Jumping platform based on spring double-end control power energy storage

Abstract

The utility model discloses a jumping platform based on spring double-end control power energy storage, which comprises a platform body and a forelimb mechanism, and the forelimb mechanism is mounted on the front side of the platform body; the forelimb driving mechanism is installed on the platform body and drives the forelimb mechanism to act, and the jumping angle and / or the jumping posture of the platform body are / is changed; the hind limb mechanism is mounted on the rear side of the platform body; and the posterior limb driving mechanism is installed on the platform body and drives the posterior limb mechanism to act, and continuous jumping of the platform body is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of jumping platforms and relates to a jumping platform based on spring double-end controlled power energy storage. Background Art

[0002] With the continuous advancement of technology, jumping platforms, as a special type of mechanical device, have found widespread application in industries, entertainment, sports, and other fields. They enable vertical or diagonal jumping movements and possess high maneuverability and flexibility. However, existing jumping platforms mostly use traditional energy storage methods, such as elastic potential energy and compressed air, which suffer from low energy density and low energy storage efficiency.

[0003] Spring double-end controlled power storage technology is a novel method of storing and releasing energy by controlling the compression and release of the spring's two ends. This technology offers advantages such as high energy density, high energy storage efficiency, and fast response speed, and has broad application prospects in the field of jumping platforms.

[0004] Therefore, the present invention proposes a jumping platform based on spring double-end controlled power energy storage to improve the performance and practicality of the jumping platform. Utility Model Content

[0005] In order to solve the problems existing in the background technology, the utility model proposes a jumping platform based on spring double-end controlled power energy storage.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows: a jumping platform based on spring double-end control power energy storage, comprising a platform body,

[0007] A forelimb mechanism, the forelimb mechanism being mounted on the front side of the platform body;

[0008] A forelimb drive mechanism, which is mounted on the platform body and drives the forelimb mechanism to change the jumping angle and / or jumping posture of the platform body;

[0009] A hind limb mechanism, the hind limb mechanism being mounted on the rear side of the platform body;

[0010] A hind limb drive mechanism, which is mounted on the platform body and drives the hind limb mechanism to move, thereby achieving continuous jumping of the platform body;

[0011] A camera module is mounted on the front side of the platform body;

[0012] The controller module is electrically connected to the forelimb drive mechanism, the hindlimb drive mechanism and the camera module.

[0013] Further, the forelimb mechanism comprises two sets of forelimb limbs installed on the front side of the platform body, and the two sets of forelimb limbs are respectively installed on the two ends of the front side of the platform body.

[0014] Further, any set of the forelimb limbs comprises a forelimb and a roller, and the upper end of the forelimb is rotatably installed on the platform body, and the roller is rotatably installed on the lower end of the forelimb.

[0015] Further, the forelimb driving mechanism comprises two sets of forelimb driving members installed on the front side of the platform body, and the two sets of forelimb driving members are respectively installed on the two ends of the front side of the platform body and are respectively matched with the two sets of forelimb limbs.

[0016] Further, any set of the forelimb driving members comprises a forelimb driving motor, and the forelimb driving motor is installed on the platform body, and the forelimb driving motor drives the corresponding forelimb to rotate.

[0017] Further, the hindlimb mechanism comprises two sets of hindlimb limbs and a connecting rod frame located on the rear side of the platform body, the two sets of hindlimb limbs are respectively located on the two ends of the rear side of the platform body, the connecting rod frame is installed between the two sets of hindlimb limbs, and the two sets of hindlimb limbs are installed on the platform body through the connecting rod frame.

[0018] Further, any set of the hindlimb limbs comprises a first hindlimb rod, a second hindlimb rod, a third hindlimb rod, a fourth hindlimb rod, a fifth hindlimb rod, a sixth hindlimb rod, and a hind leg flipper, and the connecting rod frame comprises a first connecting rod and a second connecting rod.

[0019] One end of the second hindlimb rod and one end of the fifth hindlimb rod are coaxially hinged to one end of the first hindlimb rod.

[0020] The second hindlimb rod is hinged to the platform body through the first connecting rod, one end of the third hindlimb rod is hinged to the fifth hindlimb rod, the other end of the third hindlimb rod is hinged to the platform body through the second connecting rod, and a parallelogram structure is formed between the second hindlimb rod, the third hindlimb rod, the fifth hindlimb rod, and the platform body.

[0021] One end of the fourth hindlimb rod is hinged to the third hindlimb rod, the other end of the fourth hindlimb rod is hinged to one end of the sixth hindlimb rod, the end of the fifth hindlimb rod away from the first hindlimb rod is hinged to the sixth hindlimb rod, and a parallelogram structure is formed between the third hindlimb rod, the fourth hindlimb rod, the fifth hindlimb rod, and the sixth hindlimb rod.

[0022] The hind leg flipper is hinged to the end of the sixth hindlimb rod away from the fourth hindlimb rod.

[0023] Further, the rear leg driving mechanism comprises two groups of rear leg driving members, a rear leg driving motor, the two groups of rear leg driving members are respectively arranged at two ends of the platform body and are respectively matched with two groups of rear leg frames.

[0024] Further, any one of the rear leg driving members comprises a first driven gear, a winding wheel, a pull wire, a first shaft sleeve, a second shaft sleeve, a slide rod, a spring and a tension spring.

[0025] The first driven gear and the winding wheel are coaxially fixed on a first rotating shaft and are rotatably arranged on the platform body through the first rotating shaft.

[0026] The slide rod is fixed on the platform body through a mounting seat, the length direction of the slide rod is perpendicular to the length direction of the first rotating shaft, the first shaft sleeve and the second shaft sleeve are sleeved on the slide rod and move along the length direction of the slide rod, and the spring is sleeved on the slide rod and is fixed at two ends of the first shaft sleeve and the second shaft sleeve.

[0027] The tension spring is sleeved on the slide rod and is fixed at two ends of the mounting seat and the first shaft sleeve.

[0028] The pull wire is wound on the winding wheel and is fixed at one end of the first shaft sleeve.

[0029] Any one of the rear leg driving members further comprises a second driven gear and an intermittent protruding block coaxially arranged on the second driven gear.

[0030] The second driven gear is coaxially fixed on a second rotating shaft and is rotatably arranged on the platform body through the second rotating shaft.

[0031] The second shaft sleeve is provided with a protruding part matched with the intermittent protruding block.

[0032] Further, the driving motor is arranged on the platform body, the rear leg driving motor is coaxially arranged with a driving gear, and the driving gear is engaged with the first driven gear and the second driven gear.

[0033] Compared with the prior art, the utility model has the following beneficial effects:

[0034] 1. In the present invention, the forelimb mechanism and the forelimb driving mechanism are both installed on the front side of the platform body. The forelimb driving mechanism drives the forelimb mechanism to move, changing the jumping angle and jumping posture of the platform body to adapt to more complex road conditions. The hind limb mechanism is installed on the rear side of the platform body, and the hind limb driving mechanism is installed in the middle of the platform body. The hind limb driving mechanism drives the hind limb mechanism to move, realizing continuous jumping of the jumping platform. The camera module is set to explore the complex terrain and feed back the collected information to the controller module. The controller module controls the forelimb mechanism and the hind limb mechanism respectively through the forelimb driving mechanism and the hind limb driving mechanism, and accurately adjusts the movements of the forelimb mechanism and the hind limb mechanism to adapt to the exploration and rescue of complex terrain.

[0035] 2. The hind limb frame of this utility model adopts a double parallelogram structure, which not only improves the stability of the hind limb frame when the platform jumps, but also greatly enhances the shock resistance of the platform. It ensures the accuracy of the platform's jumping posture during the jumping process, improving jumping performance and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0037] Figure 2 It is a schematic diagram of the three-dimensional structure of the utility model in another direction;

[0038] Figure 3 It is a top view of the utility model;

[0039] Figure 4 It is a schematic diagram of the coordination of the forelimb mechanism, forelimb driving mechanism, hindlimb mechanism and hindlimb driving mechanism in the utility model.

[0040] In the figure: 1. Platform body; 2. Forelimb mechanism; 21. Forelimb frame; 211. Forelimb; 212. Roller; 3. Forelimb drive mechanism; 31. Forelimb drive member; 311. Forelimb drive motor; 4. Hindlimb mechanism; 41. Hindlimb frame; 411. First hindlimb rod; 412. Second hindlimb rod; 413. Third hindlimb rod; 414. Fourth hindlimb rod; 415. Fifth hindlimb rod; 416. Sixth hindlimb rod; 417. Hind leg flipper; 42. Connecting rod Frame; 421, first connecting rod; 422, second connecting rod; 5, hind limb driving mechanism; 51, hind limb driving member; 511, first driven gear; 512, winding wheel; 513, first shaft sleeve; 514, second shaft sleeve; 515, sliding rod; 516, spring; 517, tension spring; 518, second driven gear; 519, intermittent protrusion block; 52, hind limb driving motor; 521, driving gear; 6, first rotating shaft; 7, second rotating shaft; 8, camera module. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] like Figures 1-4 As shown, the technical solution adopted by the present invention is as follows: a jumping platform based on spring double-end control power storage, comprising a platform body 1, a forelimb mechanism 2, a forelimb drive mechanism 3, a hindlimb mechanism 4, and a hindlimb drive mechanism 5. The forelimb mechanism 2 and the forelimb drive mechanism 3 are both mounted on the front side of the platform body 1. The forelimb drive mechanism 3 drives the forelimb mechanism 2 to move, changing the jumping angle and jumping posture of the platform body 1 to adapt to more complex road conditions. The hindlimb mechanism 4 is mounted on the rear side of the platform body 1, and the hindlimb drive mechanism 5 is mounted in the middle of the platform body 1. The hindlimb drive mechanism 5 drives the hindlimb mechanism 4 to move, enabling the platform body 1 to perform intermittent and continuous jumps of different lengths.

[0043] This embodiment also includes a camera module 8 and a controller module. The camera module 8 is mounted on the front side of the platform body 1. The camera module 8 is preferably a high-definition depth-of-field camera. The forelimb drive mechanism 3, the hindlimb drive mechanism 5, and the camera module 8 are all electrically connected to the controller module.

[0044] In this embodiment, the forelimb mechanism 2 includes two sets of forelimb frames 21 mounted on the front side of the platform body 1. The two sets of forelimb frames 21 are respectively mounted on the two ends of the front side of the platform body 1. The two sets of forelimb frames 21 serve as foreleg support and change the angle of the platform body to improve adaptability.

[0045] In this embodiment, any set of forelimb frames 21 includes forelimbs 211 and rollers 212. The shape of the forelimbs 211 can be a curved structure with a certain arc angle, so that it is more consistent with the front paw of a real frog.

[0046] It should be noted that in this embodiment, the forelimb 211 is shaped like a straight rod, with the upper end of the forelimb 211 pivotally mounted to the front end of the platform body 1 via a T-shaped fixing block. The roller 212 is mounted to the lower end of the forelimb 211 via a bearing seat; when the hindlimb drive mechanism 5 drives the hindlimb mechanism 4 to jump, the roller 212 ensures the effective movement of the platform body 1.

[0047] In this embodiment, the forelimb drive mechanism 3 includes two sets of forelimb drive members 31 mounted on the front side of the platform body 1. The two sets of forelimb drive members 31 are respectively mounted at opposite ends of the front side of the platform body 1 and respectively cooperate with two sets of forelimb limb frames 21. It is particularly important to note that each set of forelimb drive members 31 corresponds to a forelimb limb frame 21 and can be independently controlled. When facing road surfaces of different heights, each set of forelimb drive members 31 drives the corresponding forelimb limb frame 21 to adjust to the optimal position, thereby improving the different jumping angles required to adapt to different environments.

[0048] In this embodiment, any group of forelimb driving parts 31 includes a forelimb driving motor 311, which is fixed to the front side of the platform body 1 through a motor seat; the output shaft of the forelimb driving motor 311 is fixed to the corresponding forelimb 211, and the output shaft of the driving motor is coaxially arranged with the rotation axis of the forelimb 211 to ensure that the forelimb driving motor 311 can stably drive the forelimb 211 to move.

[0049] It should be noted that the forelimb driving motor 311 is preferably a stepping motor or a servo motor with an encoder to ensure the accuracy of the jumping angle of the platform body 1.

[0050] In this embodiment, the hind limb mechanism 4 includes two sets of hind limb frames 41 and a connecting rod frame 42 located on the rear side of the platform body 1. The two sets of hind limb frames 41 are located at either end of the rear side of the platform body 1, and the connecting rod frame 42 is installed between the two sets of hind limb frames 41. The two sets of hind limb frames 41 are mounted to the platform body 1 through the connecting rod frame 42. The two sets of hind limb frames 41 imitate the two hind legs of a frog, providing the platform body 1 with jumping ability.

[0051] In this embodiment, any group of hind limb frames 41 includes a first hind limb rod 411, a second hind limb rod 412, a third hind limb rod 413, a fourth hind limb rod 414, a fifth hind limb rod 415, a sixth hind limb rod 416, and a hind leg web 417. The connecting rod frame 42 includes a first connecting rod 421 and a second connecting rod 422.

[0052] One end of the second hind limb rod 412 and the fifth hind limb rod 415 are coaxially hinged to the lower end of the first hind limb rod 411. The second hind limb rod 412 is hinged to the platform body 1 via a first connecting rod 421. The lower end of the third hind limb rod 413 is hinged to the fifth hind limb rod 415, and the upper end of the third hind limb rod 413 is hinged to the platform body 1 via a second connecting rod 422. The second hind limb rod 412, the third hind limb rod 413, the fifth hind limb rod 415, and the platform body 1 form a parallelogram structure.

[0053] The upper end of the fourth hind leg rod 414 is hingedly connected to the lower end of the third hind leg rod 413, the lower end of the fourth hind leg rod 414 is hingedly connected to the upper end of the sixth hind leg rod 416, and the lower end of the fifth hind leg rod 415 is hingedly connected to the upper end of the sixth hind leg rod 416. The third hind leg rod 413, the fourth hind leg rod 414, the fifth hind leg rod 415 and the sixth hind leg rod 416 form a parallelogram structure.

[0054] The hind leg flippers 417 are hingedly connected to the lower end of the sixth hind leg rod 416.

[0055] In summary, the double parallelogram structure improves the stability of the hind leg frame 41 when the platform body 1 jumps, greatly improves the anti-shock performance of the platform body 1, ensures the accuracy of the jumping posture of the spring double-end control power storage jumping platform during jumping, and improves the jumping ability and efficiency of the spring double-end control power storage jumping platform.

[0056] In this embodiment, the hind leg driving mechanism 5 includes two groups of hind leg driving members 51 and hind leg driving motors 52 mounted on the platform body 1. The two groups of hind leg driving members 51 are mounted on the left and right sides of the platform body 1 respectively and are matched with the two groups of hind leg frames 41 respectively. Under the driving of the hind leg driving motors 52, the two groups of hind leg driving members 51 drive the two groups of hind leg frames 41 to move synchronously, ensuring the jumping accuracy of the platform body 1.

[0057] In this embodiment, any one group of hind leg driving members 51 includes a first driven gear 511, a winding wheel 512, a pull wire, a first shaft sleeve 513, a second shaft sleeve 514, a slide rod 515, a spring 516 and a tension spring 517.

[0058] The first driven gear 511 and the winding wheel 512 are coaxially fixed on the first rotating shaft 6, and the two ends of the first rotating shaft 6 are mounted on the platform body 1 through a bearing seat. The first driven gear 511 and the winding wheel 512 are rotatably mounted on the platform body 1 at the front side position through the first rotating shaft 6.

[0059] The two ends of the slide rod 515 are fixed on the platform body 1 through a mounting seat, and the length direction of the slide rod 515 is perpendicular to the length direction of the first rotating shaft 6. The first shaft sleeve 513 and the second shaft sleeve 514 are sleeved on the slide rod 515 and can move along the length direction of the slide rod 515. The spring 516 is sleeved on the slide rod 515, and the two ends of the spring 516 are fixed on the first shaft sleeve 513 and the second shaft sleeve 514 respectively.

[0060] The tension spring 517 is sleeved on the slide rod 515, and the two ends of the tension spring 517 are fixed on the mounting seat and the first shaft sleeve 513 respectively.

[0061] The pull wire is wound on the winding wheel 512, and one end of the pull wire is fixed on the protruding part of the first shaft sleeve 513.

[0062] It should be noted that the first rear leg rod 411 is rotatably mounted on the second shaft sleeve 514.

[0063] In this embodiment, the rear leg driving member 51 further comprises a second driven gear 518 and an intermittent protruding block 519 coaxially fixed on the second driven gear 518; wherein the intermittent protruding block 519 is arranged in an arc shape and coaxially arranged with the second driven gear 518.

[0064] The second driven gear 518 is coaxially fixed on the second rotating shaft 7, and the two ends of the second rotating shaft 7 are mounted on the platform body 1 through a bearing seat. The second driven gear 518 is rotatably mounted on the platform body 1 through the second rotating shaft 7.

[0065] The second shaft sleeve 514 is fixedly connected with a protruding portion matched with the intermittent protruding block 519.

[0066] In this embodiment, the rear leg driving motor 52 is mounted on the platform body 1 through a motor seat, and the rear leg driving motor 52 is coaxially fixed with a driving gear 521, which is engaged with the first driven gear 511 and the second driven gear 518. The rear leg driving motor 52 drives the first rotating shaft 6 and the second rotating shaft 7 to rotate through the engagement of the driving gear 521, the first driven gear 511 and the second driven gear 518, thereby driving the subsequent movement of the intermittent protruding block 519 and the winding wheel 512.

[0067] It should be noted that preferably, the diameter of the second driven gear 518 is greater than the diameter of the first driven gear 511, so that when the driving motor drives the first rotating shaft 6 and the second rotating shaft 7 to rotate through the engagement of the driving gear 521, the first driven gear 511 and the second driven gear 518, the winding wheel 512 improves the moving distance of the first shaft sleeve 513 through the cooperation of the pull wire and the first shaft sleeve 513, thereby improving the elastic force of the spring 516, so as to provide greater driving force for the rear leg bracket 41.

[0068] It should be noted that the tension of the tension spring 517 is much smaller than the elastic force of the spring 516. The tension spring 517 is only used to reset the first shaft sleeve 513, the spring 516 and the second shaft sleeve 514.

[0069] It should be noted that the front leg driving motor 311 and the rear leg driving motor 52 are electrically connected with the controller module.

[0070] It should be noted that the above fixing method can adopt conventional fixing methods such as bolt connection and welding, and the embodiment will not be described in detail.

[0071] The working principle of the device is as follows:

[0072] In the initial state, the tension spring 517 and the spring 516 are both at their initial elastic values; the second sleeve 514 abuts against the inner wall of the discontinuous protrusion 519 through its protrusion. When the jumping platform based on the double-end control power storage of the spring is working:

[0073] The forelimb driving motor 311 drives the forelimb 211 to swing, thereby adjusting the jumping angle and jumping posture of the platform body 1.

[0074] The hind limb drive motor 52 drives the first rotating shaft 6 and the second rotating shaft 7 to rotate through the meshing of the driving gear 521, the first driven gear 511, and the second driven gear 518. The first rotating shaft 6 coaxially drives the winding reel 512 to rotate. The winding reel 512, through the pull line, drives the first sleeve 513 along the slide bar 515 toward the second sleeve 514, stretching the tension spring 517 and accumulating energy. At the same time, the second sleeve 514, with its raised portion, abuts against the inner wall of the intermittent raised block 519, compressing the spring 516 and accumulating energy. At the same time, the second driven gear 518 drives the intermittent raised block 519 to rotate. Until the intermittent protrusion block 519 is freed from the restriction on the second sleeve 514, since the winding wheel 512 is still pulling the first sleeve 513 through the pull wire, the first sleeve 513 is in a limited state. Under the elastic action of the spring 516, the second sleeve 514 drives the hind limb frame 41 to move through the first hind limb rod 411, thereby causing the platform body 1 to jump.

[0075] When the jumping action generated by the platform body 1 is completed, the hind limb driving motor 52 drives the first rotating shaft 6 and the second rotating shaft 7 to rotate in the opposite direction through the meshing of the driving gear 521, the first driven gear 511, and the second driven gear 518; the first rotating shaft 6 coaxially drives the winding wheel 512 to rotate in the opposite direction, and under the action of the tension spring 517, the pull line is rewound on the winding wheel 512; at the same time, the first sleeve 513, the spring 516, and the second sleeve 514 are gradually reset; at the same time, the second driven gear 518 drives the intermittent protrusion to rotate in the opposite direction until the first sleeve 513, the spring 516, and the second sleeve 514 are reset, and the second sleeve 514 again abuts against the inner wall of the intermittent protrusion block 519 through its protrusion.

[0076] Repeat the above steps to realize the continuous jumping function of the jumping platform based on the spring double-end controlled power energy storage.

[0077] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A jumping platform based on spring double-end control power storage, characterized in that: include: Platform body (1), A forelimb mechanism (2), the forelimb mechanism (2) being mounted on the front side of the platform body (1); A forelimb driving mechanism (3), the forelimb driving mechanism (3) being mounted on the platform body (1) and driving the forelimb mechanism (2) to move, thereby changing the jumping angle and / or jumping posture of the platform body (1); A hind limb mechanism (4), the hind limb mechanism (4) being mounted on the rear side of the platform body (1); A hind limb driving mechanism (5), the hind limb driving mechanism (5) being mounted on the platform body (1) and driving the hind limb mechanism (4) to move, thereby enabling the platform body (1) to continuously jump; A camera module (8), the camera module (8) being mounted on the front side of the platform body (1); The controller module is electrically connected to the forelimb drive mechanism (3), the hindlimb drive mechanism (5), and the camera module (8).

2. The jumping platform based on spring double-end controlled power energy storage according to claim 1, characterized in that: The forelimb mechanism (2) comprises two groups of forelimb frames (21) mounted on the front side of the platform body (1), and the two groups of forelimb frames (21) are respectively mounted on both ends of the front side of the platform body (1).

3. The jumping platform based on spring double-end controlled power energy storage according to claim 2, characterized in that: Any group of the forelimb frames (21) comprises a forelimb (211) and a roller (212); the upper end of the forelimb (211) is rotatably mounted on the platform body (1), and the roller (212) is rotatably mounted on the lower end of the forelimb (211).

4. The jumping platform based on spring double-end controlled power energy storage according to claim 3 is characterized in that: The forelimb driving mechanism (3) comprises two groups of forelimb driving components (31) mounted on the front side of the platform body (1). The two groups of forelimb driving components (31) are respectively mounted on the two ends of the front side of the platform body (1) and respectively cooperate with the two groups of forelimb frames (21).

5. The jumping platform based on spring double-end controlled power energy storage according to claim 4 is characterized in that: Any group of the forelimb driving components (31) includes a forelimb driving motor (311), which is mounted on the platform body (1). The forelimb driving motor (311) drives the corresponding forelimb (211) to rotate.

6. The jumping platform based on spring double-end controlled power energy storage according to claim 1, characterized in that: The hind limb mechanism (4) includes two groups of hind limb frames (41) and a connecting rod frame (42) located on the rear side of the platform body (1); the two groups of hind limb frames (41) are respectively located at the two ends of the rear side of the platform body (1), and the connecting rod frame (42) is installed between the two groups of hind limb frames (41). The two groups of hind limb frames (41) are installed on the platform body (1) through the connecting rod frame (42).

7. The jumping platform based on spring double-end controlled power energy storage according to claim 6, characterized in that: Any group of the hind limb racks (41) includes a first hind limb rod (411), a second hind limb rod (412), a third hind limb rod (413), a fourth hind limb rod (414), a fifth hind limb rod (415), a sixth hind limb rod (416), and a hind leg web (417); the connecting rod rack (42) includes a first connecting rod (421) and a second connecting rod (422); One end of the second hind limb rod (412) and the fifth hind limb rod (415) is coaxially hinged to one end of the first hind limb rod (411); The second hind limb rod (412) is hinged to the platform body (1) via a first connecting rod (421), one end of the third hind limb rod (413) is hinged to the fifth hind limb rod (415), and the other end of the third hind limb rod (413) is hinged to the platform body (1) via a second connecting rod (422), and a parallelogram structure is formed between the second hind limb rod (412), the third hind limb rod (413), the fifth hind limb rod (415) and the platform body (1); One end of the fourth hind limb rod (414) is hinged to the third hind limb rod (413), the other end of the fourth hind limb rod (414) is hinged to one end of the sixth hind limb rod (416), and one end of the fifth hind limb rod (415) away from the first hind limb rod (411) is hinged to the sixth hind limb rod (416), and the third hind limb rod (413), the fourth hind limb rod (414), the fifth hind limb rod (415), and the sixth hind limb rod (416) form a parallelogram structure; The hind leg flipper (417) is hinged to the end of the sixth hind limb rod (416) away from the fourth hind limb rod (414).

8. The jumping platform based on spring double-end controlled power energy storage according to claim 7, characterized in that: The hind limb driving mechanism (5) comprises two groups of hind limb driving components (51) and a hind limb driving motor (52) mounted on the platform body (1). The two groups of hind limb driving components (51) are respectively mounted at both ends of the platform body (1) and are respectively adapted to the two groups of hind limb frames (41).

9. The jumping platform based on spring double-end controlled power storage according to claim 8, characterized in that: Any group of the hind limb driving members (51) includes a first driven gear (511), a winding wheel (512), a pull line, a first shaft sleeve (513), a second shaft sleeve (514), a sliding rod (515), a spring (516), and a tension spring (517); The first driven gear (511) and the winding wheel (512) are coaxially fixed to the first rotating shaft (6), and are rotatably mounted on the platform body (1) via the first rotating shaft (6); The slide bar (515) is fixed to the platform body (1) via a mounting seat, and the length direction of the slide bar (515) is arranged perpendicular to the length direction of the first rotating shaft (6); the first shaft sleeve (513) and the second shaft sleeve (514) are both sleeved on the slide bar (515) and move along the length direction of the slide bar (515); the spring (516) is sleeved on the slide bar (515), and its two ends are respectively fixed to the first shaft sleeve (513) and the second shaft sleeve (514); The tension spring (517) is sleeved on the slide rod (515), and two ends of the tension spring (517) are respectively fixed on the mounting seat and the first shaft sleeve (513); The pulling wire is wound on the winding wheel (512), and one end of the pulling wire is fixedly connected to the first shaft sleeve (513); Any of the hind limb driving members (51) further includes a second driven gear (518) and an intermittent protrusion (519) coaxially mounted on the second driven gear (518); The second driven gear (518) is coaxially fixed to the second rotating shaft (7) and is rotatably mounted on the platform body (1) via the second rotating shaft (7); The second shaft sleeve (514) is provided with a protrusion that matches the discontinuous protrusion block (519).

10. The jumping platform based on spring double-end controlled power storage according to claim 9, characterized in that: The driving motor is mounted on the platform body (1), and a driving gear (521) is coaxially mounted on the hind limb driving motor (52), wherein the driving gear (521) is meshed with a first driven gear (511) and a second driven gear (518).

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