Energy storage and pose adjustment decoupling mechanism for robot and motion control method

Abstract

The application belongs to the field of robot technology, and provides a kind of energy storage and posture decoupling mechanism and motion control method for robot, the structure contains attitude conversion structure and the energy storage structure for realizing the drive robot leg contraction and expansion by storing and releasing energy;Energy storage structure and attitude conversion structure are installed on the rack, ball head connecting rod two ends are connected with energy storage structure and rotating part respectively through ball head, ball head installed on rotating part is at the edge position of rotating part to realize generating eccentric torque, ball head connecting rod can rotate at any angle around ball head, rotating part and leg connecting piece are connected, rotating part can rotate relative to leg connecting piece, attitude conversion structure is connected with leg connecting piece, and power is output through attitude conversion structure to drive leg connecting piece to rotate, to realize the attitude conversion of leg.The application has compact structure, in the case that energy storage structure and attitude conversion structure do not interfere with each other, the diversity of motion posture is realized, and can be widely used in frog-like amphibious robot.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology.

[0002] Specifically, this relates to an energy storage and attitude adjustment decoupling mechanism for robots.

[0003] It also relates to a motion control method based on the above-mentioned energy storage and attitude adjustment decoupling mechanism. Background Technology

[0004] Motor-driven biomimetic robots are widely used to achieve specific functions. For example, biomimetic frogs achieve amphibious movement through explosive limb extension and multi-degree-of-freedom hip joints. Therefore, efficient energy storage systems and attitude conversion units are key to achieving biomimetic characteristics and amphibious movement in frog-like robots. Currently, most frog-like robots use pneumatic muscles as energy storage units, resulting in larger and more complex robot structures. The adjustment angle of the attitude conversion unit is also relatively small. The few existing frog-like robots powered by explosive movements cannot simultaneously possess efficient energy storage units and attitude conversion units, thus failing to achieve frog-like amphibious movement and limiting the robot's range of motion and application prospects. Summary of the Invention

[0005] This invention provides an energy storage and attitude adjustment decoupling mechanism for robots, which can solve the problems of complex attitude transition structures and mutual interference between energy storage motion and attitude transition in existing amphibious robots.

[0006] An energy storage and attitude adjustment decoupling mechanism for robots includes an attitude conversion structure and an energy storage structure that drives the contraction and extension of the robot's legs by storing and releasing energy. The energy storage structure and the attitude conversion structure are mounted on the frame. The two ends of the ball joint are connected to the energy storage structure and the rotating component respectively through ball joints. The ball joints mounted on the rotating component are located at the edge of the rotating component to generate eccentric torque. The ball joint can rotate at any angle around the ball joints. The rotating component and the leg connector are connected and used together to connect the robot's legs. The rotating component can rotate relative to the leg connector. The attitude conversion structure is connected to the leg connector. The attitude conversion structure outputs power to drive the leg connector to rotate, thereby realizing the attitude conversion of the robot's legs.

[0007] Furthermore, when the energy storage structure stores energy, it pulls the rotating component to rotate through the ball joint and ball joint linkage, driving the robot's legs to retract; when the energy storage structure releases energy, it pushes the rotating component to rotate through the ball joint and ball joint linkage, driving the robot's legs to extend.

[0008] Furthermore, the posture transition modes include jumping mode and swimming mode.

[0009] Furthermore, the posture conversion structure is a gear system II controlled by motor II, the output shaft of motor II is connected to gear system II, and gear system II is connected to the leg connector.

[0010] Furthermore, the gear system II includes a self-rotating input gear II, a bridge gear, and two attitude conversion shafts. The input gear II is mounted on the output shaft of the motor II. The input gear II meshes with the bridge gear, the bridge gear meshes with one of the output gears, the two output gears mesh and are respectively fixed to one attitude conversion shaft, and the two attitude conversion shafts are respectively connected to a leg connector.

[0011] Furthermore, the energy storage structure includes a cam, a push rod, and a spring; the cam is controlled by a power mechanism and forms a kinematic pair with the push rod; the push rod is slidably mounted on the frame; the spring is mounted between the push rod and the frame; the spring can be compressed by the push rod or can push the push rod to move.

[0012] Furthermore, the power mechanism is a gear system I controlled by a motor I, the output end of the motor I is connected to the gear system I, and the gear system I is connected to a cam.

[0013] Furthermore, the push rod interacts with the spring through a guide linear assembly, which includes a guide rod and a linear bearing. The push rod cooperates with the guide rod through the linear bearing, the spring is sleeved on the guide rod, and the guide rod is mounted on the frame.

[0014] Furthermore, the gear system I includes a self-rotating input gear I, a first gear, a second gear, an end gear, a third gear, and a fourth gear; the first gear and the second gear are coaxially connected as one unit, the third gear and the fourth gear are coaxially connected as one unit, the input gear I is mounted on the output shaft of the motor I, the input gear I meshes with the fourth gear to amplify the torque, the third gear meshes with the second gear to amplify the torque, the first gear meshes with the end gear to amplify the torque, and a cam is mounted on the end gear.

[0015] This application further provides a robot motion mode control method based on the aforementioned energy storage and attitude adjustment decoupling mechanism, for attitude transition...

[0016] The switching structure outputs power to drive the leg connector to rotate, which in turn drives the leg structure to rotate. Since the ball joint can rotate arbitrarily around the ball head during posture adjustment, there is no interference between the energy storage structure and the posture conversion structure. The posture conversion structure can achieve a range of motion adjustment from 0° to 90° to complete jumping or swimming posture conversion. After reaching the specified angle, the energy storage structure starts to work. The torque output by the energy storage structure is transmitted through the ball head and ball joint to pull the rotating component to rotate, driving the robot's legs to retract. After completing the maximum potential energy storage, the energy storage structure releases energy instantaneously, converting the potential energy into mechanical energy, which is transmitted through the ball head to the ball joint to drive the rotating component to rotate, completing the explosive jumping or swimming extension movement. This achieves decoupling of the energy storage structure and the posture conversion structure, realizing robot motion energy storage and posture conversion without interference.

[0017] The advantages of this application compared to the prior art are:

[0018] I. The energy storage and attitude adjustment decoupling mechanism proposed in this invention is applied to amphibious biomimetic robots, especially frog-like robots. The energy storage structure and attitude conversion structure are connected and combined into a whole through ball joints and ball joint linkages. There is no interference between the energy storage structure and the attitude conversion structure. The same limb structure (leg structure) can meet the movement requirements under different postures. The number of motion units is reduced, making the overall structure of the amphibious robot compact.

[0019] Second, the ball joint in this invention is connected to the push rod and the rotating component respectively through two ball joints. The rotation angle of the limb can be adjusted arbitrarily through the ball joint, which improves the flexibility of the robot limb without interference.

[0020] Third, this invention achieves energy storage and release through a cam, without the need for an external triggering unit, and is small in size, simple in structure, easy to process and assemble, and low in cost. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the energy storage and attitude adjustment decoupling mechanism for robots according to the present invention;

[0022] Figure 2 Isometric drawing of the energy storage structure and attitude conversion structure;

[0023] Figure 3 Right view of the energy storage structure and attitude conversion structure;

[0024] Figure 4 This is a right view of the spring-loaded limbs retracting during the jumping mode of a frog-inspired amphibious robot.

[0025] Figure 5 This is a top view of the spring-loaded legs retracting during the jumping mode of a frog-inspired amphibious robot.

[0026] Figure 6 This is a right view of the spring-released leg extension in the jumping mode of the frog-like amphibious robot.

[0027] Figure 7 This is a schematic diagram of the overall structure used for the swimming mode of a frog-inspired amphibious robot;

[0028] Figure 8 The right view shows the spring energy storage used in the swimming mode of the frog-inspired amphibious robot.

[0029] Figure 9 This is a top view of the spring-loaded legs retracting during the swimming mode of a frog-inspired amphibious robot.

[0030] Figure 10 A top view of the spring-energized legs extending in the swimming mode of a frog-inspired amphibious robot.

[0031] Figure 11 This is a three-dimensional model diagram of the energy storage and attitude adjustment decoupling mechanism for robots according to the present invention.

[0032] In the diagram: 1. Frame; 12. Rotating component; 13. Ball joint connecting rod; 14. Ball joint; 110. Fixed frame; 111. Support frame;

[0033] 2. Energy storage structure; 20. Motor I; 22. Guide rod; 23. Fixed shaft; 24. End gear; 25. Spring; 27. Cam; 28. Linear bearing; 29. ​​Push rod; 200. Input end gear I; 211. First gear; 212. Second gear; 24. End gear; 261. Third gear; 262. Fourth gear;

[0034] 3. Attitude conversion structure; 30. Motor II; 31. Input end gear II; 32. Bridge gear; 33. Attitude conversion shaft; 34. Output gear;

[0035] 4. Leg connectors,

[0036] 5. Leg structure. Detailed Implementation

[0037] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application have the ordinary meaning as understood by those skilled in the art.

[0038] This application provides an energy storage and attitude adjustment decoupling mechanism for robots and a motion control method based on the energy storage and attitude adjustment decoupling mechanism.

[0039] The preferred embodiment of the energy storage and attitude adjustment decoupling mechanism is described below. Taking a biomimetic frog robot as an example, for ease of description, placing the robot's legs under the frame 1 indicates jumping mode, while placing them on either side of the frame 1 indicates swimming mode.

[0040] Example 1 of the energy storage and attitude adjustment decoupling mechanism:

[0041] Combination Figures 1-3 and Figure 11 As shown, the robot involved in this embodiment includes a frame 1, robot legs (hereinafter referred to as leg structure 5), and an energy storage and posture adjustment decoupling mechanism. Existing frog-like amphibious robots achieve swimming and jumping through two different mechanisms. One structure achieves swimming, and another structure is added to achieve jumping. The structure is relatively complex, and interference occurs when the two structures move synchronously.

[0042] The energy storage and attitude adjustment decoupling mechanism of this embodiment includes an attitude conversion structure 3 and an energy storage structure 2 that drives the contraction and expansion of the leg structure by storing and releasing energy. The energy storage structure 2 and the attitude conversion structure 3 are mounted on the frame 1.

[0043] In this embodiment, the two ends of the ball joint 13 are respectively connected to the energy storage structure 2 and the rotating component 12 via ball heads 14. The ball heads 14 mounted on the rotating component 12 are positioned at the edge of the rotating component 12 to generate eccentric torque. The ball joint 13, ball heads 14, and rotating component 12 are equivalent to an eccentric crank-connecting rod mechanism, thereby enabling the rotating component 12 to drive the leg structure 5 to complete the posture conversion movement. The ball joint 13 can rotate arbitrarily around the ball head 14. Two sets of ball joints 13 and ball heads 14 are provided and distributed on both sides of the frame 1. The rotating component 12 and the leg connecting component 4 are connected to form a revolute joint, and the rotating component 12 and the leg connecting component 4 are jointly connected to the leg structure 5. The rotating component 12 can be positioned relative to the leg. The connecting member 4 rotates, thereby independently driving the leg structure 5 to complete the extension or retraction movement. The posture conversion structure 3 is connected to the leg connecting member 4. The posture conversion structure 3 outputs power to drive the leg connecting member 4 to rotate, realizing the conversion of the leg structure 5 between jumping posture and swimming posture. In this embodiment, the mechanism connects the energy storage structure and the posture conversion structure into a whole through the ball head 14, the ball head connecting rod 13 and the eccentric rotating part (such as the rotating disk) 12. They work together without interfering with each other, ensuring that swimming and jumping use the same leg structure 5 and the same energy storage structure. The structure is compact and more in line with the biomimetic prototype, realizing the purpose of jumping and swimming by using the same structure.

[0044] Optionally, the leg structure 5 is the same as the leg structure (thigh assembly, lower leg assembly connected to the thigh assembly, and foot assembly connected to the lower leg assembly) in patent application number 202311155934.8.

[0045] Specifically, combined Figure 1 , Figure 4 and Figure 11 In this application, the rotating component 12 is hinged to the second transmission link 52 and the third transmission link 53 of the leg structure 5. The leg connecting component 4 is a folded structure, preferably a combination of an L-shaped component and a rod or plate component, forming an approximately Z-shaped structure. Alternatively, it can be a folded component formed by connecting a horizontal plate and two vertical plates. The two vertical plates extend vertically in opposite directions, and the horizontal plate is arranged horizontally and connected between the ends of the two vertical plates. The length of the downward-extending vertical plate is greater than that of the upward-extending vertical plate. This arrangement ensures that the two ends of the downward-extending vertical plate are rotatably connected to the rotating component 12 and the fifth transmission link 55, respectively, and the end of the upward-extending vertical plate is fixedly connected to the attitude conversion shaft 33, realizing the rotation of the two leg connecting components 4 inward (converting to jumping mode) and outward (converting to swimming mode). Preferably, the section of the attitude conversion shaft 33 connected to the vertical plate is a semi-circular shaft.

[0046] Example 2 of the energy storage and attitude adjustment decoupling mechanism:

[0047] Example 2 further defines the energy storage structure of Example 1:

[0048] Combination Figure 2 and Figure 3 As shown, the energy storage structure 2 includes a cam 27, a push rod 29, and a spring 25. The cam 27 is controlled by a power mechanism and forms a kinematic pair with the push rod 29. The push rod 29 is slidably mounted on the frame 1. The spring 25 is located between the push rod 29 and the frame 1. The push rod 29 interacts with the spring 25 through a linear bearing 28. The guide linear assembly includes a guide rod and a linear bearing. The push rod 29 cooperates with the guide rod 22 through the linear bearing 28. The spring 25 is sleeved on the guide rod 22. The guide rod 22 is mounted on the frame 1. During operation, the spring 25 can be compressed by the push rod 29 or the spring 25 can be reset to push the push rod 29 to move. The power mechanism is a gear system I controlled by a motor I20. The motor I20 in both swimming and jumping postures is a waterproof motor. The gear system I includes a self-rotating input gear I200, a first gear 211, a second gear 212, an end gear 24, a third gear 261, and a fourth gear 262. The first gear 211 and the second gear 212 are coaxially connected as one unit, and the third gear 261 and the fourth gear 262 are coaxially connected as one unit. The input gear I200 is mounted on the output shaft of the motor I20. The input gear I200 meshes with the fourth gear 262 to amplify the torque. The third gear 261 meshes with the second gear 212 to amplify the torque. The first gear 211 meshes with the end gear 24 to amplify the torque. The cam 27 is mounted on the end gear 24.

[0049] In this embodiment, the push rod 29 used to compress the spring 25 cooperates with the guide rod 22 through the linear bearing 28 to reduce sliding friction. The guide rod 22 is fixedly connected to the main frame 1 and serves to guide the sleeved linear spring 25 to prevent jamming or bending and weakening the spring's performance. The gear system I in the energy storage structure 2 adopts a three-stage reduction. The fixed shaft 23 is a round shaft, which is connected to the end gear 24, the third gear 261 and the fourth gear 262 through bearings. The third gear 261 and the fourth gear 262 are fixedly connected together, and the end gear 24 is fixedly connected to the cam 27. The energy storage rotating shaft 16 is a flat shaft, which is directly fixedly connected to the corresponding first gear 211 and second gear 212 and connected between the fixed frame 110 and the support frame 111. The input end gear I200 is fixedly connected to the motor I20 and serves as the input end of the energy storage unit.

[0050] Example 3 of the energy storage and attitude adjustment decoupling mechanism:

[0051] Example 3 further defines the attitude transition structure of Example 1 or Example 2:

[0052] Combination Figure 2 and Figure 3 As shown, the attitude conversion structure 3 is a gear system II controlled by motor II30. The output shaft of motor II30 is connected to gear system II, and gear system II is connected to leg connector 4. Gear system II includes a self-rotating input end gear II31, a bridge gear 32, and two attitude conversion shafts 33. Motor II30 in swimming and jumping attitudes is a waterproof motor.

[0053] The input gear II31 is mounted on the output shaft of the motor II30. The input gear II31 meshes with the bridge gear 32. The bridge gear 32 meshes with one of the output gears 34. The two output gears 34 mesh and are respectively fixed to an attitude conversion shaft 33. The two attitude conversion shafts 33 are respectively connected to a leg connector 4.

[0054] In this embodiment, the input gear II31 of the attitude conversion structure 3 is fixedly connected to the input shaft of the motor II30, and torque is transmitted through the bridge gear 32. The two output gears 34 at the end are fixedly connected to the leg connector 4 through the attitude conversion shaft 33. The two output gears 34 rotate synchronously through meshing, driving the leg connector 4 to move outward (swimming posture) or inward (jumping posture) simultaneously, thereby driving the leg structure 5 to move, realizing the amphibious motion attitude conversion. All gears of the energy storage structure 2 and the attitude conversion structure 3 are hollowed out to reduce weight and are made of aluminum alloy material, which reduces the overall weight while ensuring structural strength.

[0055] Combination Figure 4 and Figure 10As shown, this disclosure provides a motion control method for an energy storage and attitude conversion mechanism for a robot based on the above embodiments. The motion control method is applicable to two modes: frog-like jumping and frog-like swimming. It includes the control of attitude conversion of the energy storage and attitude conversion decoupling mechanism, as well as the extension and retraction of the leg structure.

[0056] Combination Figures 1-10 The posture conversion structure 3 outputs power to drive the leg connector 4 to rotate, which in turn drives the leg structure 5 to rotate. Since the ball joint 13 rotates arbitrarily around the ball head 14 during posture adjustment, there is no interference between the energy storage structure 2 and the posture conversion structure 3. The posture conversion structure 3 can achieve a range of motion adjustment from 0° to 90°. After reaching the specified angle, the jumping or swimming posture conversion is completed. The energy storage structure 2 starts to work. The torque output by the energy storage structure 2 is transmitted through the ball head 14 and the ball joint 13 to pull the rotating component 12 to rotate, driving the leg structure 5 to retract. After completing the maximum potential energy storage, the energy storage structure 2 releases energy instantaneously, converting the potential energy into mechanical energy, which is transmitted through the ball head 14 to the ball joint 13, driving the rotating component 12 to rotate, completing the extension movement of the leg structure 5 in the explosive jumping or swimming state. This achieves the decoupling of the energy storage structure 2 and the posture conversion structure 3, realizing robot motion energy storage and posture conversion without interference.

[0057] In the initial jumping posture, the waterproof motor I20 rotates, driving the input gear I200 to rotate. Then, through the fixedly connected fourth gear 262 and third gear 261, the torque is amplified twice and transmitted to the second gear 212. The second gear 212 drives the energy storage rotating shaft 26 to rotate, which in turn drives the first gear 211 to rotate. Through meshing with the end gear 24, the rotational torque is amplified again and transmitted to the cam 27, which is fixedly connected to the end gear 24. The rotating cam 27 pushes the push rod 29 forward along the guide rod 22 via the linear bearing 28, compressing the two springs 25 to store energy. Simultaneously, push rod 29 also pulls rotating component 12 to rotate through two sets of ball heads 14 and ball head connecting rod 13, realizing the retraction movement of leg structure 5; when the rotation passes the highest point of cam 27, the maximum elastic potential energy storage is completed. It is worth noting that, according to the structural characteristics of cam 27, at this moment, the energy can be released instantaneously without external triggering device. Spring 25 pushes push rod 29 to move rapidly, which drives rotating component 12 to rotate through ball head 14 and ball head connecting rod 13, thereby driving the rapid extension of leg structure 5 and completing the explosive jumping movement; motor I20 continues to work to compress spring 25 again to store energy and enter the next cycle.

[0058] When the attitude mode is switched, the waterproof motor II30 starts to work. The gear 27, which is fixed to its output shaft, transmits torque to the two output gears 34 at the end through the bridge gear 28. The two output gears 34 rotate synchronously and drive the leg connector 4 to rotate through the attitude conversion shaft 33, thereby realizing the rotational movement of the leg structure 5. Due to the presence of the ball joint, the ball joint link 13 can rotate arbitrarily around the ball joint 14 during attitude adjustment, avoiding possible interference between the frame 1, the energy storage structure 2 and the attitude conversion structure 3. The attitude conversion structure 3 can ultimately achieve a range of motion adjustment from 0° to 90°. It is worth noting that the attitude can be stopped at any angle within the range of motion, laying the foundation for the underwater ascent and descent of the frog-like amphibious robot. It achieves the diversity of motion attitudes without interfering with the energy storage structure 2.

[0059] After reaching the designated angle, the waterproof motor I20 of the energy storage structure 2 starts to work. Its output rotational torque is amplified by the gear system I and transmitted to the cam 27, which pushes the push rod 29 and the linear bearing 28 together to compress the spring 25 along the spring guide rod 22 to store energy. When the cam 27 rotates to a certain angle and passes the highest point, the energy storage spring 25 is released instantaneously, converting the elastic potential energy into the mechanical energy of the push rod 29, and transmitting it to the rotating part 12 through the ball joint 13, realizing the limb flexion and extension movement in the swimming state. The motor I30 reverses to complete the conversion of the movement mode (swimming mode to jumping mode). In this way, the decoupling design of the energy storage structure 2 and the posture conversion structure 3 of the frog-like amphibious robot is realized. The robot's motion energy storage and posture conversion are realized without interference. In addition, no external device is needed to trigger the release of energy, which simplifies the overall structure of the robot and improves the energy utilization efficiency.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. An energy storage and attitude adjustment decoupling mechanism for robots, comprising an attitude conversion structure; Its features are: It also includes an energy storage structure that drives the robot's legs to retract and extend by storing and releasing energy; the energy storage structure and the attitude conversion structure are mounted on the frame, and the two ends of the ball joint are respectively connected to the energy storage structure and the rotating component through ball joints. The ball joints mounted on the rotating component are located at the edge of the rotating component to generate eccentric torque. The ball joint can rotate at any angle around the ball joints. The rotating component and the leg connector are connected and used together to connect the robot's legs. The rotating component can rotate relative to the leg connector. The attitude conversion structure is connected to the leg connector and outputs power through the attitude conversion structure to drive the leg connector to rotate, thereby realizing the attitude conversion of the robot's legs.

2. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 1, characterized in that: When the energy storage structure stores energy, the rotating component is pulled to rotate through the ball joint and ball joint linkage, which drives the robot's legs to retract; when the energy storage structure releases energy, the rotating component is pushed to rotate through the ball joint and ball joint linkage, which drives the robot's legs to extend.

3. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 1 or 2, characterized in that: The posture transition modes include jumping mode and swimming mode.

4. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 1, characterized in that: The posture conversion structure is a gear system II controlled by motor II. The output shaft of motor II is connected to gear system II, and gear system II is connected to the leg connector.

5. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 1, characterized in that: The energy storage structure includes a cam, a push rod, and a spring; the cam is controlled by a power mechanism and forms a kinematic pair with the push rod; the push rod is slidably mounted on the frame; the spring is mounted between the push rod and the frame; the spring can be compressed by the push rod or can push the push rod to move.

6. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 5, characterized in that: The power mechanism is a gear system I controlled by a motor I. The output end of the motor I is connected to the gear system I, and the gear system I is connected to a cam.

7. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 5, characterized in that: The push rod interacts with the spring through a guide linear assembly, which includes a guide rod and a linear bearing. The push rod cooperates with the guide rod through the linear bearing, and the spring is sleeved on the guide rod. The guide rod is mounted on the frame.

8. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 4, characterized in that: The gear system II includes a self-rotating input end gear II, a bridge gear, and two attitude conversion shafts. Input gear II is mounted on the output shaft of motor II. Input gear II meshes with bridge gear, bridge gear meshes with one of the output gears, and the two output gears mesh and are respectively fixed to an attitude conversion shaft. The two attitude conversion shafts are respectively connected to a leg connector.

9. The energy storage and attitude adjustment decoupling mechanism for a robot according to claim 6, characterized in that: The gear system I includes a self-rotating input gear I, a first gear, a second gear, an end gear, a third gear, and a fourth gear; the first gear and the second gear are coaxially connected as one unit, the third gear and the fourth gear are coaxially connected as one unit, the input gear I is mounted on the output shaft of the motor I, the input gear I meshes with the fourth gear to amplify the torque, the third gear meshes with the second gear to amplify the torque, the first gear meshes with the end gear to amplify the torque, and a cam is mounted on the end gear.

10. A motion control method for an energy storage and attitude adjustment decoupling mechanism as described in any one of claims 1-9, characterized in that: The method includes: the posture conversion structure outputs power to drive the leg connector to rotate, thereby driving the leg structure to rotate. Since the ball joint can rotate arbitrarily around the ball head during posture adjustment, there is no interference between the energy storage structure and the posture conversion structure. The posture conversion structure can achieve a motion range adjustment of 0° to 90° to complete jumping or swimming posture conversion. After reaching the specified angle, the energy storage structure starts to work. The torque output by the energy storage structure is transmitted through the ball head and the ball joint to pull the rotating component to rotate, driving the robot's leg to retract. After completing the maximum potential energy storage, the energy storage structure releases energy instantaneously, converting the potential energy into mechanical energy, which is transmitted through the ball head to the ball joint to drive the rotating component to rotate, completing the extension movement in the explosive jumping or swimming state. This achieves the decoupling of the energy storage structure and the posture conversion structure, realizing robot motion energy storage and posture conversion without interference.

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