A kind of explosion driver mechanism for frog-like jumping robot and its working method

Abstract

This application discloses a combustion-explosion actuator mechanism and its operating method for a frog-like jumping robot, belonging to the field of drive device technology. To address the problem of insufficient stability and controllability in existing combustion-explosion driven frog-like robots due to the significant difference between the instantaneous force provided by the combustion-explosion drive and the continuous force exerted during a jump by organisms like frogs, this application utilizes the efficient combustion-explosion reaction of a hydrogen-oxygen mixture within a combustion chamber to provide instantaneous energy. A buffer system consisting of a sealed piston and a compression spring is used to transfer the energy gradient to an electromagnetic lock and linkage mechanism, enabling precise extension and retraction of the hind limbs. The electromagnetic lock, through a lock hole, coordinates the locking and releasing of the hind limbs, ensuring they remain in a retracted state before the release of the combustion-explosion energy and unlocking instantaneously after ignition to trigger the jumping action. The compression spring converts the instantaneous combustion-explosion force into a continuous thrust, effectively simulating the jumping characteristics of a frog. This application is primarily used as a drive device for frog-like jumping robots.

Description

Technical Field

[0001] This invention belongs to the field of drive device technology, specifically relating to a combustion and explosion actuator mechanism for a frog-like jumping robot and its working method. Background Technology

[0002] Mobile robots, with their autonomous movement and task execution capabilities, have demonstrated significant value in complex environments such as disaster relief and space exploration. However, traditional mobile robots, mostly reliant on wheeled or tracked propulsion, lack adaptability in unstructured terrain (such as rugged roads and areas with dense obstacles), especially when facing high obstacles or ravines, where their mobility is severely limited. Jumping robots, due to their superior obstacle-crossing capabilities, have become an important research direction for overcoming terrain limitations. Through jumping, robots can traverse obstacles several times their own height, adapting to complex and varied terrain environments, and demonstrating significant advantages, particularly in extreme environments such as outer space exploration.

[0003] Traditional jumping robots are primarily driven by electric, pneumatic, and hydraulic systems. While electric drives offer high control precision, their low energy density makes them unsuitable for high-amplitude jumps, limiting the robot's height and distance. Pneumatic drives, while providing significant instantaneous force, require complex pneumatic systems and large air supply units, increasing the robot's size and weight and restricting its flexibility and portability. Hydraulic drives, despite their high power density, are complex, heavy, and suffer from energy loss and leakage, making lightweight design difficult. These traditional drive methods, while achieving high-performance jumping, often fail to meet the robot's lightweight requirements, limiting their application in complex environments.

[0004] Combustion-driven actuation, as an emerging propulsion method, provides powerful power support for jumping robots due to its high energy density and instantaneous explosive force. The energy released per unit volume in a combustion reaction is extremely high, which can significantly reduce the size and weight of the drive device while meeting the robot's requirement for instantaneous explosive force during jumps. Existing patent application CN202110534277.2, entitled "A Combustion-Driven Rigid-Flexible Coupled Frog-Inspired Robot," discloses a frog-inspired robot using combustion-driven actuation as its power source. However, the instantaneous force provided by the combustion-driven actuation in this patent differs significantly from the continuous force exerted by frogs and other organisms during jumps, resulting in insufficient stability and controllability of the robot's jumps, limiting its widespread application. Therefore, developing a combustion-driven actuation mechanism and its working method for frog-inspired jumping robots to address these shortcomings is highly necessary. Summary of the Invention

[0005] In order to solve the problem that existing pyrotechnic frog-like robots have insufficient stability and controllability in jumping due to the significant difference between the instantaneous force provided by the pyrotechnic drive and the continuous force exerted by organisms such as frogs when jumping, the present invention provides a pyrotechnic drive mechanism for frog-like jumping robots and its working method.

[0006] An explosion-driven actuator mechanism for a frog-like jumping robot includes an explosion-driven guide cavity unit, a compression unit, a frog foot unit, and two frog leg units. One end of the compression unit is disposed in the explosion-driven guide cavity unit and is slidably and sealed to the explosion-driven guide cavity unit. The other end of the compression unit is inserted into the frog foot unit and is fixedly connected to the frog foot unit. The two frog leg units are disposed opposite to each other on both sides of the explosion-driven guide cavity unit. One end of each frog leg unit is hinged to the explosion-driven guide cavity unit, and the other end of each frog leg unit is hinged to the frog foot unit. The frog foot unit is provided with a locking part, and the frog foot unit is detachably connected to the explosion-driven guide cavity unit through the locking part.

[0007] Furthermore, the deflagration guide chamber unit includes an air inlet connector and a deflagration guide tube. The air inlet connector is installed on the end of the deflagration guide tube away from the frog foot unit, and one end of the compression unit is disposed in the deflagration guide tube and is slidably connected to the deflagration guide tube in a sealed manner.

[0008] Furthermore, the inner wall of the deflagration guide tube near the frog foot unit is machined with a plug groove for the frog foot unit to fit;

[0009] Furthermore, the compression unit includes a sealing piston and a compression spring. The sealing piston is disposed in the deflagration guide tube and is slidably connected to the deflagration guide tube in a sealing manner. One end of the compression spring is fixedly connected to the sealing piston, and the other end of the compression spring is inserted into the frog foot unit and fixedly connected to the frog foot unit.

[0010] Furthermore, the sealing piston includes a piston body and two sealing rings. The two sealing rings are fitted onto the outer wall of the piston body. The piston body is sealed to the deflagration guide tube through the two sealing rings. One end of the compression spring is fixedly connected to the piston body.

[0011] Furthermore, the frog foot unit includes a spring base, a frog foot connecting seat, and two frog foot parts. The spring base is located on the end of the frog foot connecting seat near the deflagration guide tube and is detachably connected to the frog foot connecting seat. The two frog foot parts are symmetrically located on the end of the frog foot connecting seat away from the deflagration guide tube along the center line of the width direction of the frog foot connecting seat, and each frog foot part is detachably connected to the frog foot connecting seat. A locking part is installed in the spring base, and the other end of the compression spring extends into the spring base and is fixedly connected to the locking part in the spring base. 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. The electromagnetic lock is installed in the 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. The electromagnetic lock has two retractable locking pins. The spring base is detachably connected to the deflagration guide tube through the extension and retraction of the locking pins in the electromagnetic lock.

[0013] Furthermore, two No. 1 locking insertion holes are machined on the inner wall of the insertion groove in the deflagration guide tube, and two No. 2 locking insertion holes are machined on the outer wall of the spring base. Each No. 2 locking insertion hole is correspondingly matched with a locking pin in the electromagnetic lock. When each No. 1 locking insertion hole is connected to the corresponding No. 2 locking insertion hole, a locking limiting channel is formed. When the end of the locking pin passes through the No. 1 locking insertion hole and extends into the No. 2 locking insertion hole, the deflagration guide tube and the spring base are in a locked state. When the end of the locking pin disengages from the No. 2 locking insertion hole, the deflagration guide tube and the spring base are in an unlocked state.

[0014] Furthermore, the frog leg unit includes a hind leg thigh and a hind leg lower leg. One end of the hind leg thigh is hinged to the outer wall of the deflagration guide tube, the other end of the hind leg thigh is hinged to one end of the hind leg lower leg, and the other end of the hind leg lower leg is hinged to one side of the frog foot connecting seat.

[0015] A method for operating a combustion-driven actuator mechanism for a frog-like jumping robot, the method comprising the following steps:

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

[0017] Step 2: Connect the air inlet connector to an external small air pump through the air pipe. Use the air pump to fill the deflagration guide tube with hydrogen-oxygen mixture and compress it in the deflagration guide tube.

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

[0019] Step 4: After unlocking the frog leg unit and the deflagration guide cavity unit in step 3, immediately perform combustion ignition at the air inlet. The compressed hydrogen-oxygen mixture in the deflagration guide tube reacts with the flame and undergoes a combustion reaction. The combustion energy is transferred to the piston, and then buffered by the compression spring before being transferred to the electromagnetic lock. After receiving the combustion energy, the electromagnetic lock moves synchronously with the spring base and the double-leg connector, transferring the force to the two frog leg parts, realizing the extension of the frog's hind legs and completing a jump.

[0020] Step 5: After the hydrogen-oxygen mixture explodes, the water vapor produced will condense rapidly, reducing the gas compression in the deflagration guide tube. Under the action of external atmospheric pressure, the piston will move rapidly to the top of the deflagration guide tube, while simultaneously retracting the frog foot unit and the two frog leg units. At this point, one cycle of extending and retracting the legs is completed.

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

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

[0023] This application provides a combustion-explosion actuator mechanism and its working method for a frog-like jumping robot. It utilizes the efficient combustion-explosion reaction of a hydrogen-oxygen mixture within a combustion chamber to provide instantaneous energy. A buffer system consisting of a sealed piston and a compression spring transfers the energy gradient to an electromagnetic lock and a linkage mechanism, enabling precise extension and retraction of the hind limbs. Specifically, the electromagnetic lock controls the locking and releasing of the hind limbs via a lock hole, ensuring they remain in a retracted state before the release of combustion-explosion energy and unlocking instantaneously after ignition to trigger the jumping action. The piston and combustion chamber employ a combination of sealing rings and lubricating grease to reduce frictional losses. The compression spring converts the instantaneous combustion-explosion force into a continuous thrust, effectively mimicking the jumping characteristics of a frog. This application solves the problems of low energy density, uncontrollable combustion-explosion energy, and poor jumping stability in traditional drive methods, significantly improving the robot's obstacle-crossing ability and energy utilization efficiency, making it suitable for efficient mobile operations in complex terrain environments. Attached Figure Description

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

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

[0026] Figure 3 This is a schematic diagram of the hind limb retraction of the frog-like jumping robot driven by the combustion explosion actuator mechanism described in this application;

[0027] Figure 4 This is a schematic diagram of the hind limb extension of the frog-like jumping robot driven by the combustion explosion actuator mechanism described in this application;

[0028] The components in the diagram are: 1. Inlet connector; 2. Explosion guide pipe; 3. Sealing piston; 4. Compression spring; 5. Hind leg thigh; 6. Hind leg calf; 7. No. 1 locking insertion hole; 8. No. 2 locking insertion hole; 9. Electromagnetic lock; 10. Spring base; 11. Frog foot connecting seat; and 12. Frog foot parts. Detailed Implementation

[0029] Specific implementation method one: Combining Figures 1 to 4This embodiment describes a combustion-explosion actuator mechanism for a frog-like jumping robot. The combustion-explosion actuator mechanism includes a combustion-explosion guide cavity unit, a compression unit, a frog foot unit, and two frog leg units. One end of the compression unit is disposed in the combustion-explosion guide cavity unit and is slidably and sealed to the combustion-explosion guide cavity unit. The other end of the compression unit is inserted into the frog foot unit and is fixedly connected to the frog foot unit. The two frog leg units are disposed opposite to each other on both sides of the combustion-explosion guide cavity unit. One end of each frog leg unit is hinged to the combustion-explosion guide cavity unit, and the other end of each frog leg unit is hinged to the frog foot unit. The frog foot unit is provided with a locking part, and the frog foot unit is detachably connected to the combustion-explosion guide cavity unit through the locking part.

[0030] Specific Implementation Method Two: Combining Figures 1 to 4 This embodiment differs from Specific Embodiment 1 in that the deflagration guide chamber unit includes an air inlet connector 1 and a deflagration guide pipe 2. The air inlet connector 1 is installed on the end of the deflagration guide pipe 2 away from the frog-foot unit, and one end of the compression unit is disposed in the deflagration guide pipe 2 and is slidably and sealingly connected to the deflagration guide pipe 2. Other components and connection methods are the same as in Specific Embodiment 1.

[0031] Specific implementation method three: Combining Figures 1 to 4 This embodiment differs from Specific Embodiment Two in that the inner wall of the deflagration guide tube 2 near the frog-foot unit has a groove for the frog-foot unit to mate with it. Other components and connection methods are the same as in Specific Embodiment Two.

[0032] Specific implementation method four: Combination Figures 1 to 4 This embodiment differs from specific embodiment three in that the compression unit includes a sealing piston 3 and a compression spring 4. The sealing piston 3 is disposed in the deflagration guide tube 2 and is slidably connected to the deflagration guide tube 2 in a sealed manner. 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 fixedly connected to the frog-foot unit. Other components and connection methods are the same as in specific embodiment three.

[0033] Specific Implementation Method Five: Combining Figures 1 to 4 This embodiment differs from specific embodiment four in that the sealing piston 3 includes a piston body and two sealing rings. The two sealing rings are fitted onto the outer wall of the piston body, and the piston body is sealed to the deflagration guide tube 2 through the two sealing rings. One end of the compression spring 4 is fixedly connected to the piston body. Other components and connection methods are the same as in specific embodiment four.

[0034] Specific Implementation Method Six: Combination Figures 1 to 4This embodiment differs from specific embodiment five in that the frog-foot unit includes a spring base 10, a frog-foot connecting seat 11, and two frog-foot parts 12. The spring base 10 is disposed on the end of the frog-foot connecting seat 11 near the deflagration guide tube 2 and is detachably connected to the frog-foot connecting seat 11. The two frog-foot parts 12 are symmetrically disposed on the end of the frog-foot connecting seat 11 away from the deflagration guide tube 2 along the center line of the width direction of the frog-foot connecting seat 11, and each frog-foot part 12 is detachably connected to the frog-foot connecting seat 11. A 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 in specific embodiment five.

[0035] Specific implementation method seven: Combination Figures 1 to 4 This embodiment differs from Specific Embodiment Six in that the locking part in the frog-leg unit is an electromagnetic lock 9. The electromagnetic lock 9 is disposed in the spring base 10, and its housing is fixedly connected to the spring base 10. 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. The spring base 10 is detachably connected to the deflagration guide tube 2 through the retraction and extension of the locking pins in the electromagnetic lock 9. Other components and connection methods are the same as in Specific Embodiment Six.

[0036] Specific implementation method eight: Combination Figures 1 to 4 This embodiment differs from specific embodiment seven in that two No. 1 locking insertion holes 7 are machined on the inner wall of the insertion groove in the deflagration guide tube 2, and two No. 2 locking insertion holes 8 are machined on the outer wall of the spring base 10. Each No. 2 locking insertion hole 8 is correspondingly matched with a locking pin in the electromagnetic lock 9. When each No. 1 locking insertion hole 7 and the corresponding No. 2 locking insertion hole 8 are connected, a locking limiting channel is formed. When the end of the locking pin passes through the No. 1 locking insertion hole 7 and extends into the No. 2 locking insertion hole 8, the deflagration guide tube 2 and the spring base 10 are in a locked state. When the end of the locking pin disengages from the No. 2 locking insertion 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 in specific embodiment seven.

[0037] Specific Implementation Method Nine: Combining Figures 1 to 4 This embodiment differs from specific embodiment eight in that the frog leg unit includes a hind leg thigh 5 and a hind leg lower leg 6. One end of the hind leg thigh 5 is hinged to the outer wall of the deflagration guide pipe 2, and the other end of the hind leg thigh 5 is hinged to one end of the hind leg lower leg 6. The other end of the hind leg lower leg 6 is hinged to one side of the frog foot connecting seat 11. Other components and connection methods are the same as in specific embodiment eight.

[0038] As described in Specific Embodiments 1 to 9, the combustion and explosion driving device provided in this application relies on the combustion and explosion reaction of the hydrogen-oxygen mixture in the combustion guide tube 2 to provide energy. In order to improve the safety of the driving device, the combustion guide tube 2 itself needs to have a certain strength. In this embodiment, the combustion guide tube 2 is made of high-strength stainless steel, and the inner wall is precision polished to reduce the coefficient of friction. The energy transmission path is as follows: the impact force generated by the combustion and explosion drives the sealing piston 3 to move along the axial direction of the combustion guide tube 2. The sealing piston 3 is rigidly connected to the compression spring 4. The electromagnetic lock 9 adopts a bistable electromagnet structure. Its lock body is fixedly connected to the spring base 10. 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 combustion and 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 combustion and explosion cavity. Finally, the linear motion is converted into the extension action of the bionic hind limb through the linkage mechanism composed of the frog foot unit and two frog leg units, so as to realize the gradient storage, conversion and release of the combustion and explosion energy.

[0039] The purpose of the electromagnetic lock 9 in this application is to constrain the position of the frog's leg unit. To fully simulate the force exertion of a frog jumping, this application decomposes the frog's jumping motion into two parts: energy storage and extension. Through actual observation, when a frog is storing energy for a jump, its legs are bent, ensuring the frog's feet are close to its tail. Energy is then stored through the leg muscles, facilitating a better release of energy to complete the jump. In this application, the energy storage stage is achieved by filling the deflagration guide pipe 2 with a hydrogen-oxygen mixture. To ensure the frog's leg unit remains close to its body during the hydrogen-oxygen mixture filling process, thus simulating the frog's action during jumping energy storage, it is necessary to... The locking mechanism secures the frog leg unit to the combustion guide tube 2. With the introduction of the hydrogen-oxygen mixture and the locking of the frog leg unit and combustion guide tube 2, the compression spring 4 is in a compressed state. This state simulates the tension of a frog's leg muscles during a jump, allowing the compression spring 4 to convert, store, and release the energy released during the subsequent combustion process. This makes the frog-like robot's jumping force more closely resemble the actual force exerted by a frog. It is important to note that before ignition, the frog leg unit and combustion guide tube 2 must be unlocked to allow the hind limbs to extend using the energy released by the combustion reaction, thus preventing the combustion guide tube 2 from bursting and causing a safety accident.

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

[0041] Specific Implementation Method Ten: Combining Figures 1 to 4This embodiment describes a method for operating a combustion-explosion actuator mechanism for a frog-like jumping robot. The method is implemented through the following steps:

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

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

[0044] Step 3: After the hydrogen-oxygen mixture is compressed to the 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 the retracted state, and the frog foot unit and the deflagration guide cavity unit are unlocked.

[0045] Step 4: After unlocking the frog leg unit and the deflagration guide cavity unit in step 3, the deflagration ignition is immediately performed at the air inlet 1. The compressed hydrogen-oxygen mixture in the deflagration guide tube 2 reacts with the flame and undergoes a deflagration reaction. The deflagration energy is transferred to the piston 3, and then buffered by the compression spring 4 before being transferred to the electromagnetic lock 9. After receiving the deflagration energy, the electromagnetic lock 9 moves synchronously with the spring base 10 and the double-leg connector 11, transferring the force to the two frog leg parts 12, realizing the extension of the frog's hind legs and completing a jump.

[0046] Step 5: After the hydrogen-oxygen mixture explodes, the water vapor produced will condense rapidly, reducing the compression of the gas inside the explosion guide tube 2. Under the action of external atmospheric pressure, the piston 3 will move rapidly to the top of the explosion guide tube 2, while simultaneously driving the frog foot unit and the two frog leg units to retract. At this point, one cycle of extending and retracting the legs is completed.

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

[0048] The present invention has been disclosed above with preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention. However, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A combustion-explosion actuator mechanism for a frog-like jumping robot, characterized in that: The combustion and explosion actuator mechanism includes a combustion and explosion guide cavity unit, a compression unit, a frog foot unit, and two frog leg units. One end of the compression unit is disposed in the combustion and explosion guide cavity unit and is slidably connected to the combustion and explosion guide cavity unit in a sealed manner. The other end of the compression unit is inserted into the frog foot unit and is fixedly connected to the frog foot unit. The two frog leg units are disposed opposite to each other on both sides of the combustion and explosion guide cavity unit. One end of each frog leg unit is hinged to the combustion and explosion guide cavity unit, and the other end of each frog leg unit is hinged to the frog foot unit. The frog foot unit is provided with a locking part, and the frog foot unit is detachably connected to the combustion and explosion guide cavity unit through the locking part. The deflagration guide cavity unit includes an air inlet connector (1) and a deflagration guide tube (2). The air inlet connector (1) is installed on the end of the deflagration guide tube (2) away from the frog foot unit. One end of the compression unit is set in the deflagration guide tube (2) and is slidably connected to the deflagration guide tube (2). The inner wall of the deflagration guide tube (2) near the frog foot unit has a groove for the frog foot unit to fit in. The compression unit includes a sealing piston (3) and a compression spring (4). The sealing piston (3) is set in the deflagration guide tube (2) and is 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 fixedly connected to the frog foot unit. The sealing piston (3) includes a piston body and two sealing rings. The two sealing rings are fitted on the outer wall of the piston body. The piston body is sealed to the deflagration guide tube (2) through the two sealing rings. One end of the compression spring (4) is fixedly connected to the piston body. The frog foot unit includes a spring base (10), a frog foot connecting seat (11), and two frog foot parts (12). The spring base (10) is located on one end of the frog foot connecting seat (11) near the deflagration guide tube (2) and is detachably connected to the frog foot connecting seat (11). The two frog foot parts (12) are symmetrically located on one end of the frog foot connecting seat (11) away from the deflagration guide tube (2) along the center line of the width direction of the frog foot connecting seat (11), and each frog foot part (12) is detachably connected to the frog foot connecting 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.

2. The combustion-explosion actuator mechanism for a frog-like jumping robot according to claim 1, characterized in that: The locking part in the frog foot unit is an electromagnetic lock (9). The electromagnetic lock (9) is set in the spring base (10), and the housing of the electromagnetic lock (9) is fixedly connected to the spring base (10). 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. The spring base (10) is detachably connected to the deflagration guide tube (2) through the extension and retraction of the locking pins in the electromagnetic lock (9).

3. The combustion and explosion actuator mechanism for a frog-like jumping robot according to claim 2, characterized in that: Two No. 1 locking insertion holes (7) are machined on the inner wall of the insertion groove in the deflagration guide tube (2), and two No. 2 locking insertion holes (8) are machined on the outer wall of the spring base (10). Each No. 2 locking insertion hole (8) is correspondingly matched with a locking pin in the electromagnetic lock (9). When each No. 1 locking insertion hole (7) is connected with the corresponding No. 2 locking insertion hole (8), a locking limit channel is formed. When the end of the locking pin passes through the No. 1 locking insertion hole (7) and extends into the No. 2 locking insertion 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 disengaged from the No. 2 locking insertion hole (8), the deflagration guide tube (2) and the spring base (10) are in an unlocked state.

4. The combustion and explosion actuator mechanism for a frog-like jumping robot according to claim 3, characterized in that: The frog leg unit includes a hind leg thigh (5) and a hind leg calf (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 calf (6). The other end of the hind leg calf (6) is hinged to one side of the frog foot connecting seat (11).

5. A method for operating the combustion and explosion actuator mechanism for a frog-like jumping robot according to any one of claims 1-4, characterized in that: The working method is achieved through the following steps: Step 1: Control the two locking pins in the electromagnetic lock (9) to be in the extended state, and lock and fix the frog foot unit and the deflagration guide cavity unit; Step 2: Connect the air inlet connector (1) to a small external air pump through the air pipe, and use the air pump to fill the deflagration guide pipe (2) with hydrogen-oxygen mixture and compress it in the deflagration guide pipe (2); Step 3: After the hydrogen-oxygen mixture is compressed to the critical value, the small air pump stops supplying gas and separates the air pipe from the air inlet connector (1). At the same time, the two locking pins in the electromagnetic lock (9) are controlled to be in the retracted state, and the frog foot unit and the deflagration guide cavity unit are unlocked. Step 4: After unlocking the frog foot unit and the deflagration guide cavity unit in step 3, the deflagration ignition is immediately performed at the air inlet (1). The compressed hydrogen-oxygen mixture in the deflagration guide tube (2) reacts with the flame and undergoes a deflagration reaction. The deflagration energy is transferred to the piston (3) and then buffered by the compression spring (4) before being transferred to the electromagnetic lock (9). After receiving the deflagration energy, the electromagnetic lock (9) moves synchronously with the spring base (10) and the frog foot connecting seat (11), transferring the force to the two frog foot parts (12) to achieve the extension of the frog's hind limbs and complete a jump. Step 5: After the hydrogen-oxygen mixture is burned and exploded, the water vapor produced will condense rapidly, which will reduce the compression of the gas in the deflagration guide tube (2). Under the action of the external atmospheric pressure, the piston (3) will move rapidly to the top of the deflagration guide tube (2), and at the same time drive the frog foot unit and the two frog leg units to retract. At this time, one cycle of extending and retracting the legs is completed. Step 6: Repeat steps 1 to 5 above to achieve continuous jumping motion of the frog-like jumping robot.

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