Pneumatic frog jumping imitating robot and control method

Abstract

The invention discloses a pneumatic frog jumping imitating robot which comprises robot design and implementation scheme evaluation, and the robot comprises a trunk, front limbs, rear limbs and soles. The front limbs and the rear limbs are connected with the trunk respectively to support the trunk to be upright, and the soles are connected to the lower portions of the front limbs and the lower portions of the rear limbs. The evaluation of the implementation scheme comprises power system model selection, engineering material selection, air pressure driving modes and the like, the power system selects an air cylinder, the engineering material selects aluminum alloy, and a control time sequence table of air pressure driving is given.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical equipment manufacturing, and in particular relates to a pneumatic frog-like motion robot and an implementation scheme thereof. Background Art

[0002] Current research and application of biomimetic mechanics demonstrates that leveraging the many beneficial concepts of the biological world to develop technology is the future direction of development. Therefore, intelligent machinery will undoubtedly be a key area of development in mechanical engineering. Research must not only examine the mechanisms and functions that have gradually evolved in biological systems during their evolution, but also focus on uncovering the principles underlying their organization and assessing their functional relationships, adaptation methods, survival mechanisms, and self-renewal mechanisms. Only these methods can enable biological systems to maintain a high degree of adaptability and vitality in complex environments. By combining the potentially applicable superior mechanisms of biological systems with the properties of physics, humans may be able to develop biomimetic machines that, in some respects, surpass those of naturally occurring machines.

[0003] Compared to common motion modes such as wheeled, walking, and tracked locomotion, jumping, with its intermittent ballistic characteristics, demonstrates significant advantages in adapting to complex, unstructured terrain, overcoming vertical obstacles, and rapidly avoiding dynamic hazards. Its unique explosive propulsion mode combines high energy efficiency with highly unpredictable motion trajectories, providing an innovative solution for mobile robots that transcends the limitations of traditional kinematics. Therefore, jumping robots have broad application prospects in historical research (such as archaeological exploration), aerospace (such as unmanned interstellar exploration), and defense and military (such as battlefield reconnaissance). Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems and provide a robot and an implementation scheme thereof that can imitate frog movements and is easy to operate, simple in structure, and easy to install and maintain.

[0005] To solve the above-mentioned technical problems, the present invention provides a pneumatic frog-like robot, comprising a main robot structure and a partial implementation scheme. The robot comprises a trunk, upper forelimbs, lower forelimbs, upper hind limbs, lower hind limbs, and feet. The trunk is connected to the end of the upper forelimbs, the end of the upper forelimbs distal from the trunk is connected to the upper end of the lower forelimbs, and the lower end of the lower forelimbs is connected to the feet. The trunk is connected to the end of the upper hind limbs, the end of the upper hind limbs distal from the trunk is connected to the upper end of the lower hind limbs, and the lower end of the lower hind limbs is connected to the feet. The trunk is equipped with an air tank and a solenoid valve, a controller, a piston rod slider, an air guide hose, and a slider connector threaded hole group 1 and a threaded hole group 2. Threaded hole group 1 and threaded hole group 2 are used to support the transverse connecting rods of the upper forelimbs and upper hind limbs, respectively, to provide a secure connection. The upper part of the forelimbs, the lower part of the forelimbs, and the soles of the feet constitute the forelimb part. There are two forelimbs in total, which provide rigid support and cushioning and shock absorption when the machine moves; the upper part of the hind limbs, the lower part of the hind limbs, and the soles of the feet constitute the hind limb part. There are two hind limbs in total, which are used to provide power and drive the machine to jump.

[0006] Preferably, the trunk device includes a trunk device body, a piston rod slider, an air guide hose, a slider connector, a trunk device cylinder, a trunk device air tank, a trunk device solenoid valve, and a trunk device single-chip microcomputer. The trunk device cylinder, trunk device air tank, trunk device solenoid valve, and trunk device single-chip microcomputer are installed within the trunk device body, wherein the trunk device cylinder is connected to the air tank via the air guide hose, and the trunk device solenoid valve is connected to the trunk device cylinder and the trunk device single-chip microcomputer to control the movement of the device. The trunk device cylinder piston is placed on the piston rod slider and is connected to the upper part of the hind limb via the slider connector.

[0007] Preferably, the upper section of the forelimb consists of a universal cross bar and two universal vertical bars, the universal cross bar is provided with a group of two threaded holes, the upper and lower ends of the universal vertical bar are provided with threaded holes, the universal cross bar and the two universal vertical bars are hinged to form the upper section of the forelimb; the torso and the upper section of the forelimb are connected.

[0008] Preferably, the lower forelimb section consists of an upper universal crossbar, a lower universal crossbar, two universal vertical bars, and the sole of the foot. The upper universal crossbar is provided with a set of two threaded holes, the lower universal crossbar is provided with a set of two threaded holes, and the upper and lower ends of the universal vertical bars are provided with threaded holes; the sole of the foot is provided with two threaded holes. The upper universal crossbar, the lower universal crossbar, and the two universal vertical bars are hingedly connected to form the lower forelimb section; the lower forelimb section is then hingedly connected to the upper forelimb section via the universal crossbar to form the forelimb portion.

[0009] Preferably, the upper hind limb section is composed of a universal crossbar, a universal vertical bar, and an extended vertical bar. The universal crossbar is provided with a set of two threaded holes, the upper and lower ends of the universal vertical bar are respectively provided with two threaded holes, and the upper, middle, and lower ends of the extended vertical bar are respectively provided with three threaded holes. The universal crossbar, the universal vertical bar, and the extended vertical bar are connected to form the upper hind limb section; the trunk and the upper hind limb section are connected, and the cylinder on the trunk is connected to the upper hind limb section.

[0010] Preferably, the lower hind limb section is composed of an upper universal crossbar, a lower universal crossbar, two universal vertical bars, and the sole of the foot. The upper universal crossbar and the lower universal crossbar are provided with a set of two threaded holes, the upper and lower ends of the universal vertical bars are provided with threaded holes, and the sole of the foot is provided with two threaded holes. The upper universal crossbar, the lower universal crossbar, and the universal vertical bars are hingedly connected to each other to form the lower hind limb section; the lower hind limb section is connected to the lower hind limb section below.

[0011] Preferably, the sole of the foot is composed of a front flipper and a rear frame; the front flipper has a threaded hole for connecting to the rear frame, and the rear frame is connected to the lower section of the front limb and the lower section of the hind limb.

[0012] Preferably, the forelimb and hindlimb soles have functionally different structures: the front web of the forelimb sole, defined as the front half of the rubber pad with a distinct protrusion, is inwardly folded, while the front web of the hindlimb sole is folded outward. The outward-turning front web of the hindlimb sole directs the source of the robot's power away from its center of gravity, stabilizing its motion and preventing lateral deviation. The inward-turning front web of the forelimb sole reduces the area affected by impact forces and, consequently, reduces the contact area with the ground, thereby reducing frictional resistance.

[0013] Preferably, the structures of the forelimb sole and the hindlimb sole are different: a distinction is made in the shape of the front end of the sole, the front end webbed arc of the hind limb sole is steep and gentle at the bottom; the front end webbed arc of the forelimb sole is gentle at the top and steep at the bottom; in this way, the contact area between the webbed feet and the ground can be differentiated, so that the contact area between the hind limb and the ground is larger, which makes it easier to provide stable thrust and easier to bear weight; the front end webbed feet of the forelimb sole have a smaller contact area with the ground, which reduces friction, delays wear, and increases the service life of the rubber webbed feet.

[0014] Preferably, torsion springs are installed at the threaded holes of the upper forelimb, lower forelimb, upper hind limb and lower hind limb, so as to enhance the impact resistance of the entire machine, reduce the impact on the trunk module equipped with key components, and at the same time increase the deformation range that the device can withstand and improve durability.

[0015] Preferably, the trunk is provided with guide rails on both sides, and the cylinder piston is connected to a slider spanning the two guide rails. The connecting part between the piston and the slider is provided with two spherical joints located at a preset aperture.

[0016] Preferably, a cylinder is installed in the cylinder groove, the cylinder piston is connected to the piston rod slider, and is connected to the upper part of the hind limb through the piston connector, so that the upper part of the hind limb generates forward power; an air tank is installed in the air tank groove, which is connected to the cylinder in the cylinder groove through an air guide hose to provide energy for the cylinder; an electromagnetic valve is installed in the solenoid valve groove, and a single-chip microcomputer is installed in the control groove, and the electromagnetic valve and the single-chip microcomputer are both connected to the cylinder to control the operation of the robot device.

[0017] A pneumatic frog-like robot design scheme is implemented, including the following schemes:

[0018] 1. The main body of the robot is made of aluminum alloy;

[0019] 2. The main body of the torso is made by carving acrylic plates. The auxiliary fixing parts and the structures of the robot's limbs and feet are made by 3D printing.

[0020] 3. Select a double-acting cylinder with a cylinder diameter of 20mm;

[0021] 4. Select a 0.5L aluminum alloy gas tank with a size of approximately Φ80×150mm;

[0022] 5. Select a two-position five-way solenoid valve and use battery power supply;

[0023] 6. Select Φ6mm polyurethane hose as the air guide hose;

[0024] 7. Select a torsion spring with an inner diameter of 8mm, an outer diameter of 14mm, a free angle of 180°, and a material of beryllium bronze or stainless steel.

[0025] The beneficial effects of the present invention are:

[0026] The pneumatic frog-like motion robot device provided by the present invention features a simple, durable, and robust structure. The cylinder's principle and mechanism are simple, making installation and maintenance easy and user-friendly. The cylinder is also dustproof and waterproof, offering strong adaptability.

[0027] 2. The present invention provides implementation plans for materials, power components, and control system components of a robot device, which are inexpensive, easy to obtain, and have considerable feasibility.

[0028] 3. The present invention adopts a pneumatic method, and the pneumatic system is easy to maintain, and there is no problem of medium deterioration, replenishment, replacement, etc.

[0029] 4. The present invention's linkage mechanism utilizes the deformability of a rhombus-shaped link to achieve extension and contraction of the forelimbs and hindlimbs. Leveraging the instability of the rhombus as a parallelogram, the present invention employs a rhombus-like mechanism for connection, effectively mimicking the frog's leg flexion and extension motion.

[0030] 5. The connection between the sole and the hind limb of the present invention adopts the method of long bolts + rubber gaskets, and a torsion spring is added to further enhance its resistance to longitudinal impact force; the rubber pad part on the bottom of the sole is designed with a herringbone pattern used by vehicle tires to enhance grip and prevent slipping, which affects sports performance.

[0031] 6. The gas required by the cylinder in the present invention can be directly obtained from the atmosphere, and the used waste gas can be directly discharged into the atmosphere, which is convenient to handle. Even if the pneumatic components leak, it will not pollute the environment.

[0032] 7. The connection part between the cylinder piston and the slider of the present invention is equipped with two spherical joints that can move in a small range and are located at a preset aperture, so that the radial force is offset by causing the spherical joints to rotate. At the same time, it also has a certain resistance to external impact force, which is convenient for protecting the cylinder piston.

[0033] 8. The piston rod slider of the present invention is connected to the trunk module through two guide rails and can slide freely. Two T-shaped holes are set on the side of the slider, and a T-shaped slider connector can be placed to connect with the hind limb power rod on the side. The T-shaped slider connector can slide freely in the groove without falling out, which can balance the longitudinal displacement. Since the cylinder can only move in the horizontal direction, in order to prevent the cylinder from being subjected to non-axial forces, certain special treatments are adopted for the slider here, and the longitudinal displacement is balanced by the longitudinal sliding of the connector in the slider groove to protect the pneumatic components.

[0034] 9. The piston connector of this invention is made of epoxy resin to reduce weight. A threaded hole is drilled into it, and a long bolt connects the connector to the power rod of the hind limb. The threaded hole has a certain depth limit, and a gasket can be added at the bottom to prevent excessive mechanical damage. The presence of the bolt also limits the rotation of the T-shaped piston connector, preventing it from falling out of the groove.

[0035] 10. The present invention is easy to improve and has obvious potential. Radio and Bluetooth communication devices can be installed to facilitate remote control and expand the use of the device.

[0036] 11. The pneumatic system of the present invention is combined with microelectronic technology, is simple to operate, easy to implement, reduces usage requirements, and has great potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1This is a structural design diagram of a pneumatic frog-like motion robot device according to the present invention;

[0038] Figure 2 This is a top view structural design diagram of a pneumatic frog-like robot device of the present invention;

[0039] Figure 3 It is a schematic diagram of the design of the torso device of the present invention;

[0040] Figure 4 This is a schematic structural diagram of the piston rod slider of the present invention;

[0041] Figure 5 It is a structural schematic diagram of the piston connector of the present invention;

[0042] Figure 6 This is an exploded view of the assembly of the pneumatic frog-like motion robot device of the present invention;

[0043] Figure 7 It is a schematic structural diagram of the forelimb of the present invention;

[0044] Figure 8 It is a schematic design diagram of the hind limb of the present invention;

[0045] Figure 9 It is a structural schematic diagram of the forelimb sole of the present invention;

[0046] Figure 10 It is a structural schematic diagram of the hind limb sole of the present invention;

[0047] Figure 11 is an engineering drawing of the robot of the present invention;

[0048] Figure 12 This is a schematic diagram of the body position of the robot of the present invention at the end of the take-off phase;

[0049] Figure 13 and 13 a is a schematic diagram of the maximum contraction state (left) and maximum extension state (right) of the forelimb of the present invention;

[0050] Figure 14 This is a schematic diagram of the simulation of the motion trajectory of the forelimb observation point of the present invention;

[0051] Figure 15 It is a schematic diagram of the motion trajectory simulation of the hind limb observation point of the present invention. DETAILED DESCRIPTION

[0052] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0053] like Figures 1 to 15As shown, the present invention provides a pneumatic frog-like robot comprising a trunk assembly 1, upper forelimb segments 2, lower forelimb segments 3, upper hindlimb segments 4, lower hindlimb segments 5, and foot soles 6. The trunk assembly 1 is connected to the upper forelimb segments 2 and upper hindlimb segments 4, respectively; the upper forelimb segments 2 are connected to the lower forelimb segments 3 and foot soles 6, and the upper hindlimb segments 4 are connected to the lower hindlimb segments 5 and foot soles 6. The trunk assembly 1 is equipped with an air tank 11, a solenoid valve 12, a controller 13, a threaded hole assembly 14, an air cylinder 15, a piston rod slider 16, and a slider connector 17. The air cylinder provides power to the hindlimbs, while the solenoid valve and single-chip microcomputer control the robot's movement.

[0054] The upper forelimb section 2 consists of a universal crossbar 21 and two universal vertical bars 22. The universal crossbar 21 is provided with a set of two threaded holes 210. The upper and lower ends of the universal vertical bars 22 are provided with threaded holes 221 and 222, respectively. The threaded hole set 210 and the threaded holes 221 of the two universal vertical bars 22 are hingedly connected, thereby connecting the universal crossbar 21 and the two universal vertical bars 22 to form the upper forelimb section 2. The threaded hole set 210 is hingedly connected to the threaded hole set 141, thereby connecting the torso 1 and the upper forelimb section 2. In this embodiment, the universal vertical bars 22 that make up the upper forelimb section 2 are arranged parallel to the universal crossbar 21 and cannot cross each other. Attention should also be paid to the installation direction.

[0055] The lower forelimb section 3 consists of an upper universal crossbar 31, a lower universal crossbar 32, two universal vertical bars 33, and the sole 6. The upper universal crossbar 31 is provided with a set of two threaded holes 310, the lower universal crossbar 32 is provided with a set of two threaded holes 320, the upper and lower ends of the universal vertical bars 33 are provided with threaded holes 331 and 332, respectively, and the sole 6 has a threaded hole 61. The threaded hole set 310 is hingedly connected to the threaded holes 331 of the two universal vertical bars 33, while the threaded hole set 320 is hingedly connected to the threaded holes 332 and 61 of the two universal vertical bars 33, forming the lower forelimb section 3. The threaded hole set 310 is hingedly connected to the threaded hole 222, thereby connecting the upper forelimb section 2 and the lower forelimb section 3. In this embodiment, the universal vertical rods 32 that comprise the lower forelimb section 3 are arranged parallel to the upper universal horizontal rods 31 and lower universal horizontal rods 32. The upper universal horizontal rods 31 and the upper forelimb section 2 form a diamond-shaped four-bar structure; the upper universal horizontal rods 31, the lower universal horizontal rods 32, and the universal vertical rods 33 form another diamond-shaped four-bar structure. The forelimb assembly thus forms two diamond-shaped four-bar structures at an angle. The deformable nature of the diamond shape allows for rapid extension and contraction of the forelimb assembly.

[0056] The upper hind limb section 4 consists of a universal crossbar 41, a universal vertical bar 42, and an extended vertical bar 43. Universal crossbar 41 is provided with a set of two threaded holes 410. Universal vertical bar 42 has threaded holes 421 and 422 at its upper and lower ends, respectively. Extended vertical bar 43 has threaded holes 431, 432, and 433 at its upper, middle, and lower ends, respectively. Threaded hole set 410 is hingedly connected to threaded holes 421 and 432, thereby connecting universal crossbar 41, universal vertical bar 42, and extended vertical bar 43 to form the upper hind limb section 4. Threaded hole set 410 is hingedly connected to threaded hole set 142, thereby connecting the trunk 1 and the upper hind limb section 4. Threaded hole 433 is hingedly connected to the cylinder piston in cylinder 15. In this embodiment, the universal vertical rod 42 and the extended vertical rod 43 constituting the upper section 4 of the hind limb are arranged in parallel on the universal cross bar 21 and cannot cross; the cylinder piston of the cylinder placed at the cylinder 15 is hinged to the extended vertical rod, and when the piston is extended, it can push the hind limb to jump forward.

[0057] The lower hind limb section 5 consists of an upper universal crossbar 51, a lower universal crossbar 52, two universal vertical bars 53, and a sole 6. The upper universal crossbar 51 is provided with a set of two threaded holes 510, the lower universal crossbar 52 is provided with a set of two threaded holes 520, the upper and lower ends of the universal vertical bars 53 are provided with threaded holes 531 and 532, respectively, and the sole 6 has a threaded hole 62. The threaded hole set 510 and the threaded hole 531 are hingedly connected, while the threaded hole set 520 and the threaded hole 532 and the threaded hole 51 are hingedly connected to form the lower hind limb section 5. The threaded hole set 510 and the threaded hole 522 are hingedly connected, thereby connecting the upper hind limb section 4 and the lower hind limb section 5. In this embodiment, the universal vertical rods 53 that make up the lower hind limb section 5 are arranged parallel to the upper universal horizontal rod 51 and the lower universal horizontal rod 52. The upper universal horizontal rod 51 and the upper hind limb section 4 form a diamond-shaped four-bar structure; the upper universal horizontal rod 51, the lower universal horizontal rod 52, and the universal vertical rods 53 form another diamond-shaped four-bar structure. The forelimb mechanism thus forms two diamond-shaped four-bar structures at an angle. The deformable nature of the diamond shape allows the hindlimb mechanism to extend and retract.

[0058] The sole 6 is composed of a front flipper 61 and a rear frame 62; the front flipper 61 has a threaded hole for connecting to the rear frame 63. The rear frame 63 is connected to the lower section of the forelimb and the lower section of the hind limb.

[0059] During actual use of the present invention, a cylinder 15 is installed in the cylinder groove, and the cylinder piston rod is connected to the upper part 4 of the hind limb through a piston rod slider and a slider connector. A gas tank is installed in the gas tank groove 11, which is connected to the cylinder 15 in the cylinder groove through an air guide hose, and is the gas source of the cylinder; a solenoid valve 12 is installed in the solenoid valve groove, and a single-chip microcomputer is installed in the controller 13. The solenoid valve 12 and the single-chip microcomputer are both connected to the cylinder 15 to control the operation of the robot device.

[0060] During actual use of the present invention, some safety measures can be added as needed. First, considering that robots mostly move forward in the form of jumping, when they are subjected to the violent recoil force of the ground, the gas cylinder and the gas tank are easily impacted due to their large mass and inertia. Therefore, a rubber gasket should be added at the contact position between the gas tank and the main board to act as a buffer.

[0061] In this embodiment, the air cylinder, the air storage tank, the air guide hose, the solenoid valve, and the single chip microcomputer are all existing mature technical equipment.

[0062] The solenoid valve and motion state control table is as follows:

[0063] stage Solenoid valve status Cylinder action Charge Power outage Cylinder piston rod retracts break out power ups The cylinder piston rod extends at full speed Reset Power outage Cylinder piston rod reset

[0064] The present invention also provides a pneumatic frog-like robot motion control method, comprising the following steps:

[0065] S1. When the present invention is to jump forward, it first enters the power accumulation stage, the solenoid valve is powered off, and the cylinder piston rod retracts.

[0066] S2, then enters the explosion stage, after the cylinder piston retracts, the solenoid valve is energized, the cylinder piston rod extends at full speed, driving the hind limb device to jump forward.

[0067] S3. After jumping forward, the device enters the reset stage, the solenoid valve is powered off, and the cylinder piston rod is reset.

[0068] S4, cycle the above steps in sequence to achieve the forward jump of the present invention.

[0069] The present invention adopts the cylinder driving mode to have the following advantages:

[0070] 1. Reliable operation, simple operation and easy maintenance.

[0071] 2. Lower requirements for users: The principle and mechanism of the cylinder are simple, easy to install and maintain, and the requirements for users are not high. Electric components are different. Engineers must have certain electrical knowledge, otherwise they may damage the device due to misoperation.

[0072] 3. Strong adaptability: Pneumatic cylinders can operate normally and are dustproof and waterproof, adapting to various harsh environments. Electric components, on the other hand, contain a large number of electronic components, making it difficult to guarantee waterproof, dustproof, and heatproof. They have higher requirements for the working environment and are less adaptable than pneumatic components.

[0073] The 3D printing technology employed in this invention allows for flexible adjustment of component size, shape, and internal structure based on the robot's specific design and usage requirements, achieving a high degree of customization. This helps better simulate the frog's physiological structure, improving the robot's performance and biomimetic effects. Furthermore, its rapid processing speed facilitates the rapid manufacture of robot prototypes, accelerating design optimization and control system version iteration, facilitating rapid testing and verification, reducing R&D costs and risks, and enabling faster response to market needs.

[0074] The robot device adopted by the present invention has a simple structure, is suitable for working environments subject to impact, is easy to install and maintain, has low requirements for users, is reliable in operation, and has a wide range of uses.

[0075] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and it should be understood that the scope of protection of the present invention is not limited to such specific descriptions and embodiments. Those skilled in the art can make various other specific variations and combinations based on the technical teachings disclosed in the present invention without departing from the essence of the present invention, and such variations and combinations are still within the scope of protection of the present invention.

Claims

1. A design scheme for a pneumatic frog-like robot, characterized by: The present invention comprises a robot device and an implementation scheme evaluation, wherein the robot device comprises a trunk (1), an upper forelimb (2), a lower forelimb (3), an upper hind limb (4), a lower hind limb (5), and a sole (6). The trunk (1) is connected to the end of the upper forelimb (2), the end of the upper forelimb (2) away from the trunk (1) is connected to the upper end of the lower forelimb (3), and the lower end of the lower forelimb (3) is connected to the sole (6). The trunk (1) is connected to the end of the upper hindlimb (4), the end of the upper hindlimb (4) away from the trunk (1) is connected to the upper end of the lower hindlimb (5), and the lower end of the lower hindlimb (5) is connected to the sole (6). The trunk (1) is provided with an air storage tank (11), a solenoid valve (12), a controller (13), a threaded hole group 1 (141), a threaded hole group 2 (142), a cylinder (15), a piston rod slider (16), and a slider connector (17). The threaded hole group 1 (141) and the threaded hole group 2 (142) are respectively used to support the transverse connecting rods of the upper section of the forelimb (2) and the upper section of the hindlimb (4), and play a fixing role. The upper section of the forelimb (2), the lower section of the forelimb (3), and the sole of the foot (6) constitute the forelimb part, which has two forelimbs and plays a role of rigid support and buffering and shock absorption when the machine moves; the upper section of the hindlimb (4), the lower section of the hindlimb (5), and the sole of the foot (6) constitute the hindlimb part, which has two hindlimbs and is used to provide power to drive the machine to jump.

2. The design scheme of a pneumatic frog-like robot according to claim 1, characterized in that: The trunk (1) includes a trunk body (10), an air storage tank (11) and a solenoid valve (12), a controller (13), a threaded hole group 1 (141) and a threaded hole group 2 (142), a cylinder (15), a piston rod slider (16), and a slider connector (17); the upper section of the forelimb (2) is mounted on the trunk body (10) and fixed by the threaded hole group 1 (141); the upper section of the hindlimb (4) is mounted on the trunk body (10) and fixed by the threaded hole group 2 (142); the slider connector (17) is inserted into the piston rod slider (16) and is hinged to the upper section of the hindlimb (4).

3. The design of a pneumatic frog-like robot according to claim 1, characterized in that: The upper forelimb section (2) is composed of a universal crossbar (21) and two universal vertical bars (22). The universal crossbar (21) is provided with a set of two threaded hole groups (210). The upper and lower ends of the universal vertical bars (22) are provided with threaded hole 1 (221) and threaded hole 2 (222) respectively. The threaded hole group (210) and the threaded hole 1 (221) of the two universal vertical bars (22) are hinged, thereby connecting the universal crossbar (21) and the two universal vertical bars (22) to form the upper forelimb section (2); the threaded hole group (210) is hinged with the threaded hole group (141), thereby connecting the trunk (1) and the upper forelimb section (2).

4. The design of a pneumatic frog-like robot according to claim 1, characterized in that: The lower section of the forelimb (3) is composed of an upper universal cross bar (31), a lower universal cross bar (32), two universal vertical bars (33) and a sole (6). The upper universal cross bar (31) is provided with a group of two threaded hole groups (310), the lower universal cross bar (32) is provided with a group of two threaded hole groups (320), the upper and lower ends of the universal vertical bar (33) are respectively provided with a threaded hole 1 (331) and a threaded hole 2 (332), and the sole (6) is provided with two threaded holes (61). The threaded hole group (310) and the threaded hole 1 (331) of the two universal vertical rods (33) are hinged respectively, and the threaded hole group (320) and the threaded hole 2 (332) and the threaded hole (61) of the two universal vertical rods (33) are hinged to form the lower section of the forelimb (3); the threaded hole group (310) and the threaded hole (222) are hinged to connect the upper section of the forelimb (2) and the lower section of the forelimb (3).

5. The design of a pneumatic frog-like robot according to claim 1, characterized in that: The upper section of the hind limb (4) is composed of a universal cross bar (41), a universal vertical bar (42), and an extended vertical bar (43). The universal cross bar (41) is provided with a group of two threaded hole groups (410). The upper and lower ends of the universal vertical bar (42) are respectively provided with threaded hole 1 (421) and threaded hole 2 (422). The upper, middle and lower ends of the extended vertical bar (43) are respectively provided with threaded hole 1 (431), threaded hole 2 (432), and threaded hole 3 (433). The threaded hole group (410) is hinged with the threaded hole (421) and the threaded hole (432), thereby connecting the universal crossbar (41), the universal vertical bar (42) and the extended vertical bar (43) to form the upper section of the hind limb (4); the threaded hole group (410) is hinged with the threaded hole group (142), thereby connecting the trunk (1) and the upper section of the hind limb (4); the threaded hole (433) is hinged with the piston connector (18) of the cylinder piston placed in the piston rod slider (16).

6. The design of a pneumatic frog-like robot according to claim 1, characterized in that: The lower section of the hind limb (5) is composed of an upper universal crossbar (51), a lower universal crossbar (52), two universal vertical bars (53), and a sole (6). The upper universal crossbar (51) is provided with a group of two threaded hole groups (510), the lower universal crossbar (52) is provided with a group of two threaded hole groups (520), the upper and lower ends of the universal vertical bars (53) are respectively provided with threaded hole 1 (531) and threaded hole 2 (532), and the sole (6) is provided with two threaded holes (62). The threaded hole group (510) and the threaded hole (531) are hinged, and the threaded hole group (520) and the threaded hole (532) and the threaded hole (51) are hinged to form the lower section of the hind limb (5); the threaded hole group (510) and the threaded hole (522) are hinged to connect the upper section of the hind limb (4) and the lower section of the hind limb (5). Torsion springs are installed at the threaded holes of the upper forelimb (2), the lower forelimb (3), the upper hindlimb (4), and the lower hindlimb (5), thereby enhancing the impact resistance of the entire machine and reducing the impact on the trunk module equipped with key components.

7. The design of a pneumatic frog-like robot according to claim 1, characterized in that: The sole (6) is composed of a front flipper (61) and a rear frame (62); the front flipper (61) is provided with a threaded hole for connecting to the rear frame (63); the rear frame (63) is provided with two threaded holes for connecting to the lower section of the forelimb (3) and the lower section of the hind limb (5).

8. The design of a pneumatic frog-like robot according to claim 2, characterized in that: A cylinder (15) is installed in the cylinder groove and is connected to the upper part of the hind limb (4), so that the upper part of the hind limb (4) generates forward power; an air storage tank (11) is installed in the air storage tank groove and is connected to the cylinder (15) in the cylinder groove through an air guide hose to provide energy for the cylinder (15); a solenoid valve (12) is installed in the solenoid valve groove, and a single-chip microcomputer is installed in the controller (13); the solenoid valve (12) and the single-chip microcomputer are both connected to the cylinder (15) to control the operation of the robot device.

9. The design of a pneumatic frog-like robot according to claim 7, characterized in that: The sole (6) is made of inert rubber with a low elastic coefficient and high hardness as a raw material, so as to retain a certain degree of deformation ability while playing the three major roles of generating thrust when pushing against the ground, supporting the structure, and buffering and reducing shock. The sole (6) is connected to the lower section of the forelimb (3) and the lower section of the hindlimb (5) by a long bolt + rubber gasket, and a torsion spring is added as a "tendon" to further enhance its resistance to longitudinal impact force. The bottom part of the rubber pad is added with a herringbone pattern used in vehicle tires to enhance grip and prevent slipping, which affects sports performance. Due to the different functions of the soles (6), the structures of the forelimb soles (6) and the hindlimb soles (6) are also different: the front end shapes of the soles are distinguished, the front end webbed feet (61) of the hindlimb soles (6) are steep in arc and flat at the bottom, while the front end webbed feet (61) of the forelimb soles (6) are flat at the top and steep at the bottom, so that the contact area between the webbed feet and the ground can be distinguished, so that the contact area between the hindlimbs and the ground is larger, it is easier to provide stable thrust and easier to bear weight; the front end webbed feet (61) of the forelimb soles (6) have a small contact area with the ground, which reduces friction, delays wear, and increases the service life of the rubber webbed feet.

10. A pneumatic frog-like robot design and motion control solution implementation, characterized in that: The following design solutions are included:

1. The main body of the robot is made of aluminum alloy; 2. The main body of the torso is made by carving acrylic plates. The auxiliary fixing parts and the structures of the robot's limbs and feet are made by 3D printing.

3. Select a double-acting cylinder with a cylinder diameter of 20mm; 4. Select a 0.5L aluminum alloy gas tank with a size of approximately Φ80×150mm; 5. Select a two-position five-way solenoid valve and use battery power supply; 6. Select Φ6mm polyurethane hose as the air guide hose; 7. Select a torsion spring with an inner diameter of 8mm, an outer diameter of 14mm, a free angle of 180°, and a material of beryllium bronze or stainless steel.

8. Optional host and slave control chips and control codes are given. The following motion control stages are included: S1. When the present invention is to jump forward, the solenoid valve is powered off and the cylinder piston rod retracts. S2. After the cylinder piston rod retracts, the solenoid valve is energized, and the cylinder piston rod extends at full speed, driving the hind limb device to move forward. S3. After moving forward, the solenoid valve is de-energized and the cylinder piston rod is reset. S4, cycle the above steps in sequence to achieve the forward jump of the present invention.

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