Frog-like hybrid drive amphibious robot

Abstract

The frog-like hybrid drive amphibious robot can freely move in water and on the land, the amphibious function is achieved, and the robot can meet different movement requirements such as crossing obstacles and gullies and freely swimming in water. The movement mechanism of frog swimming and jumping is applied to the robot, and amphibious movement is achieved in a hybrid driving mode. On the land, a fire blast driving type posterior limb power generation mechanism is adopted and matched with a connecting rod type forelimb flexible posture adjusting mechanism, and high-performance frog-like jumping is achieved; and in water, the rope-driven linkage hind limb mechanism is used for completing outward extending and inward retracting movement, and the controllable soft body extension driving flippers are combined for swinging, opening and closing, so that efficient frog-like swimming is realized. Compared with other amphibious robots, the amphibious robot adopts a simplified executing mechanism and a split type design, the complexity of amphibious mode switching is remarkably reduced, and therefore the adaptability and controllability of the robot in the amphibious environment are improved.

Description

Technical Field

[0001] This application relates to the technical field of amphibious robots, and particularly to a frog-like hybrid-driven amphibious robot. Background Art

[0002] With the rapid development of science and technology, significant research breakthroughs have been made in multiple fields such as sensors, new materials, 3D printing, and artificial intelligence. This progress has effectively promoted the rapid development of robot technology, continuously enhancing its integrated operation ability, enabling it to replace humans in performing more high-risk or difficult tasks. However, the application scenarios of robots have gradually expanded from the initial unitary production environment to various complex fields such as home service, battlefield operations, and extreme environments with high radiation in the nuclear industry.

[0003] Therefore, for some special tasks, such as geological disaster rescue, river shoal exploration, and exploration of amphibious battlefields, robots need to ensure the successful completion of tasks in different environments. With the changes in different environments, the driving mode of robots will also change. Generally, a single-mode robot can only achieve driving in a specific environment. Compared with robots that can only move in a single environment, multi-environment operation robots can meet the needs of operating movements in different environments through special structural designs. Such robots that can move in multiple environments have gradually attracted more and more attention from researchers. Among them, the adaptability problems of amphibious robots in water areas, land areas, and transition regions are particularly prominent and have become a research hotspot.

[0004] Traditional amphibious robots mostly adopt wheeled, tracked, legged, and composite structures in terms of driving forms. Their wheeled structures are simple, with high propulsion efficiency and easy to control, but their environmental adaptability is limited; tracked and legged structures have strong obstacle-crossing capabilities, but they are heavy, with complex structures and limited mobility; composite motion mechanisms have good environmental adaptability, but the designs of their structures and control systems are relatively complex. Generally speaking, traditional amphibious robots have the advantages of being mature, reliable, and efficient, but they are greatly restricted by the terrain environment and are difficult to play an effective role in complex and unfamiliar environments and specific working situations. Summary of the Invention

[0005] To solve the problem that traditional amphibious robots are greatly restricted by the terrain environment and are difficult to play an effective role in complex and unfamiliar environments and specific working situations.

[0006] This application provides a frog-like hybrid-driven amphibious robot, including: a torso mechanism, a jumping power mechanism, a swimming power mechanism, and a control hardware system;

[0007] The torso mechanism is composed of an upper housing, a lower housing, and a sealed cavity;

[0008] The sealed cavity forms a closed cavity through a static seal and a dynamic seal, and the control hardware system is arranged in the cavity;

[0009] The jumping power mechanism and the swimming power mechanism are respectively arranged on both sides of the trunk mechanism. The jumping power mechanism adopts an explosion-driven mode, and the swimming power mechanism adopts a rope-driven mode.

[0010] In a feasible implementation, the jumping power mechanism includes: an explosion driver and a rear toe assembly;

[0011] The explosion driver includes: a soft explosion chamber, an ignition stage and a force application push rod;

[0012] The soft explosion chamber is bonded to the ignition stage through a sealant. The force application push rod is fixedly connected to the bottom of the soft explosion chamber. A cavity is arranged inside the force application push rod, and the soft explosion chamber is embedded in the cavity;

[0013] The soft explosion chamber is hermetically connected to the soft explosion chamber cover through coated sealant. The ignition stage is provided with a gas inlet and outlet;

[0014] Concave chutes are arranged on the inner wall of the trunk mechanism, and convex guiding blocks matching the concave chutes are arranged on the outer sides of both sides of the force application push rod;

[0015] The rear toe assembly is hinged to the lower end of the force application push rod through a torsion spring.

[0016] In a feasible implementation, the jumping power mechanism further includes: a front limb assembly;

[0017] The front limb assembly includes: a forearm, a large arm, and a joint assembly and an auxiliary forearm arranged between the forearm and the large arm;

[0018] The joint assembly includes: a shoulder joint, an elbow joint, a first auxiliary joint and a second auxiliary joint;

[0019] The shoulder joint is arranged at one end of the large arm far from the forearm and is connected with a driving servo. The elbow joint connects the large arm and the forearm;

[0020] The auxiliary forearm is arranged on one side of the large arm. The first auxiliary joint connects one end of the auxiliary forearm and one end of the large arm close to the shoulder joint. The second auxiliary joint connects the other end of the auxiliary forearm and the elbow joint.

[0021] In a feasible implementation, the control hardware system includes: a gas delivery device, an ignition control module, a pressure sensor and a main control board;

[0022] The gas delivery device is connected to the combustion explosion driver through a pipeline;

[0023] The ignition control module is electrically connected to the ignition stage;

[0024] The air pressure sensor is arranged inside the soft combustion explosion chamber;

[0025] The main control board integrates a wireless communication module and is electrically connected to the gas delivery device, the ignition control module, and the air pressure sensor respectively;

[0026] The combustion explosion driver further includes: an air pressure sensor interface for connecting the air pressure sensor.

[0027] In a feasible implementation manner, the swimming power mechanism includes: a hind limb propulsion mechanism, a fin mechanism, and a driving component;

[0028] The hind limb propulsion mechanism is composed of a hip joint, a knee joint, a thigh, and a calf;

[0029] The thigh and the calf are linked by a cord, and the cord passes through the groove guides of the hip joint and the knee joint;

[0030] The fin mechanism includes: an ankle joint, a fin main body, and five toe bones;

[0031] The fin main body is connected to the toe bones through a flexible deformation membrane, and a gear transmission group is arranged between the toe bones and the ankle joint;

[0032] The driving component includes: a first servo for driving the hip joint and a second servo for driving the ankle joint.

[0033] In a feasible implementation manner, the cord of the swimming power mechanism includes a first cord and a second cord;

[0034] A first annular groove guide is provided at the axis of the hip joint for guiding the winding or release of the second cord;

[0035] A second annular groove guide is provided at the axis of the knee joint for guiding the winding or release of the first cord;

[0036] One end of the first cord is fixed at a fixed point C at the front end of the thigh, and the other end is wound and fixed at a fixed point E at the front end of the calf through the second annular groove guide;

[0037] One end of the second cord is fixed at a fixed point at the front end of the calf, and the other end is wound and fixed at a fixed point in the lower groove of the torso mechanism through the first annular groove guide;

[0038] The first cord and the second cord form an equal-length reverse closed-loop coupling;

[0039] Rolling bearings are embedded on both inner sides of the joint axes of the hip joint and the knee joint.

[0040] In a feasible implementation, the thickness of the flexible deformation film of the flipper mechanism is 0.5 mm;

[0041] The toe bones are rotationally connected to the ankle joint through bearings, and the gear transmission group includes three-stage variable-speed gears and a waterproof servo motor.

[0042] In a feasible implementation, the toe bones include: the first toe bone, the second toe bone, the third toe bone, the fourth toe bone, and the fifth toe bone;

[0043] The five toe bones of the flipper mechanism are symmetrically distributed on both sides of the flipper main body;

[0044] Taking the third toe bone as the central axis of symmetry, the first toe bone, the second toe bone, the third toe bone, the fourth toe bone, and the fifth toe bone are rotationally arranged around the central axis of symmetry, and the rotation angle range is 0° - 60°.

[0045] In a feasible implementation, an air storage bag is arranged in the sealed cavity of the torso mechanism;

[0046] The volume of the air storage bag is 80 ml, and the upper housing and the lower housing are detachably connected through a snap-fit structure.

[0047] In a feasible implementation, the torso mechanism is formed by 3D printing with nylon material;

[0048] An O-ring seal is arranged at the joint of the upper housing and the lower housing, and the wall thickness of the sealed cavity is 3 mm.

[0049] The frog-like hybrid drive amphibious robot provided by this application can move freely in water and on land, realizing the amphibious function, and can adapt to different motion requirements, such as crossing obstacles and gullies, and swimming freely in water. The motion mechanisms of frog swimming and jumping are applied to the robot, and amphibious motion is realized through a hybrid drive method. On land, a combustion explosion drive type hind limb force generation mechanism is adopted, combined with a link type front limb flexible posture adjustment mechanism, to realize high-performance frog-like jumping; while in water, a rope drive type linkage hind limb mechanism is used to complete the extension and retraction movements, combined with a controllable soft body extension drive type flipper for swinging and opening / closing, to realize efficient frog-like swimming. Compared with other amphibious robots, this robot adopts a simplified execution mechanism and a split design, significantly reducing the complexity of amphibious mode switching, thereby improving the adaptability and controllability of the robot in the water and land environment. Brief Description of the Drawings

[0050] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments in line with the implementation of the present invention, and are used together with the specification to explain the principles of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the implementation of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0051] Figure 1 It is a schematic diagram of the overall structure of a frog-like hybrid drive amphibious robot exemplarily shown in an embodiment of the present application;

[0052] Figure 2 It is a schematic diagram of the structure of the torso mechanism exemplarily shown in an embodiment of the present application;

[0053] Figure 3 It is a perspective view schematic diagram of a frog-like hybrid drive amphibious robot exemplarily shown in an embodiment of the present application;

[0054] Figure 4 It is a schematic diagram of the structure of the front limb assembly exemplarily shown in an embodiment of the present application;

[0055] Figure 5 It is a schematic diagram of the back structure of the combustion explosion driver exemplarily shown in an embodiment of the present application;

[0056] Figure 6 It is a schematic diagram of the external structure of the combustion explosion driver exemplarily shown in an embodiment of the present application;

[0057] Figure 7 It is a schematic diagram of the internal structure of the combustion explosion driver exemplarily shown in an embodiment of the present application;

[0058] Figure 8 It is a schematic diagram of the structure of the swimming power mechanism exemplarily shown in an embodiment of the present application;

[0059] Figure 9 It is a schematic diagram of the structure of the cable drive exemplarily shown in an embodiment of the present application;

[0060] Figure 10 It is a schematic diagram of the propulsion motion of the cable drive exemplarily shown in an embodiment of the present application;

[0061] Figure 11 It is a schematic diagram of the recovery motion of the cable drive exemplarily shown in an embodiment of the present application;

[0062] Figure 12 It is a schematic diagram of the structure of the fin main body exemplarily shown in an embodiment of the present application;

[0063] Figure 13 It is a schematic diagram of the bionic motion process of the fin main body exemplarily shown in an embodiment of the present application.

[0064] Description of the reference numerals in the drawings:

[0065] 100 - Trunk mechanism; 110 - Upper housing; 120 - Lower housing; 130 - Air storage bag; 140 - Snap - type structure;

[0066] 200 - Jumping power mechanism; 210 - Combustion explosion driver; 211 - Soft combustion explosion chamber; 212 - Ignition stage; 213 - Force - applying push rod; 214 - Internal cavity chamber; 215 - Pressure sensor interface; 216 - Soft combustion explosion chamber cover; 217 - Gas inlet and outlet; 220 - Toe assembly; 221 - Torsion spring; 230 - Forelimb assembly; 231 - Forearm; 232 - Upper arm; 233 - Auxiliary forearm; 234 - Shoulder joint; 235 - Elbow joint; 236 - First auxiliary joint; 237 - Second auxiliary joint;

[0067] 300 - Swimming power mechanism; 310 - Limb propulsion mechanism; 311 - Hip joint; 312 - Knee joint; 313 - Thigh; 314 - Calf; 315 - Cord; 315a - First cord; 315b - Second cord; 318 - First annular groove guide rail; 319 - Second annular groove guide rail; 320 - Fin mechanism; 321 - Ankle joint; 322 - Fin body; 323 - Toe bone; 323a - First toe bone; 323b - Second toe bone; 323c - Third toe bone; 323d - Fourth toe bone; 323e - Fifth toe bone; 324 - Flexible deformation membrane; 325 - Gear transmission group; 331 - First servo; 332 - Second servo;

[0068] 400 - Control hardware system; 410 - Gas delivery device; 420 - Ignition control module; 430 - Pressure sensor; 440 - Main control board. Detailed implementation manners

[0069] Now, the exemplary embodiments will be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present invention.

[0070] Traditional amphibious robots mostly adopt wheeled, tracked, legged, and composite structures in terms of drive forms. Their wheeled structures are simple, with high propulsion efficiency and easy to control, but their environmental adaptability is limited; tracked and legged robots have strong obstacle-crossing capabilities, but they are heavy, have complex structures, and limited mobility; composite motion mechanisms have good environmental adaptability, but the design of their structures and control systems is relatively complex. All in all, traditional amphibious robots have the advantages of being mature, reliable, and efficient, but they are greatly restricted by the terrain environment and are difficult to play an effective role in complex and unfamiliar environments and specific working scenarios.

[0071] Compared with traditional amphibious robots, bionic amphibious robots are inspired by the highly flexible and adaptable capabilities of organisms themselves in unstructured and variable environments, making the motion modes of robots more diverse and flexible, which provides more design ideas for performing amphibious tasks in complex environments. Frogs are one of the typical representatives of amphibians in nature. They are small and light in body shape, and have both efficient swimming and jumping motion modes. On land, they can jump over obstacles several times or even dozens of times their own body length with the explosive and efficient jumping motion of their hind legs, and in water, they can use their webbed feet to quickly propel forward and achieve fast swimming.

[0072] Inspired by the amphibious motion characteristics of frogs, this application proposes a frog-like hybrid drive amphibious robot. Different from existing frog-like jumping or swimming robots, this application applies the motion mechanisms of frog swimming and jumping to the robot and realizes amphibious motion through a hybrid drive method. Specifically, referring to Figure 1 and Figure 2 shown, this application embodiment provides a frog-like hybrid drive amphibious robot, including: a torso mechanism 100, a jumping power mechanism 200, a swimming power mechanism 300, and a control hardware system 400 to achieve amphibious motion capabilities.

[0073] Among them, the torso mechanism 100 serves as the main structure of the robot and is composed of an upper housing 110, a lower housing 120, and a sealed cavity. The upper housing 110 and the lower housing 120 can protect the internal mechanisms from the external environment and at the same time provide the necessary structural strength.

[0074] The sealed cavity forms a closed cavity through static seals and dynamic seals, which is used to accommodate the control hardware system 400, prevent moisture and dust from entering, and ensure the stable operation of the control system. The static seals and dynamic seals ensure the sealing performance of the sealed cavity and prevent gas and liquid leakage.

[0075] In this embodiment, the torso mechanism 100 realizes increasing the displacement to improve its own buoyancy while forming a sealed cavity as an electrical compartment. This design not only accommodates the electrical control hardware but also connects the swimming and jumping power mechanisms on both sides, solving the requirements for sealing and structural strength of the amphibious robot when operating in water and on land.

[0076] The jumping power mechanisms 200 are respectively placed on one side of the torso mechanism 100 and adopt an explosion-driven method to provide the power required for the robot to jump. The explosion drive includes a combustion chamber structure. By triggering the instantaneous reaction of the fuel through a controllable ignition device, the chemical energy is converted into mechanical energy to push the piston to actuate, and this energy is transmitted to the supporting feet of the jumping power mechanism 200 through a linkage mechanism. The swimming power mechanisms 300 are respectively placed on the other side of the torso mechanism 100 and adopt a cable-driven method. The end of the cable is connected to the bionic hind limb joint, and the rowing amplitude is controlled by the retracting and extending strokes. The control hardware system 400 is arranged in the sealed cavity of the torso mechanism 100 and is responsible for the overall control and data processing of the robot to ensure that the robot can accurately execute actions such as jumping and swimming.

[0077] The frog-like hybrid drive amphibious robot of this embodiment realizes the lightweight and miniaturization of the robot and improves its motion performance. On land, adopting an explosion-driven hind limb force mechanism, the jumping power mechanism 200 cooperates with a linkage-type front limb dexterous posture adjustment mechanism to achieve high-performance frog-like jumping. In water, through the swimming power mechanism 300, and using a cable-driven linkage hind limb mechanism to complete the extension and retraction movements, combined with a controllable soft body extension drive-type fin for swinging and opening and closing, to achieve efficient frog-like swimming.

[0078] The frog-like hybrid drive amphibious robot of this embodiment realizes flexible movement in a complex water-land environment by integrating two motion mechanisms of jumping and swimming. Its hybrid drive method combines the high energy density of explosion drive and the lightweight and dexterous characteristics of cable drive, ensuring both the explosive power of the robot and improving the motion efficiency. Compared with other amphibious robots, the robot of this embodiment adopts a simplified actuator and a split design, significantly reducing the complexity of the amphibious mode switching, thereby improving the adaptability and controllability of the robot in the water-land environment. This research provides important theoretical and technical support for the design and development of future bionic amphibious robots.

[0079] In some embodiments of the present application, referring to Figures 3 - 7 as shown, the jumping power mechanisms 200 are respectively placed on both sides of the torso mechanism 100 and adopt an explosion-driven method, including an explosion driver 210, a hind toe assembly 220, and a front limb assembly 230.

[0080] The combustion explosion actuator 210 is fixed to the side of the torso mechanism 100 by bolts. The rear toe assembly 220 and the lower end of the force application push rod 213 are hinged by a torsion spring 221. The front limb assembly 230 is connected between the rear toe assembly 220 and the torso mechanism 100. Among them, the combustion explosion actuator 210 is used to provide the power required for jumping and generate explosive motion through combustion explosion. The rear toe assembly 220 is used to push the robot to jump under the action of the combustion explosion driving force and play a role in landing buffer at the same time.

[0081] Specifically, the combustion explosion actuator 210 includes: a soft combustion explosion chamber 211, an ignition stage 212 and a force application push rod 213. The soft combustion explosion chamber 211 is bonded to the ignition stage 212 by sealant. A cavity 214 is provided inside the force application push rod 213 and is fixedly connected to the bottom of the soft combustion explosion chamber 211. The ignition stage 212 is used to ignite the mixed gas in the soft combustion explosion chamber 211 to trigger combustion explosion. The soft combustion explosion chamber 211 is used to accommodate the mixed gas and generate gas expansion to push the force application push rod 213 during combustion explosion. The force application push rod 213 generates a linear motion under the action of the combustion explosion force and pushes the rear toe assembly 220 to jump.

[0082] Furthermore, the soft combustion explosion chamber 211 is hermetically connected to the soft combustion explosion chamber cover 216 by coating sealant. The ignition stage 212 is provided with a gas inlet and outlet 217. Among them, the soft combustion explosion chamber cover 216 is hermetically connected to the soft combustion explosion chamber 211 to ensure that the combustion explosion reaction takes place in a closed space. The gas inlet and outlet 217 is used to fill or discharge the mixed gas into the soft combustion explosion chamber 211.

[0083] When the robot jumps forward on land, the combustion explosion actuator 210 ignites the mixed gas in the soft combustion explosion chamber 211 to generate a combustion explosion force. The combustion explosion force pushes the force application push rod 213 to move forward, and then pushes the rear toe assembly 220 to swing backward, generating a reaction force to push the robot to jump. At the same time, the front limb assembly 230 adjusts the jumping posture to ensure the robot can take off and land stably.

[0084] In this embodiment, the jumping power mechanism 200 adopts a combustion explosion driving method to simulate the explosive power of the hind limbs of a frog and provide the power required for the robot to jump. The combustion explosion actuator 210 generates explosive motion through combustion explosion, solving the problem of insufficient power of traditional driving methods. Based on the principle of chemical reaction kinetics, the combustion explosion driving method can generate a large amount of gas and heat in a short time, thus generating a powerful thrust, enabling the robot to cross obstacles and gullies through the jumping power mechanism 200. Moreover, the combustion explosion driving method has the characteristics of fast response speed and large thrust, and is suitable for occasions that require rapid start and acceleration. At the same time, the front limb assembly 230 increases the jumping stability and ensures that the robot can land accurately.

[0085] Furthermore, in this embodiment, the rear toe assembly 220 is hinged to the lower end of the force application push rod 213 through a torsion spring 221. The torsion spring 221 is sleeved on the hinge shaft, with one end fixed to the rear toe assembly 220 and the other end fixed to the force application push rod 213. The force application push rod 213 will perform a linear motion under the action of the detonation force to push the rear toe assembly 220 to jump. The rear toe assembly 220 is used to push the robot to jump under the action of the detonation driving force and at the same time play a role in landing buffer. At this time, the torsion spring 221 can provide the elastic force at the hinge, and after the robot completes the takeoff, the rear toe assembly 220 can be instantly restored to its original position through the torsion spring 221 to prepare for the next jump.

[0086] Specifically, when the force application push rod 213 moves forward under the action of the detonation force, it pushes the rear toe assembly 220 to swing backward, generating a reaction force to push the robot to jump. When the robot is in the air after completing the takeoff, the torsion spring 221 can restore the rear toe assembly 220 to its original position, and when landing, the rear toe assembly 220 first touches the ground, and the torsion spring 221 is compressed to absorb the impact force, further protecting the internal mechanism of the robot from damage.

[0087] In this embodiment, the rear toe assembly 220 and the force application push rod 213 are reset and absorb the impact force through the torsion spring 221, solving the problem of excessive impact force when the robot lands. The torsion spring 221 can reset the rear toe assembly 220 before landing, absorb the impact force during landing, provide good landing buffer performance for the whole robot, and enable the rear toe assembly 220 to automatically adjust its posture during landing, increasing the landing stability. At the same time, the hinged connection method makes the rear toe assembly 220 more flexible and can adapt to the jumping requirements in different environmental scenarios.

[0088] In some embodiments of the present application, with reference to Figure 4 as shown, the front limb assembly 230 includes: a forearm 231, a large arm 232, a joint assembly, and an auxiliary forearm 233. The front limb assembly 230 is used to adjust the jumping posture and increase the jumping stability as a whole.

[0089] Among them, the joint assembly includes: a shoulder joint 234, an elbow joint 235, a first auxiliary joint 236, and a second auxiliary joint 237; the shoulder joint 234 is provided at one end of the large arm 232 away from the forearm 231 and is connected to a driving servo, the elbow joint 235 connects the large arm 232 and the forearm 231; the auxiliary forearm 233 is provided on one side of the large arm 232, the first auxiliary joint 236 connects one end of the auxiliary forearm 233 and one end of the large arm 232 close to the shoulder joint 234, and the second auxiliary joint 237 connects the other end of the auxiliary forearm 233 and the elbow joint 235.

[0090] The front limb assembly 230 is connected between the hind toe assembly 220 and the torso mechanism 100 and is fixedly connected by bolts. It can be understood that the forearm 231 and the upper arm 232 constitute the main structure of the front limb assembly 230, which is used to transmit the torque during jumping. The joint assembly is used to connect the forearm 231 and the upper arm 232, which can provide rotational freedom and adjust the jumping posture. The auxiliary forearm 233 further increases the stability of the front limb assembly 230 to ensure the torque transmission during jumping.

[0091] Specifically, from the perspective of the biological bone structure of a frog, the front limbs are relatively small and the structure is simple. Therefore, the front limb assembly 230 of this application has a simple structure and light weight to avoid affecting the position of the center of gravity of the robot during jumping. The front limb assembly 230 of the embodiment of this application has two degrees of freedom, namely the active degree of freedom of the shoulder joint 234 and the passive degree of freedom of the elbow joint 235. A driving servo is connected to each side of the front limb assembly 230. For example, a small waterproof servo with a torque of 6 kg·cm. Through the link linkage drive method, the movement of the entire front limb is controlled. The driving servo directly drives the upper arm 232 to rotate around the shoulder joint 234, and drives the forearm 231 to rotate.

[0092] In order to achieve the stability of the robot when landing, generally, a torsion spring is arranged at the elbow joint 235 to reduce the ground reaction force at the end of the front limb during the landing buffer process, but only setting the torsion spring is not enough. Due to the large inertia at the moment of landing, it will also cause impact damage to the upper arm 232, the forearm 231 and the joint axis. To solve this problem, the first auxiliary joint 236, the second auxiliary joint 237 and the auxiliary forearm 233 are added between the intersection of the forearm 231 and the upper arm 232 in the embodiment of this application. This can not only better drive the shoulder joint 234 to drive the coupled movement of the elbow joint 235, but also this structure increases the strength of the front limb assembly 230 during the landing buffer process, enabling it to withstand greater impact forces and reducing the damage to the front limb assembly 230 caused by the interaction force with the ground.

[0093] Therefore, when the robot jumps, the front limb assembly 230 adjusts the jumping posture through the coordinated action of the forearm 231, the upper arm 232 and the joint assembly. The joint assembly provides rotational freedom, enabling the forearm 231 and the upper arm 232 to rotate relative to each other, thereby adjusting the swing angle and speed of the hind toe assembly 220, further adjusting the jumping posture and increasing stability, and ensuring the robot can take off and land stably.

[0094] In this embodiment, the structural design of the front limb assembly 230 increases the stability of jumping, ensures that the robot can land accurately, enables the robot to adapt to different jumping requirements, such as crossing obstacles of different heights, and improves the movement flexibility of the robot, enabling it to move freely in a complex environment.

[0095] In some embodiments of this application, with reference toFigure 1 As shown in the figure, the control hardware system 400 is arranged in the sealed cavity of the torso mechanism 100, and includes a gas delivery device 410, an ignition control module 420, a pressure sensor 430, and a main control board 440. The gas delivery device 410 is connected to the combustion explosion actuator 210 through a pipeline. The ignition control module 420 is electrically connected to the ignition stage 212. The pressure sensor 430 is arranged inside the soft combustion explosion cavity 211. The main control board 440 integrates a wireless communication module and is electrically connected to the gas delivery device 410, the ignition control module 420, and the pressure sensor 430 respectively.

[0096] Among them, the gas delivery device 410 is used to deliver the mixed gas to the combustion explosion actuator 210 to provide reactants for the combustion explosion. The ignition control module 420 is used to control the ignition timing and energy of the ignition stage 212 to ensure the reliability and safety of the combustion explosion. The pressure sensor 430 is used to monitor the air pressure change in the soft combustion explosion cavity 211 and provide a feedback signal for the control hardware system 400. The main control board 440 integrates a wireless communication module, can receive instructions from the upper computer, control the operation of the gas delivery device 410, the ignition control module 420, and the pressure sensor 430, and realize the overall control of the robot. The wireless communication module realizes the data transmission between the upper computer and the lower computer, including the sending and receiving of drive instructions and control data.

[0097] Furthermore, the combustion explosion actuator 210 is fixed on the side of the torso mechanism 100 by bolts and is equipped with a pressure sensor interface 215. The pressure sensor interface 215 is used to connect the pressure sensor 430 and monitor the air pressure change in the soft combustion explosion cavity 211 in real time.

[0098] The specific combustion explosion process is as follows: When the robot needs to jump, the upper computer sends an instruction to the main control board 440 through the wireless communication module. The main control board 440 controls the gas delivery device 410 to fill the gas inlet and outlet 217 of the combustion explosion actuator 210 with hydrogen-oxygen mixed gas according to the instruction. At the same time, the pressure sensor 430 monitors the air pressure change in the soft combustion explosion cavity 211 through the pressure sensor interface 215. When the air pressure reaches the set value, the control hardware system 400 sends an instruction to the ignition stage 212 to ignite the mixed gas and generate a combustion explosion force. The combustion explosion force pushes the force generating push rod 213 forward, and then pushes the rear toe assembly 220 to swing backward, generating a reaction force to push the robot to jump. The pressure sensor 430 provides a feedback signal for the control hardware system 400 by monitoring the air pressure change in the soft combustion explosion cavity 211 in real time to ensure the reliability and safety of the combustion explosion.

[0099] In this embodiment, the control hardware system 400 integrates a gas delivery device 410, an ignition control module 420, a pressure sensor 430, and a main control board 440, solving the problems of inaccurate control and insufficient safety when the robot jumps and swims. Based on the principles of automatic control theory, the control hardware system 400 can monitor the state of the robot in real time and adjust the control strategy according to the instructions of the upper computer to ensure the stable operation of the robot. The design of the wireless communication module enables the robot to receive instructions remotely, improving the intelligence level of the robot.

[0100] In some embodiments of the present application, as shown in Figure 8 FIG. 5, the swimming power mechanism 300 is disposed on both sides of the torso mechanism 100 and adopts a cable drive method. Specifically, it includes: a hind limb propulsion mechanism 310, a flipper mechanism 320, and a drive assembly. The hind limb propulsion mechanism 310 is composed of a hip joint 311, a knee joint 312, a thigh 313, and a calf 314, and is linked by a cable 315.

[0101] Among them, the hip joint 311 serves as the rotation center of the hind limb propulsion mechanism 310 and is used to drive the swing of the thigh 313. The knee joint 312 is used to connect the thigh 313 and the calf 314 and provides a rotational degree of freedom to realize the swing of the calf 314. It can be understood that in order to reduce weight and ensure sufficient torque, the first servo 331 and the second servo 332 respectively adopt small waterproof servos with torques of 6 kg·cm and 4.5 kg·cm, and their weights are 25 g and 15 g respectively.

[0102] The thigh 313 and the calf 314 together form the main structure of the hind limb propulsion mechanism 310 and transmit the torque during swimming. Then, the thigh 313 and the calf 314 are linked by a cable 315 to realize frog-like swimming. Based on the above structure, the hind limb propulsion mechanism 310 can simulate the horizontal stroke propulsion method of a frog's hind limbs and provide the power required for the robot to swim.

[0103] Furthermore, the flipper mechanism 320 includes an ankle joint 321, a flipper main body 322, and five toe bones 323. Among them, the ankle joint 321 is the rotation center of the flipper mechanism 320 and can drive the movement of the flipper main body 322 and the toe bones 323. The toe bones 323 can increase the rigidity and propulsion force of the flipper and adjust the shape and angle of the flipper by rotation. The flipper main body 322 is connected to the five toe bones 323 through a flexible deformation membrane 324 to realize the opening and closing of the flipper. A gear transmission group 325 is provided between the five toe bones 323 and the ankle joint 321. The gear transmission group 325 is used to transmit the driving force of the servo to realize the opening and closing of the flipper.

[0104] Specifically, the flipper mechanism 320 solves the problem of insufficient control of propulsion and resistance during the robot's swimming in water through a controllable soft body stretching drive design. Based on the principle of bionics, the flipper structure of a frog is suitable for swimming in water. By simulating this structure, the robot can achieve efficient swimming in water. The design of the gear transmission group 325 enables the driving force of the servo motor to be transmitted to the flipper main body 322 and the phalanges 323, realizing precise control of the flippers. The flexible deformation membrane 324 realizes the flexible deformation of the flippers, further increasing the control of propulsion and resistance during swimming.

[0105] Furthermore, the drive assembly includes a first servo motor 331 that drives the hip joint 311 and a second servo motor 332 that drives the ankle joint 321, both of which are fixed to the torso mechanism 100.

[0106] It can be understood that the first servo motor 331 is used to drive the rotation of the hip joint 311, driving the swing of the thigh 313, and the second servo motor 332 is used to drive the rotation of the ankle joint 321, driving the movement of the flipper main body 322 and the phalanges 323.

[0107] When the robot is swimming, the control hardware system 400 sends instructions to the drive assembly to drive the hind limb propulsion mechanism 310 and the flipper mechanism 320 to move. The first servo motor 331 drives the rotation of the hip joint 311, driving the swing of the thigh 313; the swing of the thigh 313 and the calf 314 is linked by a cord 315 to achieve a frog-like swimming motion. At the same time, the second servo motor 332 drives the rotation of the ankle joint 321, driving the movement of the flipper main body 322 and the phalanges 323, realizing the opening and closing of the flippers, and increasing the control of propulsion and resistance during swimming.

[0108] The swimming power mechanism 300 of this embodiment adopts a cord drive method, simulating the horizontal stroke propulsion method of a frog's hind limbs, providing the power required for the robot to swim. The drive assembly solves the problem of inaccurate motion control during the robot's swimming in water by precisely controlling the motion of the hind limb propulsion mechanism 310 and the flipper mechanism 320. Based on the principle of motion control, the servo motor has the characteristics of fast response speed and high control accuracy, and is suitable for occasions that require precise motion control. The design of the drive assembly enables the robot to achieve a frog-like swimming motion, improving the swimming efficiency. Based on the principle of bionics, the hind limb structure of a frog is suitable for swimming in water. By simulating this structure, the robot can achieve efficient swimming in water. And the cord drive method has the characteristics of smooth transmission and simple structure, and is suitable for occasions that require precise motion control. At the same time, it reduces the manufacturing cost and maintenance difficulty of the robot.

[0109] In some embodiments of the present application, referring to Figure 9 As shown, the cord 315 of the swimming power mechanism 300 includes a first cord 315a and a second cord 315b.

[0110] In this embodiment, the hip joint 311 is driven by the first servo 331, the ankle joint 321 is driven by the second servo 332, and the first cord 315a and the second cord 315b are used for linkage control to achieve the synchronization of the degrees of freedom of the thigh 313 and the calf 314 to swing outward / inward. In addition, the fin mechanism 320 is directly controlled by the second servo 332 to control the swing change.

[0111] Furthermore, a first annular groove guide 318 is provided at the axis of the hip joint 311 for guiding the winding or releasing of the second cord 315b; a second annular groove guide 319 is provided at the axis of the knee joint 312 for guiding the winding or releasing of the first cord 315a. One end of the first cord 315a is fixed at the fixed point C at the front end of the thigh 313, and the other end is wound and fixed at the fixed point E at the front end of the calf 314 through the second annular groove guide 319; one end of the second cord 315b is fixed at the fixed point B at the front end of the calf 314, and the other end is wound and fixed at the fixed point A in the lower groove of the torso mechanism 100 through the first annular groove guide 318.

[0112] When the thigh 313 rotates counterclockwise around the axis of the hip joint 311 by the first servo 331, at this time, the second cord 315b will wind the cord in the lower groove of the torso mechanism 100 around the first annular groove guide 318 of the hip joint 311 at point A. Therefore, the front end B of the calf 314 is pulled to rotate clockwise around the axis of the knee joint 312 to make up for the length of the cord wound at the upper end. At the same time, when the first cord 315a rotates clockwise around the second annular groove guide 319 of the knee joint 312 synchronously with the calf 314 at point E, it will wind the cord in the upper groove at the front end of the calf 314 around the axis of the knee joint 312. Therefore, the front end of the thigh 313 is pulled to rotate counterclockwise around the hip joint 311 at point C of the first cord 315a to make up for the length of the cord wound at the upper end.

[0113] It can be seen that the movement between the first cord 315a and the second cord 315b is a closed-loop coupling relationship with equal length and opposite directions. Based on the above coupling relationship, referring to Figure 10 As shown, when the first servo 331 is driven to drive the thigh 313 to rotate counterclockwise around the hip joint 311, the calf 314 is linked to rotate clockwise around the knee joint 312, so that the ankle joint 321 of the calf 314 makes an outward stretching movement. At the same time, the fin mechanism 320 expands and enlarges the fin area, and as the second servo 332 swings counterclockwise around the ankle joint 321, finally, the propulsion movement of the robot swimming power mechanism is realized. Conversely, referring to Figure 11As shown, when the first servo 331 drives the thigh 313 to rotate clockwise around the hip joint 311, the linkage calf 314 rotates counterclockwise around the knee joint 312, causing the ankle joint 321 of the calf 314 to curl inward. At the same time, the fin mechanism 320 reduces the fin area, and as the second servo 332 slowly swings clockwise around the ankle joint 321, the robot swimming power mechanism finally realizes the recovery movement.

[0114] Furthermore, rolling bearings are embedded on both sides inside the joint axes of the hip joint 311 and the knee joint 312, which can reduce the frictional resistance during the relative movement of the hip joint 311 and the knee joint 312.

[0115] In some embodiments of the present application, refer to Figure 12 As shown, the thickness of the flexible deformation film 324 of the fin mechanism 320 is 0.5 mm; the phalanges 323 are rotatably connected to the ankle joint 321 through bearings, and the gear transmission group 325 includes three-stage variable-speed gears and a waterproof servo.

[0116] Specifically, the 0.5-mm thin-wall structure of the flexible deformation film 324 combines deformation flexibility and structural strength, which can convert the mechanical movement of the gear transmission group 325 into the overall deformation of the fin while maintaining water tightness. The ankle joint 321 is fixed at the end of the calf 314, and the gear transmission group 325 is composed of three-stage variable-speed gears, which are connected by shafts and fixed inside the ankle joint 321 through card slots. When the second servo 332 drives the ankle joint 321 to rotate, it will drive the gear transmission group 325 to move, converting the servo power into the opening and closing movement of the fin. The three-stage variable-speed gear transmission group 325 realizes the conversion of the power transmission direction and the torque amplification. By adjusting the transmission ratio through the meshing relationship of gears with different diameters, it ensures that the fin opening and closing actions have sufficient driving torque to drive the fin main body 322 and the phalanges 323 to move, realizing the opening and closing of the fin.

[0117] Further, in some embodiments of the present application, the phalanges 323 include a first phalanx 323a, a second phalanx 323b, a third phalanx 323c, a fourth phalanx 323d, and a fifth phalanx 323e. The five phalanges 323 are symmetrically distributed on both sides of the fin main body 322 and are rotationally arranged around the third phalanx 323c as the central axis of symmetry, and the rotation angle range is 0°-60°. The phalanges 323 are rotatably connected to the ankle joint 321 through bearings.

[0118] Specifically, the five independent motion units with the symmetric distribution of the five-segment phalanges 323 form a hydrodynamic adjustment mechanism. By rotating 0°-60° around the central axis of symmetry (the third phalanx 323c) respectively, the fin surface shape is changed in real time. The bearings ensure that each phalanx 323 maintains low-friction rotation while bearing the fluid resistance, realizing the balance between the power transmission efficiency and the movement flexibility.

[0119] The waterproof servo drives the internal first-stage gear of the gear transmission group 325 to start transmission. The third-stage gears are meshed in sequence to transmit power, and finally output torque to the fin main body 322. The gear transmission group 325 drives the fin main body 322 to perform a planar opening and closing motion through the end output shaft. At this time, the flexible deformation film 324 generates elastic deformation to assist in maintaining and resetting the maximum opening of the fin. The phalanx 323 group responds synchronously during the rotation of the ankle joint 321, and each phalanx 323 rotates independently around the central symmetry axis. The third phalanx 323c maintains the reference position, and the other four toes automatically adjust the rotation angle according to the difference in fluid resistance to form an asymmetric surface. When the fin is closed, each phalanx 323 rotates to the minimum angle (approaching 0°), and the flexible deformation film 324 is tightened to form a continuous surface, generating the maximum propulsion force; when it is opened, each phalanx 323 rotates to the maximum angle of 60°, and the flexible deformation film 324 relaxes to increase the flow-facing area, improving the attitude control stability.

[0120] In this way, referring to Figure 13 As shown. By controlling the waterproof servo, the phalanx 323 rotates, so that the flexible deformation mold 324 generates reasonable deformation in water, realizing the frog-like opening and closing of the fin mechanism 320. The robot obtains hydrodynamic force during swimming through the fin mechanism 320, and its magnitude is closely related to the unfolded area of the fin mechanism 320. Therefore, the designed fin mechanism 320 can control the opening degree during the propulsion stage to generate propulsion force to achieve swimming; and control the closing of the fin mechanism 320 during the reset stage to reduce the water resistance during swimming, which conforms to the swimming characteristics of the biological frog and better simulates the function of the frog-like fin. The servo selected in the actual experiment is waterproof, with a weight of 15 g, a rotation angle range of 180°, powered by a 5V power supply, and a maximum torque of 4 kg / cm, which is sufficient to meet the requirements of the robot fin drive.

[0121] The linkage mechanism of this embodiment realizes the coordinated operation of propulsion force generation and motion direction control through the coupling effect of mechanical transmission and flexible deformation.

[0122] In some embodiments of the present application, an air storage bag 130 is arranged in the sealed cavity of the torso mechanism 100; the volume of the air storage bag 130 is 80 ml, and the upper housing 110 and the lower housing 120 are detachably connected through a snap structure 140.

[0123] The air storage bag 130, as a gas storage unit, stores compressed gas quantitatively through a volume of 80 ml to provide a measurable gas source reserve for subsequent pneumatic execution. It is built in a sealed cavity with a wall thickness of 3 mm, and a double gas protection layer is formed through the cavity structure. Further, the snap structure 140 provides a mechanically lockable force that can be disassembled and assembled repeatedly to ensure the stable closing of the upper and lower housings 110 and 120.

[0124] In some embodiments of the present application, the torso mechanism 100 is formed by 3D printing using nylon material; an O-ring seal is provided at the joint between the upper housing 110 and the lower housing 120, and the wall thickness of the sealed cavity is 3 mm.

[0125] The 3D printed nylon material torso mechanism 100 ensures structural integrity through an integrated molding process, and the characteristics of the nylon material provide a support frame that resists deformation and is lightweight. The 3 mm cavity wall thickness forms a rigid container with the nylon substrate, which can resist the internal air pressure load during the operation of the gas storage bag 130 and prevent deformation from damaging the sealing interface. At the same time, the O-ring undergoes elastic deformation when the snap-fit structure 140 is pressed, compensating for the tolerance of the mating surface and blocking the gas leakage path.

[0126] The structure of this embodiment forms a functional closed-loop during the gas storage-sealing-pressure-bearing process, which can maintain gas non-leakage. During maintenance, reverse operation of the snap-fit structure 140 can decompose the housing without damage, forming a reusable gas tight system.

[0127] Combined with the knowledge of the above embodiment content, the overall usage process of the frog-like hybrid drive amphibious robot provided by the present application is as follows: Install the control hardware system 400 in the sealed cavity, assemble the torso mechanism 100, the jumping power mechanism 200, the swimming power mechanism 300, and the control hardware system 400 to form a complete robot. When the robot needs to jump, the control hardware system 400 sends an instruction to the combustion explosion driver 210 to ignite the mixed gas in the soft combustion explosion chamber 211, generating an explosion force to push the robot to jump. The air pressure sensor 430 monitors the air pressure change in the soft combustion explosion chamber 211 in real time to ensure the reliability and safety of the explosion. At the same time, the front limb assembly 230 adjusts the jumping posture to ensure the robot can take off and land stably. When the robot needs to swim, the control hardware system 400 sends an instruction to the drive assembly to drive the hind limb propulsion mechanism 310 and the fin mechanism 320 to move, realizing frog-like swimming. The upper computer sends an instruction to the main control board 440 through the wireless communication module to control the jumping and swimming processes of the robot.

[0128] The frog-like hybrid-driven amphibious robot provided by this application can move freely in water and on land, realizing the amphibious function, and can adapt to different motion requirements, such as crossing obstacles and gullies, and swimming freely in water. The motion mechanisms of frogs' swimming and jumping are applied to the robot to achieve amphibious motion through a hybrid drive mode. On land, an explosive drive type hind limb force mechanism is adopted, cooperating with a link type front limb dexterous posture adjustment mechanism to achieve high-performance frog-like jumping; while in water, a rope drive type linked hind limb mechanism is used to complete the extension and retraction motion, combined with a controllable soft body extension drive type fin for swinging and opening / closing to achieve efficient frog-like swimming. Compared with other amphibious robots, this robot adopts a simplified actuator and a split design, significantly reducing the complexity of amphibious mode switching, thereby improving the adaptability and controllability of the robot in the water-land environment.

[0129] After considering the disclosure of the specification and embodiments, those skilled in the art will readily think of other implementation schemes of this disclosure. This application aims to cover any variations, uses, or adaptive changes of this disclosure, which follow the general principles of this disclosure and include common general knowledge or conventional technical means in this technical field that are not disclosed in this disclosure.

Claims

1. A frog-like hybrid-driven amphibious robot, characterized in that Including: a torso mechanism (100), a jumping power mechanism (200), a swimming power mechanism (300), and a control hardware system (400); The torso mechanism (100) is composed of an upper housing (110), a lower housing (120), and a sealed cavity; The sealed cavity forms a closed cavity through a static seal and a dynamic seal, and the control hardware system (400) is arranged in the cavity; The jumping power mechanism (200) and the swimming power mechanism (300) are respectively arranged on both sides of the torso mechanism (100). The jumping power mechanism (200) adopts an explosion-driven mode, and the swimming power mechanism (300) adopts a rope-driven mode.

2. The frog-like hybrid-driven amphibious robot according to claim 1, characterized in that, The jumping power mechanism (200) includes: an explosion driver (210) and a rear toe assembly (220); The explosion driver (210) includes: a soft explosion chamber (211), an ignition stage (212), and a force-applying push rod (213); The soft explosion chamber (211) is bonded to the ignition stage (212) through a sealant. The force-applying push rod (213) is fixedly connected to the bottom of the soft explosion chamber (211). A cavity chamber is arranged inside the force-applying push rod (213), and the soft explosion chamber (211) is embedded in the cavity chamber; The soft explosion chamber (211) is hermetically connected to the soft explosion chamber cover (216) by coating a sealant, and the ignition stage (212) is provided with a gas inlet and outlet (217); A concave chute (130) is arranged on the inner wall of the torso mechanism (100), and convex guiding blocks (214) matching the concave chute (130) are arranged on the outer sides of both sides of the force-applying push rod (213); The rear toe assembly (220) is hinged to the lower end of the force-applying push rod (213) through a torsion spring (221).

3. The frog - like hybrid - driven amphibious robot according to claim 2, characterized in that, The jumping power mechanism (200) further includes: a front limb assembly (230); The front limb assembly (230) includes: a forearm (231), a large arm (232), and a joint assembly and an auxiliary forearm (233) arranged between the forearm (231) and the large arm (232); The joint assembly includes: a shoulder joint (234), an elbow joint (235), a first auxiliary joint (236), and a second auxiliary joint (237); The shoulder joint (234) is arranged at one end of the large arm (232) away from the forearm (231) and is connected with a driving servo. The elbow joint (235) connects the large arm (232) and the forearm (231); The auxiliary forearm (233) is arranged on one side of the large arm (232). The first auxiliary joint (236) connects one end of the auxiliary forearm (233) and one end of the large arm (232) close to the shoulder joint (234). The second auxiliary joint (237) connects the other end of the auxiliary forearm (233) and the elbow joint (235).

4. A frog-like hybrid-driven amphibious robot according to claim 2, characterized in that, The control hardware system (400) includes: a gas delivery device (410), an ignition control module (420), a pressure sensor (430), and a main control board (440); The gas delivery device (410) is connected to the combustion explosion driver (210) through a pipeline; The ignition control module (420) is electrically connected to the ignition stage (212); The air pressure sensor (430) is arranged inside the soft combustion explosion chamber (211); The main control board (440) integrates a wireless communication module and is electrically connected to the gas delivery device (410), the ignition control module (420), and the air pressure sensor (430) respectively; The combustion explosion driver (210) further includes: an air pressure sensor interface (215), and the air pressure sensor interface (215) is used to connect the air pressure sensor (430).

5. A frog-like hybrid-driven amphibious robot according to claim 1, characterized in that, The swimming power mechanism (300) includes: a hind limb propulsion mechanism (310), a flipper mechanism (320), and a driving component; The hind limb propulsion mechanism (310) is composed of a hip joint (311), a knee joint (312), a thigh (313), and a calf (314); The thigh (313) and the calf (314) are linked by a cord (315); The flipper mechanism (320) includes: an ankle joint (321), a flipper main body (322), and five toe bones (323); The flipper main body (322) is connected to the toe bones (323) through a flexible deformation membrane (324), and a gear transmission group (325) is arranged between the toe bones (323) and the ankle joint (321); The driving component includes: a first servo motor (331) for driving the hip joint (311) and a second servo motor (332) for driving the ankle joint (321).

6. The frog-like hybrid-driven amphibious robot according to claim 5, wherein The cord (315) of the swimming power mechanism (300) includes a first cord (315a) and a second cord (315b); A first annular groove guide rail (318) is arranged at the axis of the hip joint (311) for guiding the winding or release of the second cord (315b); A second annular groove guide rail (319) is arranged at the axis of the knee joint (312) for guiding the winding or release of the first cord (315a); One end of the first cord (315a) is fixed at a fixed point C at the front end of the thigh (313), and the other end is wound and fixed at a fixed point E at the front end of the calf (314) through the second annular groove guide rail (319); One end of the second cord (315b) is fixed at a fixed point B at the front end of the calf (314), and the other end is wound and fixed at a fixed point A in the lower groove of the torso mechanism (100) through the first annular groove guide rail (318); The first cord (315a) and the second cord (315b) form an equal-length and reverse closed-loop coupling; Rolling bearings are embedded on both sides inside the joint axes of the hip joint (311) and the knee joint (312).

7. The kind of frog - like hybrid - driven amphibious robot according to claim 5, characterized in that, The thickness of the flexible deformation membrane (324) of the flipper mechanism (320) is 0.5 mm; The toe bones (323) are rotatably connected to the ankle joint (321) through bearings, and the gear transmission group (325) includes three-stage variable-speed gears and a waterproof servo motor.

8. The kind of frog-like hybrid-driven amphibious robot according to claim 7, characterized in that, The toe bones (323) include: a first toe bone (323a), a second toe bone (323b), a third toe bone (323c), a fourth toe bone (323d), and a fifth toe bone (323e); The five toe bones (323) of the fin mechanism (320) are symmetrically distributed on both sides of the fin body (322); Taking the third toe bone (323c) as the central axis of symmetry, the first toe bone (323a), the second toe bone (323b), the third toe bone (323c), the fourth toe bone (323d), and the fifth toe bone (323e) are rotationally arranged around the central axis of symmetry, and the rotation angle range is 0° - 60°.

9. The kind of frog-style hybrid-driven amphibious robot according to claim 1, characterized in that An air storage bag (130) is arranged in the sealed cavity of the trunk mechanism (100); The volume of the air storage bag (130) is 80 ml, and the upper housing (110) and the lower housing (120) are detachably connected through a snap-fit structure (140).

10. A frog-like hybrid-driven amphibious robot according to claim 1, characterized in that, The trunk mechanism (100) is formed by 3D printing using nylon material; An O-ring seal is arranged at the joint of the upper housing (110) and the lower housing (120), and the wall thickness of the sealed cavity is 3 mm.

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