Parallel type multi-connecting-rod bionic frog robot

Abstract

The utility model relates to a parallel type multi-connecting-rod bionic frog robot which comprises a body unit, a rear leg unit and a driving unit, the rear leg unit is provided with three joint points, the rear leg unit is rotatably connected with the body unit through a first joint point and a second joint point at the same time, and the third joint point is used for making contact with the ground. The driving unit is arranged on the body unit and is in transmission connection with the rear leg unit to drive the rear leg unit to rotate around the first joint point and the second joint point at the same time, so that the third joint point is driven to move to enable the robot to jump up; in the rotating process of the rear leg unit, the first joint point, the second joint point and the third joint point are kept on the same straight line. Compared with the prior art, when the parallel type multi-connecting-rod bionic frog robot jumps, the first joint point, the second joint point and the third joint point of the rear leg unit are always kept on the same straight line, the stability of the pedaling angle is kept, the rotating tendency of the body unit is reduced during jumping, and the overturning possibility is remarkably reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, in particular to a parallel multi-link bionic frog robot. Background Art

[0002] With the development of bionics, imitating natural biological characteristics has become an important means of technological innovation. The Bionic Frog Project aims to develop new bionic devices and systems by imitating the biological characteristics of frogs, such as jumping mechanism and environmental adaptability.

[0003] Bionic frogs have excellent jumping ability, their hind legs are long and strong, specially used for jumping. This way of moving enables them to quickly escape predators or catch prey, and has the characteristics of being able to reach terrain that is difficult for humans to reach, expanding the dynamic monitoring range.

[0004] At present, most of the existing jumping robots use a combination of elastic elements and locking release mechanisms to achieve intermittent jumping by first storing energy and then releasing it. However, the current jumping robots driven by mechanical elastic energy mainly focus on improving jumping performance, but lack in jumping direction control, landing cushioning, and posture adjustment. Due to the above defects, it is urgent to develop a bionic frog that can balance jumping performance and high driving performance, so that it can jump a long distance while maintaining a stable jumping direction, and has a highly efficient energy storage and release process, can achieve complex jumping tasks, and has a strong ability to adapt to terrain. Utility Model Content

[0005] In view of this, it is necessary to provide a parallel multi-link bionic frog robot to solve the technical problems in the prior art that the bionic frog robot has poor jumping balance performance and is easy to flip and tip over after jumping.

[0006] The utility model provides a parallel multi-link bionic frog robot, which comprises a body unit, a hind leg unit and a driving unit. The hind leg unit has three joint points. The hind leg unit is rotatably connected with the body unit through a first joint point and a second joint point at the same time. The third joint point is used to contact the ground. The driving unit is arranged on the body unit and is transmission-connected with the hind leg unit to drive the hind leg unit to rotate around the first joint point and the second joint point at the same time, thereby driving the third joint point to move so that the robot jumps. During the rotation of the hind leg unit, the first joint point, the second joint point and the third joint point are kept on the same straight line.

[0007] Furthermore, the hind leg unit includes five connecting rods, the first connecting rod has a first joint point, a fourth joint point and a fifth joint point, the second connecting rod has a second joint point, a sixth joint point and a seventh joint point, and the third connecting rod has a third joint point and an eighth joint point; the first connecting rod is rotationally connected to the body unit through the first joint point, the second connecting rod is rotationally connected to the body unit through the second joint point, and the second connecting rod is also rotationally connected to the middle part of the third connecting rod through the seventh joint point, the two ends of the fourth connecting rod are rotationally connected to the fourth joint point and the sixth joint point respectively, and the two ends of the fifth connecting rod are rotationally connected to the fifth joint point and the eighth joint point respectively.

[0008] Furthermore, it also includes an energy storage unit connected to the hind leg unit, and the driving unit drives the hind leg unit to rotate so that the third joint point approaches the body unit, and the energy storage unit accumulates potential energy at the same time; the energy storage unit can drive the hind leg unit to rotate in the opposite direction through the accumulated potential energy to make the third joint point move away from the body unit.

[0009] Furthermore, the energy storage unit includes a plurality of springs, which connect the fourth joint point with the eighth joint point and / or the fifth joint point with the sixth joint point.

[0010] Furthermore, the driving unit includes a first driving part, a deceleration part and a transmission part, the transmission part includes a winch, a movable pulley and a traction rope, the first driving part is connected to the winch via the deceleration part to drive the winch to rotate, the movable pulley is arranged at the third joint point, one end of the traction rope is fixed on the winch, and the other end of the traction rope is passed around the movable pulley and fixed at the second joint point.

[0011] Furthermore, the deceleration unit has a first gear and a second gear that are meshed with each other, the first driving unit is transmission connected to the first gear to drive the first gear to rotate, the second gear is coaxially fixedly connected to the winch, and the parallel multi-link bionic frog robot also includes a jumping unit arranged on the body unit, and the jumping unit is transmission connected to the second gear to drive the second gear to mesh with or separate from the first gear.

[0012] Furthermore, the body unit includes a trunk portion and a capstan shaft, the trunk portion has a mounting groove, the capstan shaft moves through the mounting groove and can move and rotate relative to the trunk portion, and the capstan shaft is fixedly connected to the capstan and the second gear at the same time; the take-off unit includes a second driving portion and a connecting portion, the second driving portion is arranged on the trunk portion, the connecting portion has a through hole, the capstan shaft passes through the through hole and can rotate freely in the through hole, the second driving portion is transmission connected to the connecting portion, and drives the capstan shaft to move via the connecting portion.

[0013] Furthermore, the connecting part includes a connecting piece and a screw rod, the connecting piece has a through hole and a threaded hole, the screw rod is cooperatively connected with the threaded hole, and the second driving part is transmission-connected to one end of the screw rod to drive the screw rod to rotate.

[0014] Furthermore, two hind leg units are symmetrically arranged on both sides of the body unit, and the hind leg unit also includes a foot that is rotatably connected to the third connecting rod at a third joint point.

[0015] Furthermore, it also includes two front leg units, which are symmetrically arranged on both sides of the body unit, and the front leg units are lockably connected to the body unit.

[0016] Compared with the prior art, the parallel multi-link bionic frog robot provided by the utility model keeps the first, second and third joint points of the hind leg unit in a straight line when jumping, maintains the stability of the ground-pushing angle, reduces the rotation tendency of the body unit when jumping, and significantly reduces the possibility of flipping.

[0017] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the preferred embodiment of the utility model is described in detail as follows with the accompanying drawings. The specific implementation method of the utility model is given in detail by the following embodiments and their drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0019] FIG1 is a schematic structural diagram of a preferred embodiment of a parallel multi-link bionic frog robot provided by the utility model;

[0020] Figure 2 A side view of a preferred embodiment of the parallel multi-link bionic frog robot provided by the utility model;

[0021] Figure 3 This is a schematic structural diagram of a rear leg unit in a preferred embodiment;

[0022] Figure 4 This is a schematic structural diagram of a pre-takeoff drive unit in a preferred embodiment;

[0023] Figure 5 This is a schematic diagram of the structure of a driving unit after take-off in a preferred embodiment;

[0024] Figure 6 This is a schematic diagram of the structure of the driving part and the speed reduction part in a preferred embodiment;

[0025] Figure 7 It is a schematic diagram of the structure of a jump unit in a preferred embodiment. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0027] See also Figure 1 and Figure 2 The utility model provides a parallel multi-link bionic frog robot, which can imitate frog jumping and is suitable for some complex terrains that are not suitable for walking.

[0028] The parallel multi-link bionic frog robot comprises a hind leg unit 1, a body unit 2 and a driving unit 3. The hind leg unit 1 has three joints. The hind leg unit 1 is rotatably connected to the body unit 2 through a first joint 101 and a second joint 102, and the third joint 103 is used to contact the ground. The driving unit 3 is arranged on the body unit 2 and is transmission-connected with the hind leg unit 1 to drive the hind leg unit 1 to rotate around the first joint 101 and the second joint 102 at the same time, thereby driving the third joint 103 to move. The hind leg unit 1 applies thrust to the ground at the third joint 103 to push the robot back to make it jump. Figure 2 The solid line shows the position of the hind leg unit 1 before it jumps, and the dotted line shows the position of the hind leg unit 1 after it jumps.

[0029] During the rotation of the hind leg unit 1, the first joint point 101, the second joint point 102 and the third joint point 103 are always kept in the same straight line, maintaining the stability of the ground-pushing angle, reducing the rotation tendency of the body unit 2 when jumping, significantly reducing the possibility of flipping, and greatly improving the jumping stability of the bionic frog robot.

[0030] See also Figure 3 In some embodiments, the rear leg unit 1 includes five links, the first link 11 has a first joint point 101, a fourth joint point 104 and a fifth joint point 105, the second link 12 has a second joint point 102, a sixth joint point 106 and a seventh joint point 107, and the third link 13 has a third joint point 103 and an eighth joint point 108.

[0031] The first link 11 is rotationally connected to the body unit 2 via the first joint 101, the second link 12 is rotationally connected to the body unit 2 via the second joint 102, the second link 12 is also rotationally connected to the middle part of the third link 13 via the seventh joint 107, the fourth link 14 is rotationally connected to the fourth joint 104 and the sixth joint 106 at both ends, and the fifth link 15 is rotationally connected to the fifth joint 105 and the eighth joint 108 at both ends.

[0032] This structural design is precisely calculated and optimized to ensure the stability of the push-off angle during dynamic jumping. This design strategy allows the hind legs to maintain a relatively constant angle during the push-off phase, thereby maximizing thrust generation. Due to the geometric characteristics of the link structure, the push-off torque can be transmitted along the optimal path, ensuring the efficiency and directness of energy output. In addition, the collinearity of the link structure reduces energy losses during jumping and optimizes the power transmission chain, thereby enhancing the robot's jumping height and distance without increasing energy consumption. In short, this unique hind leg link design is achieved by in-depth analysis of the biomechanical principles of the bionic frog and combined with the dynamic characteristics of the mechanical system, aiming to improve the energy efficiency and performance stability of the robot's jumping behavior.

[0033] In a preferred embodiment, the collinear first joint point 101, the second joint point 102 and the third joint point 103 are arranged along the ground-pushing force line, and this force line preferably passes through the center of mass of the bionic frog robot. (The center of mass position of the robot can be adjusted by setting a counterweight so that the center of mass is located on the force line) The advantage of this layout is that it can reduce the body's tendency to rotate when jumping, significantly reducing the possibility of flipping. Because when the ground-pushing force line is aligned with the center of mass, the force generated will directly push the frog to jump forward instead of rotating or flipping it.

[0034] Those skilled in the art can design the size of each link according to the actual size of the robot. For example, in a certain embodiment, the distance between the first joint point 101 and the fourth joint point 104 is 75, and the distance between the fourth joint point 104 and the fifth joint point 105 is 60, that is, the length of the first link 11 is 135. The distance between the second joint point 102 and the sixth joint point 106 is 50, and the distance between the sixth joint point 106 and the seventh joint point 107 is 40, that is, the length of the second link 12 is 90. The distance between the first joint point 101 and the second joint point 102 is 75. The distance between the third joint point 103 and the seventh joint point 107 is 45, and the distance between the seventh joint point 107 and the eighth joint point 108 is 45, that is, the length of the third link 13 is 90. The distance between the fourth joint point 104 and the sixth joint point 106, that is, the length of the fourth link 14 is 50. The distance between the fifth joint point 105 and the eighth joint point 108, that is, the length of the fifth link 15 is 60.

[0035] As long as the above-mentioned size data is enlarged or reduced in proportion, it can be applied to robots of different sizes. In other embodiments, other multi-link designs can also be used as long as the first, second and third joint points are collinear.

[0036] See again Figure 1 and Figure 3In some embodiments, two hind leg units 1 are symmetrically arranged on both sides of the body unit 2, and the hind leg unit 1 also includes a foot 16 rotatably connected to the third connecting rod 13 at the third joint point 103. The symmetrical arrangement of the two hind leg units 1 can make the bionic frog robot more stable, and the arrangement of the two feet 16 increases the contact area with the ground, and is also more stable when jumping.

[0037] Similarly, in some embodiments, two front leg units 4 are also included, and the front leg units 4 are symmetrically arranged on both sides of the body unit 2, and the front leg units 4 are connected to the body unit 2 in a lockable rotation. The two front leg units 4 cooperate with the two hind leg units 1, so that the bionic frog robot can stand stably on the ground. At the same time, the front leg unit 4 can rotate relative to the body unit 2, so that the bionic frog robot has the function of adjusting the jumping angle. After adjusting to the required angle, the front leg unit 4 is locked, so that the front leg unit 4 and the body unit 2 remain fixed, so that the front leg unit 4 can withstand greater external force when jumping. The function of adjusting the jumping angle of the front leg unit 4, combined with the stable thrust of the connecting rod structure of the hind leg unit 1, forms a set of efficient and coordinated jumping system. This system greatly improves the mobility efficiency and stability of the bionic frog robot.

[0038] If the driving unit 3 is relied on alone to drive the hind leg unit 1 to rotate and jump, the driving unit 3 needs to provide a large instantaneous acceleration, which places extremely high demands on the performance of the driving unit 3. Therefore, in some embodiments, the bionic frog robot also includes an energy storage unit connected to the hind leg unit 1, and the driving unit 3 drives the hind leg unit 1 to rotate so that the third joint point 102 is close to the body unit 2, and the energy storage unit accumulates potential energy. The potential energy accumulated by the energy storage unit is released instantly to drive the hind leg unit 1 to rotate in the opposite direction so that the third joint point 102 is away from the body unit 2, completing the jumping action. Such a design can greatly reduce the requirements for the performance of the driving unit 3, and a low-power driving unit 3 can be used to slowly drive the hind leg unit 1 to rotate and charge the energy storage unit, and then the energy storage unit completes a high-power output to drive the hind leg unit 1 to rotate in the opposite direction. Efficient energy storage and fast-response power output are achieved, making the jumping behavior closer to the biomechanical characteristics of a real frog.

[0039] In some embodiments, the energy storage unit includes a plurality of springs, which connect the fourth joint point 104 and the eighth joint point 108 and / or the fifth joint point 105 and the sixth joint point 106. In the process of the third joint point 103 moving toward the body unit 2, the distance between the fourth joint point 104 and the eighth joint point 108, and the distance between the fifth joint point 105 and the sixth joint point 106 increase, and the springs are stretched to accumulate elastic potential energy. In this embodiment, each connecting rod is rotatably connected at each joint point through a rotating shaft, and both ends of the spring can be hooked on the corresponding rotating shaft.

[0040] See also Figure 1 , Figure 4 as well as Figure 5 In some embodiments, the driving unit 3 includes a first driving part 31, a speed reducing part 32 and a transmission part 33. The first driving part 31 and the speed reducing part 32 are both arranged on the body unit 2. The transmission part 33 includes a capstan 331, a movable pulley 332 and a traction rope 333. The first driving part 31 is connected to the capstan 331 through the speed reducing part 32 to drive the capstan 331 to rotate. The movable pulley 332 is arranged at the third joint point 102. One end of the traction rope 333 is fixed on the capstan 331, and the other end thereof passes through the movable pulley 332 and is fixed to the second joint point 102, and can be fixed on the rotating shaft of the second joint point 102. The capstan 331 rotates to retract the traction rope, so that the traction rope 333 is wound around the capstan 331. Since the traction rope 333 outside the capstan 331 becomes shorter, the third joint point 103 is driven to move toward the body unit 2 through the movable pulley 332. This structure further amplifies the output energy by changing the direction and magnitude of the force. The traction rope 333 and the movable pulley 332 can effectively convert and enhance the effect of force, thereby improving the efficiency and continuity of energy conversion.

[0041] In this embodiment, the first driving part 31 can use a motor of a suitable model, and the bionic frog robot is also provided with a battery for powering the motor. The speed reduction part 32 is used to reduce the rotation speed and amplify the output force, so that the winch 331 can overcome the elastic force of the spring to pull the traction rope 333. The traction rope 333 can be a nylon rope, a steel wire rope, etc., as long as the flexibility and strength meet the requirements.

[0042] See also Figure 1 , Figure 6 and Figure 7 In some embodiments, the deceleration unit 32 has a first gear 321 and a second gear 322 that are meshed with each other, the first driving unit 31 is in transmission connection with the first gear 321 to drive the first gear 321 to rotate, and the second gear 322 is coaxially fixedly connected with the winch 331. The bionic frog robot also includes a jumping unit 6 disposed on the body unit 2, and the jumping unit 6 is in transmission connection with the second gear 322 to drive the second gear 322 to mesh with or separate from the first gear 321.

[0043] The first driving unit 31 drives the winch 331 to rotate through the meshing transmission of the first gear 321 and the second gear 322, pulling the third joint point 103 to move toward the body unit 2, and the energy storage unit accumulates potential energy. When the third joint point 103 moves to the right position, the first driving unit 31 stops outputting the driving force. The jump unit 6 drives the second gear 322 to separate from the first gear 321. After separation, the second gear 322 and the transmission unit 33 and the hind leg unit 1 connected thereto lose their constraints, and the potential energy accumulated in the energy storage unit is released instantly without hindrance, pushing the third joint point 103 back to the original position, so that the bionic frog robot jumps. Then the jump unit 6 drives the second gear 322 back to the original position and meshes with the first gear 321 again. Repeating the above process can realize the continuous jumping of the bionic frog robot.

[0044] Those skilled in the art will readily understand that the first driving unit 31 may use multiple gears meshing with each other to obtain a desired transmission ratio, and is not limited to two gears. Furthermore, the first gear 321 and the second gear 322 are not limited to gears directly connected to the first driving unit 31 and the winch 331. Those skilled in the art may flexibly select two meshing gears as the first gear 321 and the second gear 322 to trigger the take-off action according to actual needs.

[0045] In some embodiments, the body unit 2 includes a body part 21 and a capstan shaft 22. The body part 21 is used to connect the above-mentioned parts, such as the first connecting rod 11, the second connecting rod 12, the first driving part 31, the speed reduction part 32, the front leg unit 4, etc. The body part 21 has a mounting slot, and the capstan shaft 22 movably passes through the mounting slot and can move and rotate relative to the body part 21. The capstan shaft 22 is fixedly connected to the capstan 331 and the second gear 322 at the same time.

[0046] The take-off unit 6 includes a second driving part 61 and a connecting part 62. The second driving part 61 is arranged on the trunk 21. The connecting part 62 has a through hole. The capstan shaft 22 passes through the through hole and can rotate freely in the through hole. The second driving part 61 is connected to the connecting part 62 in a transmission manner, and the capstan shaft 22 is driven to move along the installation groove via the connecting part 62, so as to drive the first gear 321 and the second gear 322 to engage or separate.

[0047] In this embodiment, the connecting part 62 includes a connecting piece 621 and a screw rod 622. The connecting piece 621 has a through hole and a threaded hole, and the screw rod 622 is connected with the threaded hole. The second driving part 61 is connected to one end of the screw rod 622 to drive the screw rod 622 to rotate. Due to the limitation of the mounting groove, the connecting piece 621 cannot rotate with the screw rod 622 and can only move along the mounting groove. The direction of movement of the capstan shaft 22 can be changed by changing the rotation direction of the second driving part 61. Similarly, a speed reduction mechanism such as a gear set can also be set between the second driving part 61 and the screw rod 622 so that the screw rod 622 can obtain a better rotation speed.

[0048] The second driving part 61 drives the connecting part 62 to perform reciprocating linear motion. Therefore, in other embodiments, the second driving part 61 can also be an electric push rod, a cylinder, a hydraulic cylinder, etc. However, since adding an additional set of air supply equipment or oil supply equipment will greatly increase the complexity of the equipment, it is more appropriate to use an electronic control device.

[0049] In this embodiment, the bionic frog robot can also be provided with a single chip microcomputer and a program can be written to control the first drive unit 31 and the second drive unit 61 to complete the jumping action. A Bluetooth module or other communication module can also be used to control the first drive unit 31 and the second drive unit 61 by wireless remote control to complete the jumping action.

[0050] Compared with the prior art, the parallel multi-link bionic frog robot provided by the utility model keeps the first, second and third joint points of the hind leg unit in a straight line when jumping, maintains the stability of the ground-pushing angle, reduces the rotation tendency of the body unit when jumping, and significantly reduces the possibility of flipping.

[0051] The above is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A parallel multi-link bionic frog robot, characterized in that: It includes: A body unit, a hind leg unit and a driving unit, wherein the hind leg unit has three joints, the hind leg unit is rotationally connected to the body unit through a first joint and a second joint at the same time, and the third joint is used to contact the ground, the driving unit is arranged on the body unit and is transmission-connected to the hind leg unit to drive the hind leg unit to rotate around the first joint and the second joint at the same time, thereby driving the third joint to move so that the robot jumps; during the rotation of the hind leg unit, the first joint, the second joint and the third joint are kept on the same straight line.

2. The parallel multi-link bionic frog robot according to claim 1, characterized in that: The hind leg unit includes five connecting rods, the first connecting rod has the first joint point, the fourth joint point and the fifth joint point, the second connecting rod has the second joint point, the sixth joint point and the seventh joint point, and the third connecting rod has the third joint point and the eighth joint point; the first connecting rod is rotatably connected to the body unit through the first joint point, the second connecting rod is rotatably connected to the body unit through the second joint point, the second connecting rod is also rotatably connected to the middle part of the third connecting rod through the seventh joint point, the two ends of the fourth connecting rod are respectively rotatably connected to the fourth joint point and the sixth joint point, and the two ends of the fifth connecting rod are respectively rotatably connected to the fifth joint point and the eighth joint point.

3. The parallel multi-link bionic frog robot according to claim 2, characterized in that: It also includes an energy storage unit connected to the hind leg unit, and the driving unit drives the hind leg unit to rotate so that the third joint point approaches the body unit, and at the same time the energy storage unit accumulates potential energy; the energy storage unit can drive the hind leg unit to rotate in the opposite direction through the accumulated potential energy to make the third joint point move away from the body unit.

4. The parallel multi-link bionic frog robot according to claim 3, characterized in that: The energy storage unit includes a plurality of springs, which connect the fourth joint point with the eighth joint point and / or the fifth joint point with the sixth joint point.

5. The parallel multi-link bionic frog robot according to claim 3, characterized in that: The driving unit includes a first driving part, a deceleration part and a transmission part, the transmission part includes a winch, a movable pulley and a traction rope, the first driving part is connected to the winch via the deceleration part to drive the winch to rotate, the movable pulley is arranged at the third joint point, one end of the traction rope is fixed on the winch, and the other end of the traction rope is fixed to the second joint point by passing around the movable pulley.

6. The parallel multi-link bionic frog robot according to claim 5, characterized in that: The deceleration unit has a first gear and a second gear that are meshed with each other, the first driving unit is connected to the first gear to drive the first gear to rotate, the second gear is coaxially fixedly connected to the winch, and the parallel multi-link bionic frog robot also includes a jumping unit arranged on the body unit, and the jumping unit is connected to the second gear to drive the second gear to mesh with or separate from the first gear.

7. The parallel multi-link bionic frog robot according to claim 6, characterized in that: The body unit includes a body portion and a capstan shaft, the body portion has a mounting slot, the capstan shaft movably passes through the mounting slot and can move and rotate relative to the body portion, and the capstan shaft is fixedly connected to the capstan and the second gear at the same time; the take-off unit includes a second driving part and a connecting part, the second driving part is arranged on the body portion, the connecting part has a through hole, the capstan shaft passes through the through hole and can rotate freely in the through hole, the second driving part is transmission connected to the connecting part, and drives the capstan shaft to move via the connecting part.

8. The parallel multi-link bionic frog robot according to claim 7, characterized in that: The connecting part includes a connecting piece and a screw rod, the connecting piece has the through hole and the threaded hole, the screw rod is cooperatively connected with the threaded hole, and the second driving part is transmission-connected with one end of the screw rod to drive the screw rod to rotate.

9. The parallel multi-link bionic frog robot according to claim 2, characterized in that: Two rear leg units are symmetrically arranged on both sides of the body unit, and the rear leg unit also includes a foot that is rotatably connected to the third connecting rod at the third joint point.

10. The parallel multi-link bionic frog robot according to claim 9, characterized in that: It also includes two front leg units, which are symmetrically arranged on both sides of the body unit, and the front leg units are lockably connected to the body unit.

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