Bionic jumping robot

Abstract

The invention discloses a bionic jumping robot which comprises a robot body, a posterior limb, a driving mechanism and a forelimb mechanism, and the posterior limb is arranged at the tail of the robot body; the driving mechanism is arranged on the body; the front limb mechanism comprises a thigh structure, a shank structure, a first elastic piece, a clamping jaw assembly and a first traction rope, the thigh structure is connected with the machine body, the shank structure is rotationally connected with the thigh structure, the clamping jaw assembly is connected with the shank structure, and the first elastic piece is connected with the thigh structure and the shank structure; the first traction rope is used for providing elastic force for expanding relative to the thigh structure for the shank structure and is connected with the driving mechanism and the clamping jaw assembly; when the driving mechanism takes up the first traction rope, the first traction rope pulls the clamping jaw assembly to be folded and enables the shank structure to be folded towards the thigh structure; when the driving mechanism unwinds the traction rope, the clamping jaw of the clamping jaw assembly is switched from the clamping state to the loosening state, and the first elastic piece enables the shank structure to be unfolded relative to the thigh structure so as to achieve jumping.

Description

Technical Field

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

[0002] Robots used in outdoor operations often include observation robots that need to move autonomously over long distances for field exploration, or disaster relief robots that need to cross complex terrain for on-site surveys. It is difficult for such robots to be small, have extremely high obstacle-crossing capabilities, and have relatively fast displacement capabilities.

[0003] In the related art, in order to satisfy the obstacle-crossing function of the robot, the robot usually has a jumping function. However, during the jumping process, the robot may fall over due to the complex environment, thereby affecting the normal work of the robot. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a bionic jumping robot to ensure the stability of the bionic jumping robot during application.

[0005] In a first aspect, an embodiment of the present application provides a bionic jumping robot, comprising:

[0006] body;

[0007] A hind limb, arranged at the tail of the fuselage;

[0008] A driving mechanism, disposed on the body, for providing a pulling force;

[0009] A forelimb mechanism, comprising a thigh structure, a shank structure, a first elastic member, a clamping claw assembly and a first traction rope, wherein the thigh structure is connected to the fuselage and extends toward the front side of the fuselage, the shank structure is rotationally connected to the thigh structure, the clamping claw assembly is connected to the shank structure, the first elastic member is connected to the thigh structure and the shank structure, and is used to provide an elastic force for the shank structure to expand relative to the thigh structure, and the first traction rope is connected to the driving mechanism and the clamping claw assembly;

[0010] Among them, when the driving mechanism overcomes the elastic force of the first elastic member to reel in the first traction rope, the first traction rope pulls the jaws of the clamping assembly to close and folds the calf structure toward the thigh structure; when the driving mechanism releases the traction rope, the jaws of the clamping assembly switch from a clamping state to a released state, and the first elastic member causes the calf structure to unfold relative to the thigh structure to achieve a jumping action.

[0011] According to some embodiments of the present invention, the clamp assembly includes a clamp seat, a first clamp, a second clamp, a second elastic member and a third elastic member, wherein the clamp seat is fixedly arranged on the calf structure, the first clamp and the second clamp are rotatably arranged on the clamp seat, and are relatively unfolded under the elastic force of the second elastic member and the third elastic member respectively, and the first traction rope is connected to the first clamp and the second clamp, and is used to pull the first clamp and the second clamp relatively close.

[0012] According to some embodiments of the present invention, the hind limbs include a hind leg rod and a supporting foot, the hind leg rod is connected to the tail of the fuselage and extends obliquely backward, the supporting foot is connected to the end of the hind leg rod and is extended in an arc shape along the front and rear directions of the fuselage.

[0013] According to some embodiments of the present invention, the jumping robot further comprises a first holding mechanism, wherein the first holding mechanism comprises:

[0014] A first hooking member, rotatably disposed on the body, the first hooking member being used to hook the calf structure so as to keep the calf structure in a folded state;

[0015] a fourth elastic member connected to the body and the first hooking member, and used to keep the first hooking member hooked on the calf structure;

[0016] The first pulling rope is connected to the driving mechanism and the first hooking member. The driving mechanism pulls the first hooking member through the first pulling rope to release the hooking of the calf structure.

[0017] According to some embodiments of the present invention, the driving mechanism comprises:

[0018] A driving member, disposed on the body;

[0019] A screw rod is arranged along the length direction of the fuselage and connected to the driving member, and the driving member is used to drive the screw rod to rotate;

[0020] A take-up drum, fixedly connected to the screw rod, and used for taking up the first traction rope;

[0021] The sliding seat is slidably arranged along the length direction of the fuselage and is threadedly connected to the lead screw. The first pulling rope is connected to the sliding seat.

[0022] According to some embodiments of the present invention, a rotating shaft is fixedly provided at the end of the thigh structure, the rotating shaft is rotatably connected to the fuselage, the first hook is fixedly connected to the rotating shaft, and a connecting rod is provided at the end of the calf structure for the first hook to hook.

[0023] According to some embodiments of the present invention, the bionic jumping robot includes a gliding component, and the gliding component includes:

[0024] A wing seat, arranged on the top of the fuselage;

[0025] A glider wing, which can be folded and unfolded and is arranged on the wing seat;

[0026] a fifth elastic member connected to the wing seat and the glider wing, and used for switching the glider wing from a folded state to an unfolded state;

[0027] A second traction rope, one end of which is connected to the driving mechanism, and the other end of which is connected to the glider wing, the driving mechanism is used to simultaneously reel in and unreel the first traction rope and the second traction rope, and the second traction rope is used to pull the glider wing to switch from an unfolded state to a folded state.

[0028] According to some embodiments of the present invention, the jumping robot further comprises a second holding mechanism, wherein the second holding mechanism comprises:

[0029] A second hooking member is rotatably disposed on the wing seat and is used to hook on the glider wing to keep the glider wing in a folded state;

[0030] a sixth elastic member connected to the fuselage and the glider wing, the sixth elastic member being used to keep the second hooking member hooked on the glider wing;

[0031] The second pulling rope is connected to the sliding seat and the second hooking member. When the sliding seat slides, the second hooking member is pulled by the second pulling rope to release the hooking of the glider wing.

[0032] According to some embodiments of the present invention, after the first hooking member releases the restriction on the calf structure, the second hooking member releases the hook on the glider wing.

[0033] According to some embodiments of the present invention, the gliding assembly is provided in two groups and is respectively located on both sides of the wing seat;

[0034] There are two second hooking members, which are used to hook one of the glider wings respectively; wherein each of the second hooking members is provided with a rotating tooth portion, and the rotating tooth portions of the two second hooking members are meshed with each other.

[0035] It can be seen from the above technical scheme that the embodiment of the present application has the following advantages: in the power storage stage, the driving mechanism reels in the first traction rope, and the clamp of the clamp assembly clamps the ground and other application environments under the action of the first traction rope. And with the continued pulling of the first traction rope, the calf structure overcomes the elastic force of the first elastic member, and the calf structure roughly rotates and folds to the position where the thigh structure is located, thereby completing the power storage of the first elastic member. In the jumping stage, the driving mechanism releases the first traction rope, and the first traction rope preferentially releases the tension on the clamp of the clamp assembly, and the clamp assembly releases the clamping force on the ground; and with the continued release of the first traction rope, the calf structure elastically unfolds forward relative to the thigh structure under the action of the first elastic member, thereby realizing the forward jump of the bionic jumping robot. Then, the driving mechanism reels in the first traction rope again, and the bionic jumping robot re-enters the power storage stage, thereby preparing for the next forward jump. As can be seen from the above, during the jumping process of the bionic jumping robot, the first traction rope drives the calf structure to complete the jumping action, and at the same time, the first traction rope is used to pull the clamping claw assembly to clamp the ground and other application environments, thereby ensuring that the bionic jumping robot can jump stably. At the same time, when the clamping claw of the clamping claw assembly clamps the ground and other application environments, the working components carried by the bionic jumping robot can work stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the structure of the bionic robot after unfolding according to an embodiment of the present invention at an angle;

[0037] Figure 2 A schematic diagram of the structure of a bionic robot according to an embodiment of the present invention after being folded at a certain angle;

[0038] Figure 3 A schematic diagram of the structure of the bionic robot after unfolding according to another angle of the embodiment of the present invention;

[0039] Figure 4 A schematic diagram of the structure of the bionic robot according to an embodiment of the present invention after being folded at another angle;

[0040] Figure 5 It is a structural schematic diagram of a clamping jaw assembly according to an embodiment of the present invention;

[0041] Figure 6 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention;

[0042] Figure 7 It is a schematic structural diagram of a gliding assembly according to an embodiment of the present invention.

[0043] The meanings of the reference numerals are as follows:

[0044] 100, fuselage; 110, guide rod; 200, forelimb mechanism; 210, thigh structure; 211, thigh connecting rod; 212, first crossbeam; 213, rotating shaft; 220, calf structure; 221, calf connecting rod; 222, second crossbeam; 223, connecting rod; 230, first elastic member; 240, clamping jaw assembly; 241, clamping jaw seat; 2411, connecting shaft; 242, first clamping jaw; 243, second clamping jaw; 244, second elastic member; 245, third elastic member; 250, first traction rope; 300, hind limb; 310, Hind leg rod; 320, supporting foot; 400, driving mechanism; 410, driving member; 420, take-up drum; 430, screw rod; 440, sliding seat; 500, first holding mechanism; 510, first hooking member; 520, fourth elastic member; 530, first pulling rope; 600, gliding assembly; 610, wing seat; 620, gliding wing; 630, fifth elastic member; 640, second traction rope; 700, second holding mechanism; 710, second hooking member; 711, rotating tooth portion; 720, sixth elastic member; 730, second pulling rope. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The examples described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] In the description of the present invention, it is necessary to understand that descriptions involving orientations, such as up, down, front, back, upper, lower, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first", "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0048] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0049] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0051] See also Figures 1 to 4 , which is a bionic jumping robot provided by an embodiment of the present invention, can utilize the calf structure 220 to realize jumping action and complete gliding action during the jumping process, thereby realizing higher and long-distance jumping, so as to be able to cross larger obstacles in front.

[0052] Specifically, the bionic jumping robot includes a body 100, a forelimb mechanism 200, a hindlimb 300 and a driving mechanism 400, wherein the hindlimb 300 is arranged at the tail of the body 100; the driving mechanism 400 is arranged on the body 100 to provide a pulling force; the forelimb mechanism 200 includes a thigh structure 210, a calf structure 220, a first elastic member 230, a clamping claw assembly 240 and a first traction rope 250, wherein the thigh structure 210 is connected to the body 100 and extends toward the front side of the body 100, the calf structure 220 is rotatably connected to the thigh structure 210, the clamping claw assembly 240 is connected to the calf structure 220, the first elastic member 230 is connected to the thigh structure 210 and the calf structure The leg structure 220 is connected, and is used to provide an elastic force to the calf structure 220 to unfold relative to the thigh structure 210. The first traction rope 250 is connected to the driving mechanism 400 and the clamp of the clamp assembly 240; wherein, when the driving mechanism 400 overcomes the elastic force of the first elastic member 230 to wind up the first traction rope 250, the first traction rope 250 pulls the clamp of the clamp assembly 240 to close and fold the calf structure 220 toward the thigh structure 210; when the driving mechanism 400 releases the traction rope, the clamp of the clamp assembly 240 switches from a clamping state to a released state, and the first elastic member 230 causes the calf structure 220 to unfold relative to the thigh structure 210 to achieve a jumping action.

[0053] Specifically, in the initial state, under the action of the first elastic member 230, the calf structure 220 is in a forward unfolded state relative to the thigh structure 210, the first traction rope 250 is in a relaxed state, and the clamp of the clamp assembly 240 is in an unclamped state. In the power accumulation stage, the driving mechanism 400 reels the first traction rope 250, and the clamp of the clamp assembly 240 clamps the ground and other application environments under the action of the first traction rope 250. With the continued pulling of the first traction rope 250, the calf structure 220 overcomes the elastic force of the first elastic member 230, and the calf structure 220 is roughly rotated and folded to the position where the thigh structure 210 is located, thereby completing the power accumulation of the first elastic member 230.

[0054] In the jumping stage, the driving mechanism 400 pays out the first traction rope 250, and the first traction rope 250 preferentially releases the tension on the clamping claw of the clamping claw assembly 240, and the clamping claw assembly 240 releases the clamping force on the ground; and as the first traction rope 250 continues to pay out, the calf structure 220 elastically unfolds forward relative to the thigh structure 210 under the action of the first elastic member 230, thereby realizing the forward jump of the bionic jumping robot. Then, the driving mechanism 400 rewinds the first traction rope 250 again, and the bionic jumping robot re-enters the power accumulation stage, thereby preparing for the next forward jump.

[0055] As can be seen from the above, during the jumping process of the bionic jumping robot, the first traction rope 250 drives the shank structure 220 to complete the jumping action, and at the same time, the first traction rope 250 is also used to pull the clamping claw assembly 240 to clamp the application environment such as the ground, so as to ensure that the bionic jumping robot can jump stably. At the same time, when the clamping claw of the clamping claw assembly 240 clamps the application environment such as the ground, the working components carried by the bionic jumping robot can work stably.

[0056] In some embodiments, reference Figures 1 to 4 The thigh structure 210 is provided with thigh connecting rods 211 located on both sides of the fuselage 100, and a first cross beam 212 is connected between the thigh connecting rods 211. The calf structure 220 is provided with calf connecting rods 221 located on both sides of the fuselage 100, and a second cross beam 222 is connected between the calf connecting rods 221. The first elastic member 230 can be a torsion spring, one pin of the torsion spring is connected to the first cross beam 212, and the other pin is connected to the second cross beam 222, thereby, the calf structure 220 is elastically rotatably connected to the thigh structure 210 through the first elastic member 230. Among them, each calf connecting rod 221 is provided with a clamping claw assembly 240 for grasping in an application environment such as the ground.

[0057] In some embodiments, reference Figure 1 and Figure 5The clamping jaw assembly 240 includes a clamping jaw seat 241, a first clamping jaw 242, a second clamping jaw 243, a second elastic member 244 and a third elastic member 245. Specifically, the clamping jaw seat 241 is fixedly arranged on the calf connecting rod 221 of the calf structure 220, and a connecting shaft 2411 is fixedly arranged on the clamping jaw seat 241, and the connecting shaft 2411 is arranged along the left and right direction of the fuselage 100. The first clamping jaw 242 and the second clamping jaw 243 are both rotatably arranged on the connecting shaft 2411. At least two first clamping jaws 242 are arranged, and the second clamping jaw 243 is located between adjacent first clamping jaws 242, and the first clamping jaw 242 and the second clamping jaw 243 are arranged opposite to each other, or in other words, the first clamping jaw 242 and the second clamping jaw 243 are arranged to be relatively spread out. For example, four first jaws 242 are provided, and one second jaw 243 is provided, and the second jaw 243 is located between the four first jaws 242, that is, two first jaws 242 are provided on the left and right sides of the second jaw 243. At the same time, the second elastic member 244 can be an elastic pull rope, which is connected to the four first jaws 242 and the jaw seat 241, and is used to expand the first jaw 242 relative to the second jaw 243; similarly, the third elastic member 245 can be an elastic pull rope, which is connected to the second jaw 243 and the jaw seat 241, and is used to expand the second jaw 243 relative to the first jaw 242, thereby, the first jaw 242 and the second jaw 243 are relatively rotated away from each other under the elastic force of the second elastic member 244 and the third elastic member 245 respectively. The first traction rope 250 is connected to the first clamping jaw 242 and the second clamping jaw 243 and is used to pull the first clamping jaw 242 and the second clamping jaw 243 to rotate relatively close to each other, so that the first clamping jaw 242 and the second clamping jaw 243 switch from the unfolded state to the clamping state.

[0058] Specifically, when the driving mechanism 400 is winding up the first traction rope 250, the first traction rope 250 pulls the first clamping jaw 242 and the second clamping jaw 243 to rotate relative to each other, so that the first clamping jaw 242 and the second clamping jaw 243 are firmly clamped in the application environment such as the ground, thereby ensuring the stability of the bionic jumping robot when in use. When the driving mechanism 400 is unwinding the first traction rope 250, the second elastic member 244 pulls the first clamping jaw 242 to rotate in a direction away from the second clamping jaw 243, and the third elastic member 245 pulls the second clamping jaw 243 to rotate in a direction away from the first clamping jaw 242. With this arrangement, the first clamping jaw 242 and the second clamping jaw 243 can be opened to a sufficiently large degree to prepare for the next clamping. It can be understood that the first jaw 242 and the second jaw 243 adopt the above-mentioned structural form, and the first jaw 242 and the second jaw 243 can be opened to a sufficiently large degree, so that the first jaw 242 and the second jaw 243 can better clamp the application environment such as the ground, thereby ensuring that the jaw assembly 240 can be effectively used.

[0059] In some embodiments, reference Figure 1 , there are two hind limbs 300, which are respectively located on the left and right sides of the tail of the fuselage 100. Each hind limb 300 includes a hind leg rod 310 and a support foot 320. The hind leg rod 310 is connected to the tail of the fuselage 100 and is extended and tilted backward. The support foot 320 is connected to the end of the hind leg rod 310 and is extended in an arc along the front and rear direction of the fuselage 100. It can be understood that the support foot 320 is arranged in an arc shape. When the bionic jumping robot jumps forward, the bionic jumping robot can swing back and forth through the support foot 320, so that the bionic jumping robot can adaptively adjust to a suitable posture to jump forward, so that the bionic jumping robot can jump forward smoothly to cross the obstacles in front.

[0060] In some embodiments, reference Figure 1 , Figure 3 and Figure 4 The jumping robot further includes a first holding mechanism 500, which includes a first hooking member 510, a fourth elastic member 520 and a first pulling rope 530. The first hooking member 510 is rotatably arranged at the tail of the fuselage 100, and a connecting rod 223 is transversely arranged at one end of the calf structure 220 away from the thigh structure 210. When the calf structure 220 is in a folded state relative to the thigh structure 210, the first hooking member 510 is hooked backward on the connecting rod 223 of the calf structure 220 to keep the calf structure 220 in a folded state relative to the thigh structure 210. At this time, the first elastic member 230 is in a state of storing force. The fourth elastic member 520 can be an elastic pull rope, one end of which is connected to the first hooking member 510 and the other end is connected to the tail of the fuselage 100. The fourth elastic member 520 is used to make the first hooking member 510 hooked backward on the connecting rod 223. One end of the first pulling rope 530 is connected to the driving mechanism 400 , and the other end is connected to the first hooking member 510 , so that the driving mechanism 400 can pull the first hooking member 510 to release the hooking of the calf structure 220 through the first pulling rope 530 .

[0061] When the calf structure 220 is in a folded state relative to the thigh structure 210, the first pulling rope 530 is in a relaxed state, or in other words, the first pulling rope 530 does not pull the first hooking member 510. Therefore, the first hooking member 510 remains hooked on the connecting rod 223 under the action of the fourth elastic member 520.

[0062] Further, the driving mechanism 400 includes a driving member 410, a screw rod 430, a take-up drum 420 and a sliding seat 440, wherein the driving member 410 can be a motor, which is arranged at the top of the fuselage 100 along the length direction of the fuselage 100, and the driving shaft of the motor is arranged toward the front of the fuselage 100. The screw rod 430 is arranged in front of the driving member 410 along the length direction of the fuselage 100, and the driving shaft of the driving member 410 is connected to the rear end of the screw rod 430. The take-up drum 420 is fixedly connected to the screw rod 430, and the first traction rope 250 is used to be wound on the take-up drum 420, thereby, the driving member 410 drives the take-up drum 420 to rotate through the screw rod 430, and the take-up drum 420 takes up and releases the first traction rope 250. Meanwhile, a guide rod 110 is provided at the top of the body 100 along the front-to-back direction, and the guide rod 110 is located directly below the screw rod 430. The sliding seat 440 is slidably provided on the guide rod 110 and is threadedly connected with the screw rod 430, so that when the driving member 410 drives the screw rod 430 to rotate, the sliding seat 440 slides forward and backward along the guide rod 110. The first pulling rope 530 is connected between the sliding seat 440 and the first hooking member 510, so that when the sliding seat 440 slides forward along the guide rod 110, the first pulling rope 530 pulls the first hooking member 510 to rotate forward, so that the first hooking member 510 releases the hooking of the connecting rod 223.

[0063] Specifically, in the power accumulation stage, the driving member 410 drives the screw rod 430 to rotate forward, and the take-up drum 420 rotates forward synchronously with the screw rod 430, and the take-up drum 420 takes up the first traction rope 250, thereby pulling the calf structure 220 to fold toward the thigh structure 210. At the same time, the sliding seat 440 slides toward the driving member 410 under the action of the screw rod 430, and the first traction rope 530 releases the pulling force on the first hooking member 510. The first hooking member 510 is hooked backward on the connecting rod 223 of the calf structure 220 under the action of the fourth elastic member 520, so that the calf structure 220 remains in a folded state relative to the thigh structure 210.

[0064] In the jumping stage, the driving member 410 drives the screw rod 430 to rotate in the opposite direction, and the take-up drum 420 rotates in the opposite direction synchronously with the screw rod 430. The take-up drum 420 releases the first traction rope 250, and the first traction rope 250 releases the tension on the shank structure 220. At the same time, the sliding seat 440 slides away from the driving member 410 under the action of the screw rod 430, and the sliding seat 440 gradually straightens the first traction rope 530 forward. After the first traction rope 530 is straightened, the first traction rope 530 pulls the first hooking member 510 to rotate forward, and the first hooking member 510 releases the hooking of the connecting rod 223, and the shank structure 220 pops out under the action of the first elastic member 230, thereby realizing the jumping of the bionic jumping robot.

[0065] In some embodiments, reference Figure 1 and Figure 3 The end of the thigh structure 210 away from the shank structure 220 is fixedly provided with a rotating shaft 213, the rotating shaft 213 is rotatably connected to the tail of the fuselage 100, and the first hooking member 510 is fixedly connected to the rotating shaft 213, thereby, the first hooking member 510 and the thigh structure 210 rotate synchronously. In the specific application process, in the power accumulation stage, when the fourth elastic member 520 pulls the first hooking member 510 to rotate backward, the thigh structure 210 also rotates with the first hooking member 510, thereby, the forelimb mechanism 200 in the folded state rotates downward as a whole; in the jumping stage, the sliding seat 440 pulls the first hooking member 510 to rotate forward through the first pulling rope 530, and the thigh structure 210 also rotates with the first hooking member 510, thereby, the forelimb mechanism 200 in the folded state rotates upward as a whole. With such a configuration, the forelimb mechanism 200 can more accurately imitate the jumping action of animals, such as the jumping action of frogs, so that the bionic jumping robot can jump over a long distance to complete obstacle crossing.

[0066] In some embodiments, reference Figure 1 , Figure 6 and Figure 7 The bionic jumping robot includes a gliding assembly 600, which includes a wing seat 610, a glider wing 620, a fifth elastic member 630 and a second traction rope 640. The wing seat 610 is arranged on the top of the fuselage 100 along the front-back direction of the fuselage 100, and two glider wings 620 are arranged and arranged on the left and right sides of the wing seat 610. Each glider wing 620 can be folded and unfolded and arranged on the wing seat 610. The fifth elastic member 630 can be a torsion spring, and is connected to the wing seat 610 and the glider wing 620. The fifth elastic member 630 is used to switch the glider wing 620 from a folded state to an unfolded state. One end of the second traction rope 640 is connected to the take-up drum 420, and the other end is connected to the glider wing 620, and each glider wing 620 is correspondingly provided with an independent second traction rope 640. The driving mechanism 400 is used to simultaneously reel in and unreel the first traction rope 250 and the second traction rope, and the second traction rope 640 is used to pull the glider wing 620 to switch from an unfolded state to a folded state.

[0067] Specifically, in the initial state, under the action of the second elastic member 244, the glider wing 620 is in an outwardly deployed state relative to the wing seat 610, and the second traction rope 640 is in a relaxed state. In the power accumulation stage, the take-up drum 420 of the drive mechanism 400 reels the first traction rope 250, and the calf structure 220 switches from the deployed state to the folded state relative to the thigh structure 210, and the first elastic member 230 also accumulates power. At the same time, the take-up drum 420 of the drive mechanism 400 also reels the second traction rope 640, and the glider wing 620 overcomes the elastic force of the fifth elastic member 630, and the glider wing 620 switches from the deployed state to the folded state, thereby completing the power accumulation of the fifth elastic member 630.

[0068] In the jumping stage, the driving mechanism 400 pays out the first traction rope 250, and the lower leg structure 220 elastically unfolds forward relative to the wing seat 610 under the action of the first elastic member 230, thereby realizing the forward jumping of the bionic jumping robot. At the same time, the take-up drum 420 of the driving mechanism 400 also pays out the second traction rope 640, and the glider wing 620 unfolds outward relative to the wing seat 610 under the action of the fifth elastic member 630, thereby realizing the long-distance jumping of the bionic jumping robot.

[0069] As can be seen from the above, the present application scheme realizes the jumping and gliding of the bionic jumping robot through the setting of one power source, and there is no need to set up two power sources to drive the jumping of the bionic jumping robot and the unfolding and folding of the glider wing 620 respectively, thereby saving the cost of the bionic jumping robot.

[0070] Furthermore, the jumping robot also includes a second holding mechanism 700, which includes a second hooking member 710, a sixth elastic member 720 and a second pulling rope 730. There are two second hooking members 710, which are rotatably arranged on the upper wing seat 610 and symmetrically arranged about the plane of the fuselage 100. One second hooking member 710 is used to hook the edge of a glider wing 620 to keep the glider wing 620 in a folded state; similarly, another second hooking member 710 is used to hook the edge of another glider wing 620 to keep the glider wing 620 in a folded state. There are two sixth elastic members 720, which are connected to the second hooking members 710 respectively. The sixth elastic member 720 may be an elastic pull rope, one end of which is connected to the wing seat 610, and the other end of which is connected to the second hooking member 710, so as to keep the second hooking member 710 hooked on the glider wing 620. Two second pulling ropes 730 are provided, one end of the two second pulling ropes 730 is connected to the sliding seat 440, and the other ends of the two second pulling ropes 730 are respectively connected to the two second hooking members 710, so as to pull the second hooking members 710 respectively.

[0071] Specifically, in the power accumulation stage, the driving member 410 drives the screw rod 430 to rotate forward, the take-up drum 420 and the screw rod 430 rotate forward synchronously, and the take-up drum 420 takes up the second traction rope 640, thereby pulling the glider wing 620 from the unfolded state to the folded state. At the same time, the sliding seat 440 slides toward the driving member 410 under the action of the screw rod 430, and the second traction rope 730 releases the tension on the second hooking member 710. The second hooking member 710 is hooked on the edge of the glider wing 620 under the action of the sixth elastic member 720, so that the glider wing 620 remains in the folded state.

[0072] During the jumping stage, the driving member 410 drives the screw rod 430 to rotate in the opposite direction, the take-up drum 420 and the screw rod 430 rotate in the opposite direction synchronously, the take-up drum 420 releases the second traction rope 640, and the second traction rope 640 releases the tension on the glider wing 620. At the same time, the sliding seat 440 slides away from the driving member 410 under the action of the screw rod 430, and the sliding seat 440 gradually pulls the two second traction ropes 730 forward, and the two second traction ropes 730 respectively pull the second hooking member 710 to rotate outward. Therefore, during the jumping process of the bionic robot, the two second hooking members 710 release the hooking of the glider wing 620, and the two glider wings 620 switch from the folded state to the unfolded state, so that the bionic jumping robot can jump over long distances.

[0073] Further, when the second hooking member 710 is hooked on the edge of the glider wing 620 under the action of the sixth elastic member 720, the second pulling rope 730 is provided with a sufficient length, and the second pulling rope 730 is in a relaxed state. Therefore, when the sliding seat 440 slides away from the driving member 410, the sliding seat 440 preferentially pulls the first hooking member 510 through the first pulling rope 530 to release the hooking of the calf structure 220, so that the bionic jumping robot preferentially completes the jump. When the bionic jumping robot is jumping, the sliding seat 440 straightens the second pulling rope 730, and the second pulling rope 730 pulls the second hooking member 710 to release the hooking of the glider wing 620, so that the glider wing 620 is fully unfolded during the bionic robot's jumping process.

[0074] It can be understood that after the first hooking member 510 releases the restriction on the calf structure 220, the second hooking member 710 releases the hook on the glider wing 620. With this arrangement, when the first elastic member 230 releases the elastic force, the glider wing 620 is in a folded state, thereby ensuring that the bionic jumping robot will not be affected by greater wind resistance during the jumping process, and further ensuring that the bionic jumping robot can jump to a high enough height under the action of the first elastic member 230 to overcome obstacles in front and behind.

[0075] Furthermore, the two second hooking members 710 are provided with rotating teeth 711 at the ends away from the hooking parts thereof, and the rotating teeth 711 of the two second hooking members 710 are meshed. In this way, when the two second pulling ropes 730 pull the two second hooking members 710 to rotate outward, the two rotating teeth 711 are meshed, thereby ensuring that the two second hooking members 710 rotate synchronously, and then ensuring that the two second hooking members 710 release the hooking of the two glider wings 620 at the same time, and accordingly, the two glider wings 620 are unfolded at the same time, thereby ensuring that the bionic robot can glide more stably.

[0076] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A bionic jumping robot, characterized in that: include: body; A hind limb, arranged at the tail of the fuselage; A driving mechanism, disposed on the body, for providing a pulling force; A forelimb mechanism, comprising a thigh structure, a shank structure, a first elastic member, a clamping claw assembly and a first traction rope, wherein the thigh structure is connected to the fuselage and extends toward the front side of the fuselage, the shank structure is rotationally connected to the thigh structure, the clamping claw assembly is connected to the shank structure, the first elastic member is connected to the thigh structure and the shank structure, and is used to provide the shank structure with an elastic force to expand relative to the thigh structure, and the first traction rope is connected to the driving mechanism and the clamping claw of the clamping claw assembly; Among them, when the driving mechanism overcomes the elastic force of the first elastic member to reel in the first traction rope, the first traction rope pulls the jaws of the clamping assembly to close and folds the calf structure toward the thigh structure; when the driving mechanism releases the traction rope, the jaws of the clamping assembly switch from a clamping state to a released state, and the first elastic member causes the calf structure to unfold relative to the thigh structure to achieve a jumping action.

2. The bionic jumping robot according to claim 1, characterized in that: The clamp assembly includes a clamp seat, a first clamp, a second clamp, a second elastic member and a third elastic member, wherein the clamp seat is fixedly arranged on the calf structure, the first clamp and the second clamp are rotatably arranged on the clamp seat, and are relatively unfolded under the elastic force of the second elastic member and the third elastic member respectively, and the first traction rope is connected to the first clamp and the second clamp, and is used to pull the first clamp and the second clamp relatively close.

3. The bionic jumping robot according to claim 1, characterized in that: The hind limbs include a hind leg rod and a supporting foot. The hind leg rod is connected to the tail of the fuselage and extends obliquely backward. The supporting foot is connected to the end of the hind leg rod and extends in an arc shape along the front and rear directions of the fuselage.

4. The bionic jumping robot according to claim 1, characterized in that: The jumping robot further includes a first holding mechanism, wherein the first holding mechanism includes: A first hooking member, rotatably disposed on the body, the first hooking member being used to hook the calf structure so as to keep the calf structure in a folded state; a fourth elastic member connected to the body and the first hooking member, and used to keep the first hooking member hooked on the calf structure; The first pulling rope is connected to the driving mechanism and the first hooking member. The driving mechanism pulls the first hooking member through the first pulling rope to release the hooking of the calf structure.

5. The bionic jumping robot according to claim 4, characterized in that: The driving mechanism comprises: A driving member, disposed on the body; A screw rod is arranged along the length direction of the fuselage and connected to the driving member, and the driving member is used to drive the screw rod to rotate; A take-up drum, fixedly connected to the screw rod, and used for taking up the first traction rope; The sliding seat is slidably arranged along the length direction of the fuselage and is threadedly connected to the lead screw. The first pulling rope is connected to the sliding seat.

6. The bionic jumping robot according to claim 4, characterized in that: A rotating shaft is fixedly provided at the end of the thigh structure, the rotating shaft is rotatably connected to the fuselage, the first hooking member is fixedly connected to the rotating shaft, and a connecting rod for hooking by the first hooking member is provided at the end of the calf structure.

7. The bionic jumping robot according to claim 5, characterized in that: The bionic jumping robot comprises a gliding component, and the gliding component comprises: A wing seat, arranged on the top of the fuselage; A glider wing, which can be folded and unfolded and is arranged on the wing seat; a fifth elastic member connected to the wing seat and the glider wing, and used for switching the glider wing from a folded state to an unfolded state; A second traction rope, one end of which is connected to the driving mechanism, and the other end of which is connected to the glider wing, the driving mechanism is used to simultaneously reel in and unreel the first traction rope and the second traction rope, and the second traction rope is used to pull the glider wing to switch from an unfolded state to a folded state.

8. The bionic jumping robot according to claim 7, characterized in that: The jumping robot further includes a second holding mechanism, wherein the second holding mechanism includes: A second hooking member is rotatably disposed on the wing seat and is used to hook on the glider wing to keep the glider wing in a folded state; a sixth elastic member connected to the fuselage and the glider wing, the sixth elastic member being used to keep the second hooking member hooked on the glider wing; The second pulling rope is connected to the sliding seat and the second hooking member. When the sliding seat slides, the second hooking member is pulled by the second pulling rope to release the hooking of the glider wing.

9. The bionic jumping robot according to claim 8, characterized in that: After the first hooking member releases the restriction on the calf structure, the second hooking member releases the hook on the glider wing.

10. The bionic jumping robot according to claim 9, characterized in that: The gliding components are provided in two groups and are respectively located on both sides of the wing seat; There are two second hooking members, which are used to hook one of the glider wings respectively; wherein each of the second hooking members is provided with a rotating tooth portion, and the rotating tooth portions of the two second hooking members are meshed with each other.

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