Burning and explosion driver mechanism for frog-imitating jumping robot and working method of burning and explosion driver mechanism

Abstract

The invention discloses a fire blast driver mechanism for a frog-imitating jumping robot and a working method of the fire blast driver mechanism, belongs to the technical field of driving devices, and aims to solve the problems that an existing frog-imitating robot driven by fire blast has significant difference between instantaneous force provided by fire blast driving and a continuous force generation mode when creatures such as frogs jump. Instantaneous energy is provided through efficient combustion and explosion reaction of hydrogen and oxygen mixed gas in a combustion and explosion cavity, a buffer system composed of a sealing piston and a compression spring is used for transmitting the energy to an electromagnetic lock and a linkage connecting rod mechanism in a gradient mode, and precise stretching and contracting of the hind limbs are achieved. The electromagnetic lock cooperatively controls locking and releasing of the hind limb through the lock hole, it is ensured that the contraction state is maintained before blasting energy is released, and instantaneous unlocking is conducted after ignition so as to trigger the jumping action. And the compression spring converts the instantaneous force of burning explosion into continuous thrust, so that the biological jumping characteristic of frogs is well simulated. The driving device is mainly used as a driving device of the frog-imitating jumping robot.

Description

Technical Field

[0001] The invention belongs to the technical field of drive devices, and in particular relates to an explosion drive mechanism for a frog-like jumping robot and a working method thereof. Background Art

[0002] Mobile robots, with their autonomous mobility and mission execution capabilities, have demonstrated their important value in operations in complex environments such as post-disaster rescue and interstellar exploration. However, traditional mobile robots mostly rely on wheeled or tracked drives, and are not adaptable enough in unstructured terrain (such as rugged roads and areas with dense obstacles), especially when facing high obstacles or gullies, their mobility is greatly limited. Jumping robots have become an important research direction for breaking through terrain restrictions due to their excellent obstacle-crossing capabilities. Through jumping movements, robots can cross obstacles several times their own height and adapt to complex and changing terrain environments, especially showing significant advantages in extreme environments such as outer space exploration.

[0003] The driving modes of traditional jumping robots mainly include electric, pneumatic and hydraulic driving. Although electric driving has high control accuracy, its energy density is low and it is difficult to meet the needs of high explosive power, resulting in the robot's jumping height and distance being limited; although pneumatic driving can provide greater instantaneous force, it requires a complex air circuit system and a larger air source device, which increases the size and weight of the robot and limits its flexibility and portability; although hydraulic driving has a higher power density, the system is complex, heavy, and there are energy loss and leakage problems, making it difficult to achieve lightweight design. These traditional driving methods often find it difficult to take into account the lightweight requirements of robots while achieving high-performance jumping, limiting their application in complex environments.

[0004] As an emerging driving method, explosive drive provides powerful power support for jumping robots with its high energy density and instantaneous explosive force. The energy released by the explosive reaction per unit volume is extremely high, which can significantly reduce the volume and weight of the driving device, while meeting the robot's demand for instantaneous explosive force when jumping. The existing patent application number is CN202110534277.2, and the name is "An Explosive Driven Rigid-Flexible Coupling Frog-like Robot", which has disclosed a frog-like robot that uses explosive drive as a power drive. However, there is a significant difference between the instantaneous force provided by the explosive drive in this patent and the continuous force mode of frogs and other creatures when they take off, resulting in insufficient stability and controllability of the robot's jumping, which limits its promotion in practical applications. Therefore, it is in line with practical needs to develop an explosive drive mechanism and its working method for a frog-like jumping robot to solve the above-mentioned defects. Summary of the invention

[0005] The present invention aims to solve the problem that the existing frog-like robot driven by explosion has a significant difference between the instantaneous force provided by the explosion drive and the continuous force mode of frogs and other creatures when they jump, resulting in insufficient stability and controllability of the robot's jumping, and further provides an explosion drive mechanism for a frog-like jumping robot and a working method thereof;

[0006] A combustion and explosion drive mechanism for a frog-like jumping robot, the combustion and explosion drive mechanism comprising a combustion and explosion guide chamber unit, a compression unit, a frog foot unit and two frog leg units, one end of the compression unit is arranged in the combustion and explosion guide chamber unit and is sealed and slidably connected to the combustion and explosion guide chamber unit, the other end of the compression unit is inserted in the frog foot unit and is fixedly connected to the frog foot unit, the two frog leg units are relatively arranged on both sides of the combustion and explosion guide chamber unit, one end of each frog leg unit is hingedly arranged with the combustion and explosion guide chamber unit, the other end of each frog leg unit is hingedly arranged with the frog foot unit, a locking part is arranged in the frog foot unit, and the frog foot unit is detachably connected with the combustion and explosion guide chamber unit through the locking part;

[0007] Furthermore, the deflagration guide chamber unit comprises an air intake joint and a deflagration guide tube, the air intake joint is mounted on one end of the deflagration guide tube away from the frog foot unit, one end of the compression unit is arranged in the deflagration guide tube and is sealed and slidably connected with the deflagration guide tube;

[0008] Furthermore, a plug-in groove matching the frog-foot unit is processed on the inner wall of one end of the deflagration guide tube close to the frog-foot unit;

[0009] Further, the compression unit includes a sealing piston and a compression spring, the sealing piston is arranged in the deflagration guide tube and is sealingly and slidingly connected to the deflagration guide tube, one end of the compression spring is fixedly connected to the sealing piston, and the other end of the compression spring is inserted in the frog foot unit and is fixedly connected to the frog foot unit;

[0010] Furthermore, the sealing piston comprises a piston body and two sealing rings, the two sealing rings are sleeved on the outer wall of the piston body, the piston body is sealed with the deflagration guide tube through the two sealing rings, and one end of the compression spring is fixedly connected to the piston body;

[0011] Further, the frog foot unit comprises a spring base, a frog foot connection seat and two frog foot parts, the spring base is arranged on one end of the frog foot connection seat close to the deflagration guide tube and is detachably connected to the frog foot connection seat, the two frog foot parts are symmetrically arranged on one end of the frog foot connection seat away from the deflagration guide tube along the center line of the frog foot connection seat in the width direction, and each frog foot part is detachably connected to the frog foot connection seat, the locking part is installed in the spring base, the other end of the compression spring extends into the spring base and is fixedly connected to the locking part in the spring base, and the spring base is detachably connected to the deflagration guide tube through the locking part;

[0012] Furthermore, the locking part in the frog foot unit is an electromagnetic lock, which is arranged in a spring base, and the housing of the electromagnetic lock is fixedly connected to the spring base, the other end of the compression spring is fixedly connected to the housing of the electromagnetic lock, and the electromagnetic lock has two retractable locking pins, and the spring base is detachably connected to the deflagration guide tube through the retractable action of the locking pins in the electromagnetic lock;

[0013] Furthermore, two No. 1 locking plug holes are processed on the inner wall of the plug-in groove in the deflagration guide tube, and two No. 2 locking plug holes are processed on the outer wall of the spring base, and each No. 2 locking plug hole is correspondingly matched with a locking pin in the electromagnetic lock, and each No. 1 locking plug hole is connected with the corresponding No. 2 locking plug hole to form a locking limit channel, and when the end of the locking pin passes through the No. 1 locking plug hole and extends into the No. 2 locking plug hole, the deflagration guide tube and the spring base are in a locked state, and when the end of the locking pin is separated from the No. 2 locking plug hole, the deflagration guide tube and the spring base are in an unlocked state;

[0014] Furthermore, the frog-leg unit comprises a hind leg thigh and a hind leg shank, one end of the hind leg thigh is hingedly arranged with the outer side wall of the deflagration guide tube, the other end of the hind leg thigh is hingedly arranged with one end of the hind leg shank, and the other end of the hind leg shank is hingedly arranged with one side of the frog-foot connecting seat;

[0015] A working method for an explosive drive mechanism of a frog-like jumping robot, the working method being implemented by the following steps:

[0016] Step 1: Control the two locking pins in the electromagnetic lock to be in the extended state, and lock and fix the frog foot unit and the deflagration guide cavity unit;

[0017] Step 2: Connect the air inlet joint to an external small air pump through an air pipe, and use the air pump to fill the hydrogen and oxygen mixed gas into the deflagration guide tube and compress it in the deflagration guide tube;

[0018] Step 3: After the hydrogen-oxygen mixed gas is compressed to a critical value, the small air pump stops supplying gas, and the air pipe is separated from the air inlet joint. At the same time, the two locking pins in the electromagnetic lock are controlled to be in a contracted state, and the frog foot unit and the deflagration guide chamber unit are unlocked;

[0019] Step 4: After the frog foot unit and the deflagration guide chamber unit are unlocked in step 3, the explosion ignition is immediately performed at the air inlet joint. The compressed hydrogen-oxygen mixed gas in the deflagration guide tube undergoes an explosion reaction when it encounters fire. The explosion energy is transmitted to the piston, and then buffered by the compression spring and transmitted to the electromagnetic lock. After receiving the explosion energy, the electromagnetic lock moves synchronously with the spring base and the double-foot connector, transmitting the force to the two frog foot parts, realizing the extension of the frog's hind limbs and completing a jump;

[0020] Step 5: After the hydrogen-oxygen mixture explodes, the water vapor generated will condense quickly, which will reduce the gas compression in the deflagration guide tube. Under the action of the external atmospheric pressure, the piston will quickly move to the top of the deflagration guide tube, and at the same time drive the frog foot unit and the two frog leg units to retract. At this time, a cycle of extending and retracting the legs is completed;

[0021] Step 6: Repeat the above steps 1 to 5 to achieve the continuous jumping action of the frog-like jumping robot.

[0022] The beneficial effects of this application compared to the prior art are as follows:

[0023] The present application provides an explosion driver mechanism and a working method for a frog-like jumping robot, which provides instantaneous energy through the efficient explosion reaction of hydrogen-oxygen mixed gas in the explosion chamber, and uses a buffer system composed of a sealing piston and a compression spring to transfer the energy gradient to the electromagnetic lock and the linkage connecting rod mechanism to achieve precise extension and contraction of the hind limbs. Among them, the electromagnetic lock coordinates the locking and release of the hind limbs through the keyhole to ensure that the contracted state is maintained before the explosion energy is released, and it is instantly unlocked after ignition to trigger the jumping action; the piston and the explosion chamber are designed with a sealing ring and grease to reduce friction loss; the compression spring converts the instantaneous force of the explosion into a continuous thrust, which well simulates the jumping characteristics of frogs. The present application solves the problems of low energy density, uncontrollable explosion energy and poor jumping stability of traditional driving methods, significantly improves the robot's obstacle crossing ability and energy utilization efficiency, and is suitable for efficient mobile operations in complex terrain environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an overall schematic diagram of the combustion-explosion drive mechanism described in this application;

[0025] Figure 2 It is a right side schematic diagram of the combustion-explosion drive mechanism described in this application;

[0026] Figure 3 This is a schematic diagram of the Ranranbao actuator mechanism described in the present application driving the frog-like jumping robot to retract its hind limbs;

[0027] Figure 4 This is a schematic diagram of the Ranranbao actuator mechanism described in the present application driving the frog-like jumping robot to extend its hind limbs;

[0028] In the figure, 1 is the air intake joint, 2 is the deflagration guide tube, 3 is the sealing piston, 4 is the compression spring, 5 is the hind leg thigh, 6 is the hind leg calf, 7 is the No. 1 locking plug hole, 8 is the No. 2 locking plug hole, 9 is the electromagnetic lock, 10 is the spring base, 11 is the frog foot connecting seat and 12 is the frog foot parts. DETAILED DESCRIPTION

[0029] Specific implementation method 1: Combination Figures 1 to 4The present embodiment is described. In the present embodiment, a combustion and explosion drive mechanism for a frog-like jumping robot is provided, wherein the combustion and explosion drive mechanism comprises a combustion and explosion guide chamber unit, a compression unit, a frog foot unit and two frog leg units, one end of the compression unit is arranged in the combustion and explosion guide chamber unit and is sealed and slidably connected to the combustion and explosion guide chamber unit, the other end of the compression unit is inserted in the frog foot unit and is fixedly connected to the frog foot unit, the two frog leg units are relatively arranged on both sides of the combustion and explosion guide chamber unit, one end of each frog leg unit is hinged to the combustion and explosion guide chamber unit, the other end of each frog leg unit is hinged to the frog foot unit, a locking portion is provided in the frog foot unit, and the frog foot unit is detachably connected to the combustion and explosion guide chamber unit via the locking portion.

[0030] Specific implementation method 2: Combination Figures 1 to 4 This embodiment is described. The difference between this embodiment and the first embodiment is that the deflagration guide chamber unit includes an air intake connector 1 and a deflagration guide tube 2. The air intake connector 1 is installed on the end of the deflagration guide tube 2 away from the frog foot unit, and one end of the compression unit is arranged in the deflagration guide tube 2 and is sealed and slidably connected with the deflagration guide tube 2. Other components and connection methods are the same as those of the first embodiment.

[0031] Specific implementation method three: Combination Figures 1 to 4 This embodiment is described. The difference between this embodiment and the second embodiment is that a plug-in groove for the frog-foot unit is processed on the inner wall of the end of the deflagration guide tube 2 close to the frog-foot unit. The other components and connection methods are the same as those of the second embodiment.

[0032] Specific implementation method four: Combination Figures 1 to 4 This embodiment is described. The difference between this embodiment and the third embodiment is that the compression unit includes a sealing piston 3 and a compression spring 4. The sealing piston 3 is arranged in the deflagration guide tube 2 and is sealed and slidably connected to the deflagration guide tube 2. One end of the compression spring 4 is fixedly connected to the sealing piston 3, and the other end of the compression spring 4 is inserted in the frog foot unit and is fixedly connected to the frog foot unit. Other components and connection methods are the same as those of the third embodiment.

[0033] Specific implementation method five: Combination Figures 1 to 4 This embodiment is described. The difference between this embodiment and the fourth embodiment is that the sealing piston 3 includes a piston body and two sealing rings, the two sealing rings are sleeved on the outer wall of the piston body, the piston body is sealed with the deflagration guide tube 2 through the two sealing rings, and one end of the compression spring 4 is fixedly connected to the piston body. Other components and connection methods are the same as those of the fourth embodiment.

[0034] Specific implementation method six: Combination Figures 1 to 4This embodiment is described. The difference between this embodiment and the fifth embodiment is that the frog foot unit includes a spring base 10, a frog foot connection seat 11 and two frog foot parts 12. The spring base 10 is arranged on one end of the frog foot connection seat 11 close to the deflagration guide tube 2 and is detachably connected to the frog foot connection seat 11. The two frog foot parts 12 are symmetrically arranged on one end of the frog foot connection seat 11 away from the deflagration guide tube 2 along the center line of the width direction of the frog foot connection seat 11, and each frog foot part 12 is detachably connected to the frog foot connection seat 11. The locking part is installed in the spring base 10, and the other end of the compression spring 4 extends into the spring base 10 and is fixedly connected to the locking part in the spring base 10. The spring base 10 is detachably connected to the deflagration guide tube 2 through the locking part. Other components and connection methods are the same as those in the fifth embodiment.

[0035] Specific implementation method seven: Combination Figures 1 to 4 This embodiment is described. The difference between this embodiment and the sixth embodiment is that the locking part in the frog foot unit is an electromagnetic lock 9, which is arranged in a spring base 10, and the housing of the electromagnetic lock 9 is fixedly connected to the spring base 10, and the other end of the compression spring 4 is fixedly connected to the housing of the electromagnetic lock 9. The electromagnetic lock 9 has two retractable locking pins, and the spring base 10 is detachably connected to the deflagration guide tube 2 through the retractable action of the locking pins in the electromagnetic lock 9. Other components and connection methods are the same as those in the sixth embodiment.

[0036] Specific implementation method eight: Combination Figures 1 to 4 This embodiment is described. The difference between this embodiment and the seventh embodiment is that two No. 1 locking plug holes 7 are processed on the inner wall of the plug-in slot in the deflagration guide tube 2, and two No. 2 locking plug holes 8 are processed on the outer wall of the spring base 10, and each No. 2 locking plug hole 8 is arranged in correspondence with a locking pin in the electromagnetic lock 9. When each No. 1 locking plug hole 7 is connected with the corresponding No. 2 locking plug hole 8, a locking limit passage is formed. When the end of the locking pin passes through the No. 1 locking plug hole 7 and extends into the No. 2 locking plug hole 8, the deflagration guide tube 2 and the spring base 10 are in a locked state. When the end of the locking pin is separated from the No. 2 locking plug hole 8, the deflagration guide tube 2 and the spring base 10 are in an unlocked state. Other components and connection methods are the same as those of the seventh embodiment.

[0037] Specific implementation method nine: Combination Figures 1 to 4 This embodiment is described. The difference between this embodiment and the eighth embodiment is that the frog-leg unit includes a hind leg thigh 5 and a hind leg 6. One end of the hind leg thigh 5 is hinged to the outer wall of the deflagration guide tube 2, and the other end of the hind leg thigh 5 is hinged to one end of the hind leg 6. The other end of the hind leg 6 is hinged to one side of the frog-leg connecting seat 11. The other components and connection methods are the same as those of the eighth embodiment.

[0038] In combination with the description of specific embodiments one to nine, the explosion drive device provided in the present application relies on the explosion reaction of the hydrogen-oxygen mixed gas in the explosion guide tube 2 to provide energy. In order to improve the safety of the use of the drive device, the explosion guide tube 2 itself needs to have a certain strength. In this embodiment, the explosion guide tube 2 is made of high-strength stainless steel material, and the inner wall is precisely polished to reduce the friction coefficient. The energy transfer path is: the impact force generated by the explosion drives the sealing piston 3 to move along the axial direction of the explosion guide tube 2, and the sealing piston 3 is rigidly connected to the compression spring 4. The electromagnetic lock 9 adopts a bistable electromagnet structure, and its lock body is fixedly connected to the spring base 10, and the spring base 10 is fixedly connected to the frog foot connector 11 to form a synchronous transmission system that can transmit three-dimensional force. When the explosion energy is transmitted to the electromagnetic lock through the spring, the lock body drives the spring base 10 and the frog foot connector 11 to move along the axial direction of the explosion chamber, and finally the linear motion is converted into the extension movement of the bionic hind limbs through the connecting rod mechanism composed of the frog foot unit and the two frog leg units, so as to realize the gradient storage, conversion and release of the explosion energy;

[0039] The purpose of setting the electromagnetic lock 9 in the present application is to constrain the frog's foot unit in shape and position. In order to fully simulate the force generation method of the frog when jumping, the present application decomposes the action of the frog in a jump, specifically decomposing it into two parts: power storage and stretching. Through actual observation, when the frog is jumping and storing power, its legs are bent, and the frog's feet are kept close to the tail of the frog's body, and the energy is continued through the leg muscles, so that the energy can be better burst out later to complete the jumping action. In the present application, the hydrogen-oxygen mixed gas is filled into the deflagration guide tube 2 as the power storage stage. In order to ensure that the frog's foot unit can still be close to the frog's body when the hydrogen-oxygen mixed gas is inflated, so as to simulate the action of the frog when jumping and storing power, it is necessary The locking part is used to lock and fix the frog foot unit and the deflagration guide tube 2, accompanied by the filling of hydrogen-oxygen mixed gas and the locking state between the frog foot unit and the deflagration guide tube 2. At this time, the compression spring 4 is in a compressed state, which simulates the tense state of the frog leg muscles when jumping, so that in the later combustion and explosion process, the compression spring 4 can convert and store the energy released by the combustion and explosion reaction and then release it, so that the jumping force of the frog-like robot is closer to the actual force of the frog. It is worth noting that before the combustion and explosion ignition, it is necessary to ensure that the frog foot unit and the deflagration guide tube 2 are in an unlocked state, so that the hind limbs can use the energy released by the combustion and explosion reaction to stretch, so as to avoid the explosion of the deflagration guide tube 2 and the occurrence of safety accidents;

[0040] In order to further improve the working stability and smoothness of the compression unit during the explosion driving process, the piston 3 and the explosion guide tube 2 are clearance-fitted, and the energy loss caused by friction can be reduced by applying grease.

[0041] Specific implementation method ten: Combination Figures 1 to 4This embodiment is described. In this embodiment, a working method for the explosion drive mechanism of the frog-like jumping robot is provided. The working method is implemented by the following steps:

[0042] Step 1: Control the two locking pins in the electromagnetic lock 9 to be in an extended state, and lock and fix the frog foot unit and the deflagration guide cavity unit;

[0043] Step 2: Connect the air inlet connector 1 to an external small air pump through an air pipe, and use the air pump to fill the hydrogen-oxygen mixed gas into the deflagration guide tube 2 and compress it in the deflagration guide tube 2;

[0044] Step 3: After the hydrogen-oxygen mixed gas is compressed to a critical value, the small air pump stops supplying gas, and the air pipe is separated from the air inlet connector 1. At the same time, the two locking pins in the electromagnetic lock 9 are controlled to be in a contracted state, and the frog foot unit and the deflagration guide chamber unit are unlocked;

[0045] Step 4: After the frog foot unit and the deflagration guide chamber unit are unlocked in step 3, the inlet joint 1 is immediately ignited, and the compressed hydrogen-oxygen mixed gas in the deflagration guide tube 2 undergoes an explosion reaction when it encounters fire, and the explosion energy is transmitted to the piston 3, and then buffered by the compression spring 4 and transmitted to the electromagnetic lock 9. After receiving the explosion energy, the electromagnetic lock 9 moves synchronously with the spring base 10 and the double-foot connector 11, and transmits the force to the two frog foot parts 12, so as to realize the extension of the frog's hind limbs and complete a jump;

[0046] Step 5: After the hydrogen-oxygen mixture explodes, the water vapor generated will condense quickly, so that the gas compression in the deflagration guide tube 2 is small. Under the action of the external atmospheric pressure, the piston 3 quickly moves to the top of the deflagration guide tube 2, and at the same time drives the frog foot unit and the two frog leg units to retract. At this time, a cycle of extending and retracting the legs is completed;

[0047] Step 6: Repeat the above steps 1 to 5 to achieve the continuous jumping action of the frog-like jumping robot.

[0048] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An explosive drive mechanism for a frog-like jumping robot, characterized in that: The explosion driver mechanism includes a deflagration guide chamber unit, a compression unit, a frog foot unit and two frog leg units, one end of the compression unit is arranged in the deflagration guide chamber unit and is sealed and slidably connected to the deflagration guide chamber unit, the other end of the compression unit is inserted in the frog foot unit and is fixedly connected to the frog foot unit, the two frog leg units are relatively arranged on both sides of the deflagration guide chamber unit, one end of each frog leg unit is hinged to the deflagration guide chamber unit, the other end of each frog leg unit is hinged to the frog foot unit, a locking part is provided in the frog foot unit, and the frog foot unit is detachably connected to the deflagration guide chamber unit through the locking part.

2. The explosive drive mechanism for a frog-like jumping robot according to claim 1, characterized in that: The deflagration guide chamber unit comprises an air intake joint (1) and a deflagration guide tube (2), wherein the air intake joint (1) is mounted on an end of the deflagration guide tube (2) away from the frog foot unit, and one end of the compression unit is arranged in the deflagration guide tube (2) and is sealed and slidably connected to the deflagration guide tube (2).

3. The explosive drive mechanism for a frog-like jumping robot according to claim 1, characterized in that: An inserting groove matching the frog foot unit is processed on the inner wall of one end of the deflagration guide tube (2) close to the frog foot unit.

4. The explosive drive mechanism for a frog-like jumping robot according to claim 3, characterized in that: The compression unit comprises a sealing piston (3) and a compression spring (4); the sealing piston (3) is arranged in the deflagration guide tube (2) and is sealingly and slidably connected to the deflagration guide tube (2); one end of the compression spring (4) is fixedly connected to the sealing piston (3); and the other end of the compression spring (4) is inserted into the frog foot unit and is fixedly connected to the frog foot unit.

5. The explosive drive mechanism for a frog-like jumping robot according to claim 4, characterized in that: The sealing piston (3) comprises a piston body and two sealing rings, the two sealing rings are sleeved on the outer wall of the piston body, the piston body is sealed with the deflagration guide tube (2) through the two sealing rings, and one end of the compression spring (4) is fixedly connected to the piston body.

6. The explosive drive mechanism for a frog-like jumping robot according to claim 5, characterized in that: The frog foot unit comprises a spring base (10), a frog foot connection seat (11) and two frog foot parts (12); the spring base (10) is arranged on one end of the frog foot connection seat (11) close to the deflagration guide tube (2) and is detachably connected to the frog foot connection seat (11); the two frog foot parts (12) are symmetrically arranged on one end of the frog foot connection seat (11) away from the deflagration guide tube (2) along the center line of the frog foot connection seat (11) in the width direction, and each frog foot part (12) is detachably connected to the frog foot connection seat (11); a locking portion is installed in the spring base (10); the other end of the compression spring (4) extends into the spring base (10) and is fixedly connected to the locking portion in the spring base (10); and the spring base (10) is detachably connected to the deflagration guide tube (2) via the locking portion.

7. The explosive drive mechanism for a frog-like jumping robot according to claim 6, characterized in that: The locking part in the frog foot unit is an electromagnetic lock (9), which is arranged in a spring base (10), and the shell of the electromagnetic lock (9) is fixedly connected to the spring base (10), and the other end of the compression spring (4) is fixedly connected to the shell of the electromagnetic lock (9), and the electromagnetic lock (9) has two retractable locking pins. The spring base (10) is detachably connected to the deflagration guide tube (2) through the retractable action of the locking pins in the electromagnetic lock (9).

8. The explosive drive mechanism for a frog-like jumping robot according to claim 7, characterized in that: Two No. 1 locking plug holes (7) are processed on the inner wall of the plug groove in the deflagration guide tube (2), and two No. 2 locking plug holes (8) are processed on the outer wall of the spring base (10), and each No. 2 locking plug hole (8) is arranged to correspond to a locking pin in the electromagnetic lock (9). When each No. 1 locking plug hole (7) is connected with the corresponding No. 2 locking plug hole (8), a locking limit passage is formed. When the end of the locking pin passes through the No. 1 locking plug hole (7) and extends into the No. 2 locking plug hole (8), the deflagration guide tube (2) and the spring base (10) are in a locked state. When the end of the locking pin is separated from the No. 2 locking plug hole (8), the deflagration guide tube (2) and the spring base (10) are in an unlocked state.

9. The explosive drive mechanism for a frog-like jumping robot according to claim 8, characterized in that: The frog-leg unit comprises a hind limb thigh (5) and a hind limb shank (6), one end of the hind limb thigh (5) is hingedly arranged with the outer side wall of the deflagration guide tube (2), the other end of the hind limb thigh (5) is hingedly arranged with one end of the hind limb shank (6), and the other end of the hind limb shank (6) is hingedly arranged with one side of the frog-foot connecting seat (11).

10. A method for operating an explosive drive mechanism of a frog-like jumping robot according to any one of claims 1 to 9, characterized in that: The working method is achieved by the following steps: Step 1: Control the two locking pins in the electromagnetic lock (9) to be in an extended state, and lock and fix the frog foot unit and the deflagration guide chamber unit; Step 2: Connect the air inlet connector (1) to an external small air pump through an air pipe, and use the air pump to fill the hydrogen-oxygen mixed gas into the deflagration guide tube (2) and compress it in the deflagration guide tube (2); Step 3: After the hydrogen-oxygen mixed gas is compressed to a critical value, the small air pump stops supplying gas, and the air pipe is separated from the air inlet connector (1). At the same time, the two locking pins in the electromagnetic lock (9) are controlled to be in a retracted state, and the frog foot unit and the deflagration guide chamber unit are unlocked; Step 4: After the frog foot unit and the deflagration guide chamber unit are unlocked in step 3, an explosion ignition is immediately performed at the air inlet joint (1). The compressed hydrogen-oxygen mixed gas in the deflagration guide tube (2) undergoes an explosion reaction when it encounters fire. The explosion energy is transmitted to the piston (3), and then buffered and transmitted to the electromagnetic lock (9) via the compression spring (4). After receiving the explosion energy, the electromagnetic lock (9) moves synchronously with the spring base (10) and the double-foot connection piece (11), and transmits force to the two frog foot parts (12), thereby extending the frog's hind limbs and completing a jump; Step 5: After the hydrogen-oxygen mixed gas explodes, the water vapor generated will condense quickly, causing the gas in the deflagration guide tube (2) to be compressed to a minimum. Under the action of the external atmospheric pressure, the piston (3) will quickly move toward the top of the deflagration guide tube (2), while driving the frog foot unit and the two frog leg units to retract. At this point, a cycle of extending and retracting the legs is completed; Step 6: Repeat the above steps 1 to 5 to achieve the continuous jumping action of the frog-like jumping robot.

Images