A biomimetic frog robot

Abstract

The application discloses a kind of bionic frog robots, including body unit, rear leg unit, power unit and energy storage unit, rear leg unit is rotatably connected with body unit;Power unit is installed in body unit;Energy storage unit includes energy storage assembly, support assembly, pusher assembly and connecting rod, energy storage assembly is connected with power unit, support assembly and pusher assembly, and support assembly is connected with rear leg unit by connecting rod.Compared with prior art, the energy storage assembly of the bionic frog robot provided by the application stores energy when the support assembly is in the supporting state, and after the energy storage is completed, the support assembly is changed from the supporting state to the release state by the pusher assembly, the energy storage assembly releases energy and drives the rear leg unit to move;Instead of traditional cam mechanism, the bionic frog jumping robot is more compact and portable in structure, which not only helps to improve the flexibility and maneuverability of the robot, but also reduces the consumption of energy and prolongs the endurance of the robot.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, specifically to a biomimetic frog robot. Background Technology

[0002] Existing biomimetic frog robots include a cam-based jumping robot disclosed in CN202210487422.0. This robot utilizes the stroke motion of the cam mechanism to convert it into spring compression, and then converts the elastic potential energy of the spring compression into the kinetic energy of the legs, enabling the robot to jump.

[0003] However, the cam mechanism is still relatively large in mass and size, which limits the miniaturization of the biomimetic frog robot. At the same time, the greater weight also leads to greater energy consumption for jumping, reducing the endurance of the biomimetic frog robot. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a biomimetic frog robot, which solves the technical problem that the use of cam mechanisms in existing biomimetic frog robots results in large weight and volume.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0006] This invention provides a biomimetic frog robot, comprising: a body unit; a hind leg unit rotatably connected to the body unit; a power unit installed on the body unit; and an energy storage unit, comprising an energy storage component, a support component, a push component, and a connecting rod, wherein the energy storage component is connected to the power unit, the support component, and the push component, and the support component is connected to the hind leg unit via the connecting rod.

[0007] The support component can switch between a supported state and a released state. When the support component is in the supported state, the power unit can drive the energy storage component to move so that the energy storage component stores energy. When the energy storage component moves, it drives the pushing component to move until the pushing component comes into contact with the support component. When the pushing component pushes the support component that is in contact with it, the support component switches from the supported state to the released state and transmits the energy released by the energy storage component to the rear leg unit through the connecting rod so that the rear leg unit moves.

[0008] In some embodiments, two rear leg units are symmetrically connected to both sides of the body unit, and two support components are symmetrically connected to both sides of the energy storage component. The two support components are respectively connected to the two rear leg units through two connecting rods.

[0009] In some embodiments, the connecting rod is a bent rod, one end of which is rotatably connected to the body unit, the bent part of which is rotatably connected to the hind leg unit, and the other end of which is rotatably connected to both the energy storage component and the support component.

[0010] In some embodiments, the energy storage assembly includes a first crossbar, a second crossbar, and an energy storage element. The first crossbar is rotatably connected to both the connecting rod and the support assembly. The second crossbar is rotatably connected to the pushing assembly. The energy storage element connects the first crossbar and the second crossbar. The power unit is drive-connected to the second crossbar to move the second crossbar away from the first crossbar.

[0011] 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 crossbar, and the other end is rotatably connected to one end of the second support rod. The other end of the second support rod is rotatably connected to the body unit. 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.

[0012] 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 is rotatably connected to one end of the pull rod. The other end of the pull rod is rotatably connected to the second crossbar. The push plate can abut against 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.

[0013] In some embodiments, the energy storage assembly further includes a third crossbar, which is rotatably connected to both the second support rod and the body unit; the power unit includes a drive rope connected to the second crossbar and passing around the third crossbar to pull the second crossbar toward the third crossbar.

[0014] In some embodiments, the power unit further includes a motor, a winding wheel, a fixed pulley, and a movable pulley. The motor is mounted on the body unit and is connected to the winding wheel to drive the winding wheel to rotate. The fixed pulley is mounted on the third crossbar, and the movable pulley is mounted on the second crossbar. One end of the drive rope is fixedly connected to the winding wheel, and the other end passes sequentially around the fixed pulley and the movable pulley and is fixedly connected to the fixed pulley.

[0015] In some embodiments, the rear leg unit includes a plurality of transverse links, a plurality of longitudinal links, and a rear leg rod. One end of the first transverse link is rotatably connected to the bend 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 rear leg rod, and the other end of the third transverse link is rotatably connected to the middle part of the rear leg rod. The lower end of the rear leg rod is used to contact the ground.

[0016] In some embodiments, the system further includes two foreleg units symmetrically arranged on both sides of the body unit. Each foreleg unit includes a foreleg rod and a forefoot. The upper end of the foreleg rod is rotatably connected to the body unit, and the lower end of the foreleg rod is rotatably connected to the forefoot.

[0017] Compared with the prior art, the energy storage component of the biomimetic frog robot provided by the present invention stores energy when the support component is in the supported state. After the energy storage is completed, the support component is changed from the supported state to the released state by pushing the component. The energy storage component releases energy and drives the hind leg unit to move. It replaces the traditional cam mechanism, making the biomimetic frog jumping robot more compact and lightweight in structure. This not only helps to improve the robot's flexibility and maneuverability, but also reduces energy consumption and extends the robot's endurance. Attached Figure Description

[0018] Figure 1 This is a frontal structural diagram of the biomimetic frog robot provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the back of the biomimetic frog robot provided in an embodiment of the present invention;

[0020] Figure 3 yes Figure 1 Schematic diagram of the structure of the medium-density energy storage unit;

[0021] Figure 4 yes Figure 1 Schematic diagram of the middle and rear leg unit;

[0022] Figure 5 This is a schematic diagram showing two states of the hind leg unit of the biomimetic frog robot during jumping, provided in an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of three states of the biomimetic frog robot energy storage unit provided in the embodiments of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] To address the technical problems of existing biomimetic frog robots being complex in structure and large in size and weight, this invention provides a biomimetic frog robot that achieves a more compact and lightweight structure, which is beneficial to improving the robot's flexibility and mobility, while also reducing energy consumption and extending the robot's endurance.

[0026] Please see Figure 1 and Figure 2 , Figure 1 This is a frontal structural diagram of the biomimetic frog robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the back of the biomimetic frog robot provided in an embodiment of the present invention.

[0027] The biomimetic frog robot comprises a body unit 1, hind leg units 2, an energy storage unit 3, and a power unit 4. Since this robot is a biomimetic frog robot simulating a real-world frog, for ease of description and understanding, this paper uses a descriptive method corresponding to that of a real frog. For example, hind leg unit 2 corresponds to the hind legs of a frog; "rear" specifically refers to the direction of the projection of hind leg unit 2 onto the horizontal plane when it exerts force, and "forward" specifically refers to the direction of the projection of this biomimetic frog robot onto the horizontal plane when it jumps, etc.

[0028] The body unit 1 simulates the torso of a frog and serves as the main supporting structure of the biomimetic frog robot, connecting the hind leg unit 2, the energy storage unit 3, and the power unit 4.

[0029] The hind leg unit 2 is rotatably connected to the body unit 1. The power unit 4 is installed in 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, which drives the hind leg unit 2 to move, thereby completing the action of simulating a frog jumping.

[0030] Please see Figure 3 , Figure 3 yes Figure 1 A schematic diagram of the structure of the energy storage unit 3. The energy storage unit 3 includes a connecting rod 31, an energy storage component 32, a support component 33, and a pushing component 34. The energy storage component 32 is connected to the power unit 4, the support component 33, and the pushing component 34. The support component 33 is connected to the rear leg unit 2 through the connecting rod 31.

[0031] The support component 33 can switch between a supported state and a released state. When the support component 33 is in the supported state, the power unit 4 can drive the energy storage component 32 to move so that the energy storage component 32 stores energy. When the energy storage component 32 moves, it drives the push component 34 to move until the push component 34 contacts the support component 33. When the push component 34 pushes the support component 33 that is in contact with it, the support component 33 switches from the supported state to the released state, and the energy released by the energy storage component 32 is transferred to the rear leg unit 2 via the connecting rod 31, so that the rear leg unit 2 moves.

[0032] The energy storage component 32 of the biomimetic frog robot provided by this invention stores energy when the support component 33 is in a supported state. After energy storage is complete, the support component 33 is changed from a supported state to a released state by pushing the component 34. The energy storage component 32 releases energy and drives the hind leg unit 2 to move. This replaces the traditional cam mechanism, making the biomimetic frog jumping robot more compact and lightweight in structure. This not only improves the robot's flexibility and maneuverability but also reduces energy consumption and extends the robot's endurance.

[0033] In some embodiments, to improve the balance of the biomimetic frog robot, two hind leg units 2 are symmetrically connected to both sides of the body unit 1, and two support components 33 are symmetrically connected to both sides of the energy storage component 32. The two support components 33 are respectively connected to the two hind leg units 2 via two connecting rods 31. That is, two identical connecting and 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.

[0034] In some embodiments, the body unit 1 includes a mounting plate 11 and two mounting rods 12, which 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, while the power unit 4 is mounted on the mounting plate 11. Figure 2 As shown, the mounting rod 12 is a bent rod, with the front end bent downwards. The front end, the bent end, and the rear end of the mounting rod 12 all have round holes for rotatable connection.

[0035] Please see Figure 4 , Figure 4 yes Figure 2A schematic diagram of the rear leg unit. In some embodiments, the rear leg unit 2 includes several transverse links, several longitudinal links, and a rear leg rod 21. The forward end of the first transverse link 22 is rotatably connected to the bend of the connecting rod 31; the middle of the first transverse link 22 is rotatably connected to the upper end of the first longitudinal link 23; and the rear end of the first transverse link 22 is rotatably connected to the upper end of the second longitudinal link 24. The middle of the first longitudinal link 23 is rotatably connected to the forward end of the second transverse link 25; and the lower end of the first longitudinal link 23 is rotatably connected to the forward end of the third transverse link 26. The middle of the second longitudinal link 24 is rotatably connected to the body unit 1, specifically to the rear end of the mounting rod 12; and the lower end of the second longitudinal link 24 is rotatably connected to the middle of the second transverse link 25. The rear end of the second transverse link 25 is rotatably connected to the upper end of the rear leg rod 21; and the rear end of the third transverse link 26 is rotatably connected to the middle of the rear leg rod 21. The lower end of the rear leg bar 21 is used to contact the ground.

[0036] Furthermore, the number of various transverse and longitudinal links in the rear leg unit 2 can be one or more. For example, it can be in the form shown in the figure, where each transverse link is arranged in pairs, with the longitudinal link sandwiched in the middle to form a more robust connection structure. In other embodiments, the longitudinal link can also be arranged in pairs, with the transverse link sandwiched in the middle. Both longitudinal and transverse links can also be multiple, arranged in pairs, and alternately.

[0037] In some embodiments, the hind leg rod 21 is arc-shaped and bends downwards and forwards. 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 increases the contact area between the biomimetic frog robot and the ground, enabling the biomimetic frog robot to stand more stably.

[0038] Please see again Figures 1-3 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 forward end of the first transverse connecting rod 22. The other end of the connecting rod 31 is rotatably connected to both the energy storage assembly 32 and the support assembly 33.

[0039] In some embodiments, the energy storage assembly 32 includes a first crossbar 321, a second crossbar 322, and an energy storage element 323. The first crossbar 321 is rotatably connected to both the connecting rod 31 and the support assembly 33. In this embodiment, the two ends of the first crossbar 321 are rotatably connected to two connecting rods 31 and two support assemblies 33 located on both sides of the body unit 1, respectively. The second crossbar 322 is rotatably connected to the pushing assembly 34, and the energy storage element 323 connects the first crossbar 321 and the second crossbar 322. The energy storage element 323 may be composed of several springs, with the two ends of the springs rotatably connected to the first crossbar 321 and the second crossbar 322, respectively. When the first crossbar 321 and the second crossbar 322 move away from each other, the springs are stretched, generating elastic force and storing energy. The power unit 4 is drive-connected to the second crossbar 322 to move the second crossbar 322 away from the first crossbar 321.

[0040] 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 a 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 rotational direction between the first support rod 331 and the second support rod 332.

[0041] In this embodiment, one end of the first support rod 331 has a first connecting hole and a first abutting surface, and one end of the second support rod 332 has a second connecting hole and a second abutting surface. The first connecting hole and the second connecting hole are rotatably connected by a rotating shaft. During the relative rotation of the first support rod 331 and the second support rod 332, the first abutting surface can abut against the second abutting surface (i.e., Figure 3 (at point A in the diagram) to restrict the relative rotation of the first support rod 331 and the second support rod 332, thereby providing support for the first crossbar 321.

[0042] In some embodiments, the pushing component 34 includes a push plate 341 and a pull rod 342. One end of the push plate 341 is rotatably connected to the body unit 1, specifically to the front end of the mounting plate 11. The other end is rotatably connected to one end of the pull rod 342, and the other end of the pull rod 342 is rotatably connected to the second crossbar 322. The second crossbar 322 can drive the push plate 341 to move via the pull rod 342. The push plate 341 can abut against the first support rod 331 and push the first support rod 331 to rotate relative to the second support rod 332, thereby switching the support component 33 from a supported state to a released state.

[0043] In this embodiment, the push plate 341 is arranged along the width direction of the body unit 1, specifically the mounting plate 11. Furthermore, the push plate 341, the connecting rod 31, and the mounting rod 12 are rotatably connected around the same axis.

[0044] In some embodiments, the energy storage assembly 32 further includes a third crossbar 324, which is rotatably connected to both 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 on both sides and the front end of the mounting rod 12, respectively.

[0045] The third crossbar 324 is used to control the direction of movement of the second crossbar 322 driven by the power unit 4. Specifically, the power unit 4 includes a drive 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.

[0046] Please see Figure 2 and Figure 3 In some embodiments, the power unit 4 further includes a motor 42, a winding reel 43, a fixed pulley 44, and a movable pulley 45. The motor 42 is mounted on the body unit 1, specifically on the mounting plate 11. The motor 42 is connected to the winding reel 43 to drive its rotation. In other embodiments, the motor 42 can also be connected to the winding reel 43 via a suitable speed-changing mechanism to allow the winding reel 43 to achieve a suitable rotational speed. The speed-changing mechanism can be a common mechanism such as a gear mechanism or a sprocket mechanism, as long as it can achieve the speed-changing effect and is suitable for installation on the biomimetic frog robot. The fixed pulley 44 is mounted on the third crossbar 324, and the movable pulley 45 is mounted on the second crossbar 322. One end of the drive rope 41 is fixedly connected to the winding reel 43, and the other end passes sequentially around the fixed pulley 44 and the movable pulley 45 before finally being fixedly connected to the fixed pulley 44.

[0047] The motor 42 drives the winding wheel 43 to rotate, causing the drive rope 41 to wind around the winding wheel 43, and at the same time pulls the second crossbar 322 toward the third crossbar 324, so that the energy storage device 323 stores energy.

[0048] It is easy to understand that in order to achieve energy storage of the energy storage device 323, it is only necessary to pull the drive rope 41. Therefore, in other embodiments, an electric push rod or other power source can also be used to pull the drive rope 41.

[0049] Furthermore, the power unit 4 also includes a battery, which is mounted 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, allowing the operator to remotely start or stop the motor 42 using a remote control handle. Alternatively, an acceleration sensor can be installed on the mounting plate 11; when the bionic frog robot jumps, if the acceleration detected by the acceleration sensor exceeds a threshold, the motor 42 will automatically stop working.

[0050] In some embodiments, the biomimetic frog robot further includes two front leg units 5, which are symmetrically arranged on both sides of the body unit 1, i.e., the mounting plate 11, mimicking the front legs of a frog. Each front leg unit 5 includes a front leg rod 51 and a forefoot 52. The upper end of the front leg rod 51 is rotatably connected to the body unit 1, specifically to the front end or bend of the mounting rod 12. The lower end of the front leg rod 51 is rotatably connected to the forefoot 52. The forefoot 52 and the hindfoot 27 cooperate to allow the biomimetic frog robot to stand on the ground. It should be noted that the front leg units 5 only serve to support the biomimetic frog robot's standing position and do not participate in jumping. The biomimetic frog robot relies solely on the hind leg units 2 to perform a pushing-off motion to complete the jumping action.

[0051] To better understand this invention, the following is combined with... Figures 1 to 6 The technical solution of the present invention will be described in detail below:

[0052] This biomimetic frog robot goes through an energy storage phase and a release phase in sequence when it jumps.

[0053] When in the energy storage phase, energy storage unit 3 is in Figure 6 In the initial state of 'a', the power unit 4 drives the second crossbar 322 away from the first crossbar 321, and the energy storage element 323 is stretched to store energy. The stretching of the energy storage element 323 generates elastic force that acts on the first crossbar 321, and the first crossbar 321 applies a torque to the first support rod 331. Because 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. The first support rod 331 and the second support rod 332 can support the first crossbar 321, causing the energy storage element 323 to be stretched. Simultaneously, the second crossbar 322, through the pull rod 342, drives the push plate 341 to rotate until the push plate 341 abuts against the first support rod 331, i.e., at the point of contact. Figure 6 The state shown in b indicates the end of the energy storage phase. This biomimetic frog robot utilizes the principle of the first support rod 331 and the second support rod 332 abutting to form a dead point for energy storage. While pulling the energy storage component 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, push the first support rod 331 to rotate, the energy storage component 323 completes energy storage.

[0054] When the second crossbar 322 is in the release phase, the power unit 4 continues to drive the second crossbar 322 away from the first crossbar 321. The push plate 341 continues to move, pushing the first support rod 331 to rotate in a direction where it is not subject to abutment restriction, and releasing the abutment restriction between the first support rod 331 and the second support rod 332. Figure 6As shown in Figure c, the first horizontal bar 321 instantly loses its support, and the energy storage component 323 retracts to pull the first horizontal bar 321 and the second horizontal bar 322 to move relative to each other. On the one hand, this causes the first support rod 331 to rotate toward the second support rod 332, and on the other hand, it causes the front end of the connecting rod 31 to move downward, thereby causing the bend of the connecting rod 31, i.e., the front end of the first transverse connecting rod 22, to move upward. The first transverse connecting rod 22 then causes the first longitudinal connecting rod 23 and the second longitudinal connecting rod 24 to move upward. The first longitudinal connecting rod 23 and the second longitudinal connecting rod 24 then push the rear leg rod 21 to move backward. The lower end of the rear leg rod 21 applies a force to the ground in a diagonally downward and backward direction, i.e., it makes a so-called "pushing" action, causing the bionic frog robot to jump.

[0055] It should be noted that the above descriptions of upward and downward movements in jumping actions do not refer specifically to vertically upward or vertically downward, but include the broader directions of diagonal upward and diagonal downward.

[0056] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A biomimetic frog robot, characterized in that, include: Somatic unit; The hind leg unit is rotatably connected to the body unit; A power unit, which is installed in the body unit; as well as An energy storage unit includes an energy storage component, a support component, a propulsion component, and a connecting rod. The energy storage component is connected to the power unit, the support component, and the propulsion component. The support component is connected to the rear leg unit via the connecting rod. The support component can switch between a supported state and a released state. When the support component is in the supported state, the power unit can drive the energy storage component to move so that the energy storage component stores energy. When the energy storage component moves, it drives the pushing component to move until the pushing component comes into contact with the support component. When the pushing component pushes the supporting component that it is in contact with, the supporting component switches from the supporting state to the releasing state and transmits the energy released by the energy storage component to the rear leg unit through the connecting rod, so as to make the rear leg unit move. The energy storage assembly includes a first crossbar, a second crossbar, and an energy storage element. The first crossbar is rotatably connected to both the connecting rod and the support assembly. The second crossbar is rotatably connected to the pushing assembly. The energy storage element connects the first crossbar and the second crossbar. The power unit is drive-connected to the second crossbar to move the second crossbar away from the first crossbar. 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 crossbar, and the other end is rotatably connected to one end of the second support rod. The other end of the second support rod is rotatably connected to the body unit. 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. The pushing component 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 is rotatably connected to one end of the pull rod. The other end of the pull rod is rotatably connected to the second crossbar. The push plate can abut against the first support rod and push the first support rod to rotate relative to the second support rod, so that the support component switches from a supporting state to a released state.

2. The biomimetic frog robot according to claim 1, characterized in that, The body unit is symmetrically connected to two rear leg units on both sides, and the energy storage component is symmetrically connected to two support components on both sides. The two support components are respectively connected to the two rear leg units through two connecting rods.

3. The biomimetic 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 bent part of which is rotatably connected to the rear leg unit, and the other end is rotatably connected to both the energy storage component and the support component.

4. The biomimetic frog robot according to claim 1, characterized in that, The energy storage assembly also includes a third crossbar, which is rotatably connected to both the second support rod and the body unit; the power unit includes a drive rope, which is connected to the second crossbar and passes around the third crossbar to pull the second crossbar toward the third crossbar.

5. The biomimetic frog robot according to claim 4, characterized in that, The power unit also includes a motor, a winding wheel, a fixed pulley, and a movable pulley. The motor is mounted on the body unit and is connected to the winding wheel to drive the winding wheel to rotate. The fixed pulley is mounted on the third crossbar, and the movable pulley is mounted on the second crossbar. One end of the drive rope is fixedly connected to the winding wheel, and the other end passes around the fixed pulley and the movable pulley in sequence and is fixedly connected to the fixed pulley.

6. The biomimetic frog robot according to claim 3, characterized in that, The rear leg unit includes several transverse links, several longitudinal links, and a rear leg rod. One end of the first transverse link is rotatably connected to the bend 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 rear leg rod, and the other end of the third transverse link is rotatably connected to the middle part of the rear leg rod. The lower end of the rear leg rod is used to contact the ground.

7. The biomimetic 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. Each front leg unit includes a front leg rod and a forefoot. 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 forefoot.

Images