connected to the two connecting rods 31 and the two support assemblies 33 located on both sides of the body unit 1. The second cross bar 322 is rotatably connected to the pushing assembly 34, and the energy storage member 323 connects the first cross bar 321 and the second cross bar 322. The energy storage member 323 can be a plurality of springs, and the two ends of the spring are rotatably connected to the first cross bar 321 and the second cross bar 322 respectively. When the first cross bar 321 and the second cross bar 322 are away from each other, the spring is stretched, generates elastic force, and stores energy. The power unit 4 is transmission-connected to the second cross bar 322 so that the second cross bar 322 is away from the first cross bar 321.

[0033] In some embodiments, the support assembly 33 includes a first support rod 331 and a second support rod 332. One end of the first support rod 331 is rotatably connected to the first crossbar 321, and the other end is rotatably connected to one end of the second support rod 332. The other end of the second support rod 332 is rotatably connected to the body unit 1, specifically, to the front end of the mounting rod 12. The first support rod 331 also abuts against the second support rod 332 to limit the rotation direction between the first support rod 331 and the second support rod 332.

[0034] In this embodiment, a first connecting hole and a first abutting surface are formed at one end of the first supporting rod 331, and a second connecting hole and a second abutting surface are formed at one end of the second supporting rod 332. The first connecting hole and the second connecting hole are rotatably connected via a rotating shaft. During the relative rotation of the first supporting rod 331 and the second supporting rod 332, the first abutting surface can abut against the second abutting surface (i.e. Figure 3 ), so as to limit the relative rotation between the first support rod 331 and the second support rod 332, and provide support for the first cross bar 321.

[0035] In some embodiments, the pushing assembly 34 includes a pushing plate 341 and a pulling rod 342. One end of the pushing plate 341 is rotatably connected to the body unit 1, specifically, is rotatably connected to the front end of the mounting plate 11. The other end is rotatably connected to one end of the pulling rod 342, and the other end of the pulling rod 342 is rotatably connected to the second cross bar 322. The second cross bar 322 can drive the pushing plate 341 to move via the pulling rod 342, and the pushing plate 341 can contact the first support rod 331 and push the first support rod 331 to rotate relative to the second support rod 332, so that the supporting assembly 33 is switched from the supporting state to the releasing state.

[0036] In this embodiment, the push plate 341 is arranged along the width direction of the body unit 1, specifically the mounting plate 11. The push plate 341, the connecting rod 31 and the mounting rod 12 are rotatably connected around the same rotating shaft.

[0037] In some embodiments, the energy storage assembly 32 further includes a third crossbar 324, which is rotatably connected to the second support rod 332 and the body unit 1. In this embodiment, the two ends of the third crossbar 324 are rotatably connected to the two second support rods 332 and the front end of the mounting rod 12 on both sides.

[0038] The third crossbar 324 is used to control the direction in which the power unit 4 drives the second crossbar 322 to move. Specifically, the power unit 4 includes a driving rope 41 , which is connected to the second crossbar 322 and passes around the third crossbar 324 to pull the second crossbar 322 toward the third crossbar 324 .

[0039] See also Figure 2 and Figure 3 In some embodiments, the power unit 4 further comprises a motor 42, a winding wheel 43, a fixed pulley 44 and a movable pulley 45. The motor 42 is arranged on the body unit 1, and is specifically arranged on the mounting plate 11. The motor 42 is connected to the winding wheel 43 in a transmission manner to drive the winding wheel 43 to rotate. In other embodiments, the motor 42 can also be connected to the winding wheel 43 through a suitable speed change mechanism so that the winding wheel 43 obtains a suitable rotation speed. The speed change mechanism can adopt a common mechanism such as a gear mechanism, a sprocket mechanism, etc., as long as the speed change effect can be achieved and it is suitable for installation on the bionic frog robot. The fixed pulley 44 is arranged on the third crossbar 324, and the movable pulley 45 is arranged on the second crossbar 322. One end of the driving rope 41 is fixedly connected to the winding wheel 43, and the other end thereof successively passes around the fixed pulley 44 and the movable pulley 45 and is finally fixedly connected to the fixed pulley 44.

[0040] The motor 42 drives the winding wheel 43 to rotate, so that the driving rope 41 is wound around the winding wheel 43, and at the same time pulls the second cross bar 322 to move toward the third cross bar 324, so that the energy storage member 323 stores energy.

[0041] It is easy to understand that in order to realize the energy storage of the energy storage member 323, it is only necessary to pull the drive rope 41. Therefore, in other embodiments, an electric push rod or other power forms can also be used to pull the drive rope 41.

[0042] The power unit 4 also includes a battery, which is arranged on the mounting plate 11 and connected to the motor 42 to supply power to the motor 42. In a preferred embodiment, the power unit 4 also includes a remote control device, which is connected to the motor signal control, and the operator can remotely start or shut down the motor 42 through a remote control handle. Alternatively, an acceleration sensor is arranged on the mounting plate 11, and when the bionic frog robot jumps, the acceleration detected by the acceleration sensor exceeds a threshold value, and the motor 42 is automatically controlled to stop working.

[0043] In some embodiments, the bionic frog robot also includes two front leg units 5, which are symmetrically arranged on both sides of the body unit 1, i.e., the mounting plate 11, in the manner of the front legs of a frog. The front leg unit 5 includes a front leg rod 51 and a front foot 52, and the upper end of the front leg rod 51 is rotatably connected to the body unit 1, specifically, the front end or the bend of the mounting rod 12. The lower end of the front leg rod 51 is rotatably connected to the front foot 52. The front foot 52 and the rear foot 27 cooperate to make the bionic frog robot stand on the ground. It should be noted that the front leg unit 5 only plays a role in supporting the bionic frog robot to stand, and does not participate in the jumping action. The bionic frog robot only relies on the hind leg unit 2 to push off the ground to complete the jumping action.

[0044] In order to better understand the present invention, the following Figures 1 to 6 The technical solution of the present invention is described in detail: When the bionic frog robot jumps, it goes through an energy storage stage and a release stage in sequence.

[0045] When in the energy storage stage, the energy storage unit 3 is in Figure 6 a, the power unit 4 drives the second cross bar 322 away from the first cross bar 321, and the energy storage member 323 is stretched to store energy. The energy storage member 323 is stretched to generate elastic force acting on the first cross bar 321, and the first cross bar 321 applies a torque to the first support rod 331. Since the first support rod 331 and the second support rod 332 abut against each other, the rotation of the first support rod 331 relative to the second support rod 332 is hindered, and the first support rod 331 and the second support rod 332 can support the first cross bar 321, so that the energy storage member 323 is stretched. While the second cross bar 322 moves, it drives the push plate 341 to rotate via the pull rod 342 until the push plate 341 abuts against the first support rod 331, that is, it is in Figure 6 The bionic frog robot uses the principle that the first support rod 331 and the second support rod 332 abut to form a dead point to store energy. While pulling the energy storage member 323 to store energy, it also drives the push plate 341 to move. When the push plate 341 is about to break the dead point, that is, to push the first support rod 331 to rotate, the energy storage member 323 completes energy storage.

[0046] When the second cross bar 322 is in the release stage, the power unit 4 continues to drive the second cross bar 322 away from the first cross bar 321. The push plate 341 continues to move, pushing the first support rod 331 to rotate in the direction without the abutment restriction, and releasing the abutment restriction between the first support rod 331 and the second support rod 332. Figure 6c. The first crossbar 321 loses its support instantly, and the energy storage member 323 contracts to pull the first crossbar 321 and the second crossbar 322 to move relative to each other. On the one hand, it drives the first support rod 331 to rotate toward the second support rod 332, and on the other hand, it drives the front end of the connecting rod 31 to move downward, and then drives the bending part of the connecting rod 31, that is, the front end of the first transverse connecting rod 22 to move upward. The first transverse connecting rod 22 then drives the first longitudinal connecting rod 23 and the second longitudinal connecting rod 24 to move upward, and the first longitudinal connecting rod 23 and the second longitudinal connecting rod 24 then push the hind leg rod 21 to move backward, and the lower end of the hind leg rod 21 applies a force to the ground toward the oblique downward rear, that is, performs the so-called "pedaling" action, so that the bionic frog robot jumps.

[0047] It should be noted that the above descriptions of upward, downward, etc. in the jumping action do not specifically refer to vertically upward or vertically downward, but include oblique upward and oblique downward directions in a broad sense.

[0048] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A bionic frog robot, characterized in that: include: Somatic unit; a rear leg unit, which is rotatably connected to the body unit; A power unit mounted on the body unit; as well as An energy storage unit, comprising an energy storage component, a support component, a pushing component and a connecting rod, wherein the energy storage component is connected to the power unit, the support component and the pushing component, and the support component is connected to the rear leg unit via the connecting rod; The support assembly can be switched between a support state and a release state. When the support assembly is in the support state, the power unit can drive the energy storage assembly to move so that the energy storage assembly can store energy. When the energy storage assembly moves, it drives the push assembly to move until the push assembly conflicts with the support assembly. When the pushing component pushes the supporting component that conflicts with it, the supporting component switches from a supporting state to a releasing state, and transmits the energy released by the energy storage component to the rear leg unit via the connecting rod to move the rear leg unit.

2. The bionic frog robot according to claim 1, characterized in that: The two sides of the body unit are symmetrically connected to the two rear leg units, the two sides of the energy storage assembly are symmetrically connected to the two support assemblies, and the two support assemblies are respectively connected to the two rear leg units through the two connecting rods.

3. The bionic frog robot according to claim 1, characterized in that: The connecting rod is a bent rod, one end of which is rotatably connected to the body unit, the bending part of which is rotatably connected to the rear leg unit, and the other end of which is rotatably connected to the energy storage assembly and the support assembly at the same time.

4. The bionic frog robot according to claim 3, characterized in that: The energy storage assembly includes a first cross bar, a second cross bar and an energy storage member. The first cross bar is rotationally connected to the connecting rod and the supporting assembly at the same time, the second cross bar is rotationally connected to the pushing assembly, and the energy storage member connects the first cross bar and the second cross bar. The power unit is transmission-connected to the second cross bar to keep the second cross bar away from the first cross bar.

5. The bionic frog robot according to claim 4, characterized in that: The support assembly includes a first support rod and a second support rod, one end of the first support rod is rotatably connected to the first cross rod, and the other end of the first support rod is rotatably connected to one end of the second support rod, and the other end of the second support rod is rotatably connected to the body unit, and the first support rod also abuts against the second support rod to limit the rotation direction between the first support rod and the second support rod.

6. The bionic frog robot according to claim 5, characterized in that: The pushing assembly includes a push plate and a pull rod, one end of the push plate is rotatably connected to the body unit, and the other end of the push plate is rotatably connected to one end of the pull rod, and the other end of the pull rod is rotatably connected to the second cross rod; the push plate can contact the first support rod and push the first support rod to rotate relative to the second support rod, so that the support assembly switches from a supporting state to a released state.

7. The bionic frog robot according to claim 5, characterized in that: The energy storage assembly also includes a third cross bar, which is rotationally connected to the second support rod and the body unit at the same time; the power unit includes a drive rope, which is connected to the second cross bar and bypasses the third cross bar to pull the second cross bar toward the third cross bar.

8. The bionic frog robot according to claim 7, characterized in that: The power unit also includes a motor, a winding wheel, a fixed pulley and a movable pulley. The motor is arranged on the body unit and is transmission-connected to the winding wheel to drive the winding wheel to rotate. The fixed pulley is arranged on the third cross bar, and the movable pulley is arranged on the second cross bar. One end of the driving rope is fixedly connected to the winding wheel, and the other end of the driving rope passes around the fixed pulley and the movable pulley in sequence and is fixedly connected to the fixed pulley.

9. The bionic frog robot according to claim 3, characterized in that: The hind leg unit includes a plurality of transverse links, a plurality of longitudinal links and a hind leg rod. One end of the first transverse link is rotatably connected to the turning point of the connecting rod, the middle part is rotatably connected to the upper end of the first longitudinal link, and the other end is rotatably connected to the upper end of the second longitudinal link; the middle part of the first longitudinal link is rotatably connected to one end of the second transverse link, and the lower end of the first longitudinal link is rotatably connected to one end of the third transverse link; the middle part of the second longitudinal link is rotatably connected to the body unit, the lower end of the second longitudinal link is rotatably connected to the middle part of the second transverse link, the other end of the second transverse link is rotatably connected to the upper end of the hind leg rod, and the other end of the third transverse link is rotatably connected to the middle part of the hind leg rod; the lower end of the hind leg rod is used to contact the ground.

10. The bionic frog robot according to claim 2, characterized in that: It also includes two front leg units, which are symmetrically arranged on both sides of the body unit. The front leg units include a front leg rod and a front foot. The upper end of the front leg rod is rotatably connected to the body unit, and the lower end of the front leg rod is rotatably connected to the front foot.

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