Bionic jumping robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a bionic jumping robot. Comprising a rack, a front limb mechanism, a rear limb mechanism, a driving mechanism and a control module, the rear limb mechanism comprises a sole part, a first connecting rod assembly and a second connecting rod assembly connected to the sole part through a pin shaft, and the ends, away from the sole part, of the first connecting rod assembly and the second connecting rod assembly of an elastic part are connected and slidably connected to the rack through pin shafts; the driving mechanism is used for driving the first connecting rod assembly and the second connecting rod assembly to bend and releasing acting force after the elastic piece stretches and accumulates force, and continuous jumping of the hind limb mechanism is achieved. Through bending of a connecting rod assembly of the hind limb mechanism, an elastic piece is stretched to store force, stored energy is released, and jumping is achieved. The linkage design of the first connecting rod assembly and the second connecting rod assembly reduces the loss of energy in conversion. And continuous multi-time jumping can be achieved, biological motion characteristics are closer, and the jumping performance can be improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a biomimetic jumping robot. Background Technology

[0002] With the rapid development of robotics technology, the mobility of biomimetic jumping robots in complex environments has attracted much attention, and they have broad application prospects in fields such as rubble rescue, planetary exploration, and field exploration. By mimicking the jumping mechanism of animals, biomimetic jumping robots can efficiently cross obstacles and achieve rapid movement, possessing advantages such as high energy efficiency and flexible steering.

[0003] Currently, most biomimetic jumping robots use spring-driven mechanisms to achieve jumping. However, traditional spring-driven mechanisms have several technical bottlenecks: existing technologies often use a meshing mechanism of incomplete gears and racks to convert rotational motion into linear motion, but there is significant energy loss during the conversion process, affecting jumping performance; furthermore, because racks and incomplete gears need to frequently mesh and disengage, this mechanical operation easily leads to tooth surface wear, which in turn affects the robot's service life and performance stability. Utility Model Content

[0004] The technical problem to be solved by this application is to provide a biomimetic jumping robot that can achieve multiple consecutive jumps, which is beneficial to improving jumping performance.

[0005] This application provides a biomimetic jumping robot, comprising:

[0006] frame;

[0007] The forelimb mechanism is located at one end of the frame;

[0008] The hind limb mechanism, located on the frame opposite to the forelimb mechanism, includes a foot portion, a first linkage assembly connected to the foot portion via a pin, a second linkage assembly connected to the foot portion via a pin, and elastic members whose two ends are respectively connected to the first linkage assembly and the second linkage assembly via pins. The first linkage assembly and the second linkage assembly are linked together, and the end of the first linkage assembly away from the foot portion is connected to the frame via a pin, while the end of the second linkage assembly away from the foot portion is slidably connected to the frame.

[0009] A drive mechanism, mounted on the frame, is used to drive the first link assembly and the second link assembly to bend and stretch the elastic element to store force and then release the force, thereby enabling the hind limb mechanism to jump continuously.

[0010] Optionally, the first linkage assembly includes a first connecting rod connected to the frame via a pin, a second connecting rod connected to the first connecting rod via a pin, and a third connecting rod connected to the second connecting rod via a pin. The third connecting rod is connected to the foot portion via a pin, and the end of the first connecting rod away from the frame is connected to the second linkage assembly via a pin.

[0011] The first link assembly further includes a connecting seat, which is connected to the second connecting rod and the third connecting rod via a first pin.

[0012] Optionally, the second linkage assembly includes a sliding block slidably connected to the frame, a fourth connecting rod connected to the sliding block via a pin, a fifth connecting rod connected to the fourth connecting rod via a pin, and a sixth connecting rod connected to the fifth connecting rod via a pin. The end of the fourth connecting rod away from the sliding block is connected to the first connecting rod via a pin, the end of the first connecting rod away from the frame is connected to the sixth connecting rod via a pin, and the fifth connecting rod and the sixth connecting rod are connected via a second pin.

[0013] Optionally, the two ends of the elastic element are respectively connected to the first pin and the second pin.

[0014] Optionally, the driving mechanism includes a drive motor, a transmission gear set driven by the drive motor, a take-up reel driven by the transmission gear set, and a force transmission rope with one end connected to the take-up reel via a pin. The other end of the force transmission rope is fixed to the frame after passing through a connecting seat. The drive motor is electrically connected to the control module. The transmission gear set includes incomplete gears for the force transmission rope to complete the periodic transformation of winding and releasing on the take-up reel.

[0015] Optionally, the transmission gear set further includes a driving gear connected to the output end of the drive motor, a driven gear meshing with the driving gear, and a transmission gear meshing with the incomplete gear. The driven gear and the incomplete gear are mounted on the frame via the same shaft, and the transmission gear and the take-up reel are mounted on the frame via the same shaft.

[0016] Optionally, the transmission gear set further includes a transmission gear meshing with the incomplete gear. The transmission gear and the take-up reel are mounted on the frame via the same shaft. The incomplete gear is mounted on the frame via a shaft and is directly connected to the drive motor.

[0017] Optionally, the number of transmission gear sets is two, and they are symmetrically distributed; correspondingly, the number of hind limb mechanisms is two, and they are symmetrically distributed.

[0018] Optionally, the drive motor is a servo motor, a stepper motor, or a geared motor.

[0019] Optionally, the elastic element is a tension spring.

[0020] The beneficial effect of this application is that the linkage assembly of the hind limb mechanism is bent by the drive mechanism, causing the elastic element to stretch and store energy. Subsequently, the elastic element releases the stored energy, propelling the robot to jump. Through the linkage design of the first linkage group and the second linkage assembly, and the reasonable arrangement of the elastic element, it is closer to the biological movement characteristics, which is beneficial to improving jumping performance. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of a biomimetic jumping robot from one perspective, provided in an embodiment of this application.

[0022] Figure 2 This is a structural schematic diagram from a second perspective of a biomimetic jumping robot provided in an embodiment of this application;

[0023] Figure 3 A side view of a biomimetic jumping robot provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of another biomimetic jumping robot provided in an embodiment of this application.

[0025] In the diagram: 100, frame; 200, forelimb mechanism; 300, hindlimb mechanism; 310, foot; 320, first linkage assembly; 321, first connecting rod; 322, second connecting rod; 323, third connecting rod; 324, connecting seat; 325, first pin; 330, second linkage assembly; 331, sliding block; 332, fourth connecting rod; 333, fifth connecting rod; 334, sixth connecting rod; 335, second pin; 340, elastic element; 400, drive mechanism; 410, drive motor; 420, transmission gear set; 421, driving gear; 422, driven gear; 423, incomplete gear; 424, transmission gear; 430, take-up reel; 440, force transmission rope. Detailed Implementation

[0026] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0027] like Figure 1-4 As shown, this application provides a biomimetic jumping robot, comprising:

[0028] 100 racks;

[0029] The forelimb mechanism 200 is located at one end of the frame 100;

[0030] The hind limb mechanism 300 is disposed on the frame 100 opposite to the forelimb mechanism 200, and includes a foot portion 310, a first linkage assembly 320 connected to the foot portion 310 by a pin, a second linkage assembly 330 connected to the foot portion 310 by a pin, and an elastic element 340 whose two ends are respectively connected to the first linkage assembly 320 and the second linkage assembly 330 by pins. The first linkage assembly 320 and the second linkage assembly 330 are linked together, and the end of the first linkage assembly 320 away from the foot portion 310 is connected to the frame 100 by a pin, and the end of the second linkage assembly 330 away from the foot portion 310 is slidably connected to the frame 100.

[0031] The drive mechanism 400, mounted on the frame 100, is used to drive the first link assembly 320 and the second link assembly 330 to bend and stretch the elastic element 340 to store force and release the force, thereby enabling the hind limb mechanism 300 to jump continuously.

[0032] During operation, the drive mechanism 400 drives the first link assembly 320 and the second link assembly 330 of the hind limb mechanism 300 to bend and retract towards the foot 310, causing the frame 100 to descend and simultaneously stretching the elastic element 340 to accumulate elastic potential energy. Once the energy is fully stored, the drive mechanism 400 releases the constraint, and the elastic element 340 rapidly contracts to release energy, pushing the first link assembly 320 and the second link assembly 330 to rapidly extend. The foot 310 then generates a downward and backward pushing motion, which in turn generates a strong reaction force to propel the robot forward and upward into the air for a jump. The sliding connection design between the second link assembly 330 and the frame 100 allows the mechanism to adapt to the ground impact force upon landing, completing the buffering process and storing energy again to achieve continuous jumping.

[0033] The biomimetic jumping robot provided in this application uses a drive mechanism 400 to bend the linkage assembly of the hind limb mechanism 300, causing the elastic element 340 to stretch and store energy. Subsequently, the elastic element 340 releases the stored energy, propelling the robot to jump. Through the linkage design of the first linkage assembly 320 and the second linkage assembly 330, and the reasonable arrangement of the elastic element 340, it more closely resembles biological movement characteristics, which is beneficial to improving jumping performance.

[0034] In one possible implementation, such as Figure 3As shown, the first linkage assembly 320 includes a first connecting rod 321 connected to the frame 100 via a pin, a second connecting rod 322 connected to the first connecting rod 321 via a pin, and a third connecting rod 323 connected to the second connecting rod 322 via a pin. The third connecting rod 323 is connected to the foot part 310 via a pin. The end of the first connecting rod 321 away from the frame 100 is connected to the second linkage assembly 330 via a pin. The first linkage assembly 320 also includes a connecting seat 324, which is connected to the second connecting rod 322 and the third connecting rod 323 via a first pin 325.

[0035] In the above embodiment, the first linkage assembly 320 adopts a three-stage linkage structure. Specifically, one end of the first connecting rod 321 is connected to the frame 100 via a revolute joint, and the other end is connected to the second connecting rod 322 via a pin. The second connecting rod 322 is then connected to the third connecting rod 323 via a pin, and the end of the third connecting rod 323 is hinged to the foot part 310, thereby forming a multi-degree-of-freedom transmission chain from the frame 100 to the foot. At the same time, the end of the first connecting rod 321 away from the frame 100 is also connected to the second linkage assembly 330 via a pin, so that the two sets of linkages move collaboratively under the action of the drive mechanism 400. When the drive mechanism 400 applies driving force, the force transmission rope 440 is wound around the take-up reel 430. Since the foot part 310 is stationary on the ground, it drives the frame 100 to descend. At the same time, it drives the upper part of the first connecting rod 321 and the second connecting rod assembly 330 to retract backward and downward. The first pin 325 and the second pin 335 move away from each other, and the elastic element 340 is stretched to complete the energy storage. When released, the elastic element 340 rebounds, and the energy is efficiently transferred to the foot part 310 to push off the ground through the connecting rod assembly, generating an upward reaction force to achieve a jump.

[0036] In one possible implementation, the second linkage assembly 330 includes a sliding block 331 slidably connected to the frame 100, a fourth connecting rod 332 connected to the sliding block 331 via a pin, a fifth connecting rod 333 connected to the fourth connecting rod 332 via a pin, and a sixth connecting rod 334 connected to the fifth connecting rod 333 via a pin. The end of the fourth connecting rod 332 away from the sliding block 331 is connected to the first connecting rod 321 via a pin, the end of the first connecting rod 321 away from the frame 100 is connected to the sixth connecting rod 334 via a pin, and the fifth connecting rod 333 and the sixth connecting rod 334 are connected via a second pin 335.

[0037] In the above embodiment, the second linkage assembly 330 is slidably connected to the frame 100 via the sliding block 331, providing the entire hind limb mechanism 300 with a degree of freedom to translate along the frame 100, effectively buffering the impact during the jump and optimizing the energy release path. Specifically, the sliding block 331 forms a multi-stage rotation chain via the fourth connecting rod 332, the fifth connecting rod 333, and the sixth connecting rod 334 in sequence. The end of the fourth connecting rod 332 away from the sliding block 331 is connected to the first connecting rod 321 in the first linkage assembly 320 via a pin, while the end of the first connecting rod 321 away from the frame 100 is connected to the sixth connecting rod 334 via a pin, thereby linking and coupling the first linkage assembly 320 and the second linkage assembly 330 at multiple nodes to form a closed-loop motion mechanism. The elastic element 340 is connected at both ends to the hinge points of the second connecting rod 322 and the third connecting rod 323 in the first connecting rod assembly 320, and the hinge points of the fifth connecting rod 333 and the sixth connecting rod 334 in the second connecting rod assembly 330, respectively, via pins. When the drive mechanism 400 drives the connecting rod system to retract, it is stretched and stores energy. When released, the elastic element 340 rebounds quickly, and through the cooperation of the two sets of connecting rods, the stored energy is efficiently converted into the pushing force of the foot 310 against the ground, realizing the jumping action.

[0038] It should be noted that the section connecting the first connecting rod 321 and the sixth connecting rod 334 is near the second pin 335; one end of the second connecting rod 322 is connected to the first connecting rod 321 at one-third of the distance from the sixth connecting rod 334; one end of the fourth connecting rod 332 is connected to the first connecting rod 321 at one-third of the distance from the frame 100; and the fifth connecting rod 333 is connected at the middle position of the fourth connecting rod 332. Furthermore, before the drive mechanism 400 releases the constraint, the first link assembly 320 and the second link assembly 330 are bent to their limit positions, the sixth connecting rod 334 is in an upward tilted posture, and the first link assembly 320 and the second link assembly 330 are extended in an upward tilted posture to ensure that the biomimetic jumping robot jumps forward and upward.

[0039] In one possible implementation, the two ends of the elastic element 340 are connected to the first pin 325 and the second pin 335, respectively.

[0040] In one possible implementation, the drive mechanism 400 includes a drive motor 410, a transmission gear set 420 driven by the drive motor 410, a take-up reel 430 driven by the transmission gear set 420, and a force transmission rope 440 with one end connected to the take-up reel 430 by a pin. The other end of the force transmission rope 440 is fixed to the frame 100 after passing through the connecting seat 324. The drive motor 410 is electrically connected to the control module. The transmission gear set 420 includes an incomplete gear 423 for the force transmission rope 440 to complete the periodic transformation of winding and releasing on the take-up reel 430.

[0041] In the above embodiment, the drive mechanism 400 adopts a transmission chain structure of "motor-gear set-reel 430-force transmission rope 440". Specifically, the mechanical energy generated by the drive motor 410 is transmitted to the reel 430 through the transmission gear set 420. The reel 430 rotates, causing the force transmission rope 440 to wind around it. The transmission gear set 420 includes an incomplete gear 423, which allows the reel 430 to periodically complete the winding (winding and energy storage) and releasing (unwinding and jumping) actions of the force transmission rope 440 during rotation. When the reel 430 winds the force transmission rope 440, the force transmission rope 440 pulls the linkage system of the hind limb mechanism 300 to bend, causing the elastic element 340 to be stretched and store elastic potential energy. When the incomplete gear 423 rotates to the toothless section, the reel 430 reverses direction, the force transmission rope 440 releases tension, the elastic element 340 quickly rebounds, and the hind limb pushes off the ground to complete the jump. This configuration utilizes the incomplete gear 423 to achieve automatic switching of the drive cycle, simplifying the control logic while ensuring the timing accuracy and mechanical reliability of the energy storage and release process, effectively supporting continuous and stable biomimetic jumping behavior.

[0042] It should be noted that the central angle of the toothless portion of the incomplete gear 423 is 30° to 90°.

[0043] In one possible implementation, such as Figure 2 As shown, the transmission gear set 420 also includes a driving gear 421 connected to the output end of the drive motor 410, a driven gear 422 meshing with the driving gear 421, and a transmission gear 424 meshing with the incomplete gear 423. The driven gear 422 and the incomplete gear 423 are mounted on the frame 100 via the same shaft, and the transmission gear 424 and the take-up reel 430 are mounted on the frame 100 via the same shaft.

[0044] It should be noted that the controller can be integrated into the drive motor 410 or set separately on the frame 100 to control the operation of the drive motor 410.

[0045] In the above embodiment, the transmission gear set 420 adopts a multi-stage gear cooperative transmission structure. Specifically, the output end of the drive motor 410 is connected to the driving gear 421, which meshes with the driven gear 422 to transmit power to the driven gear 422. The driven gear 422 and the incomplete gear 423 are coaxially fixedly mounted on the same rotating shaft on the frame 100, forming a compound gear unit, so that the continuous rotation of the driving gear 421 can drive the incomplete gear 423 to rotate synchronously. The incomplete gear 423 meshes with the transmission gear 424, which in turn shares another rotating shaft mounted on the frame 100 with the take-up reel 430. When the drive motor 410 is running, the power is transmitted sequentially through the driving gear 421 → driven gear 422 → incomplete gear 423 → transmission gear 424, ultimately driving the take-up reel 430 to rotate. Because the incomplete gear 423 only has teeth on a portion of its circumference, its meshing with the transmission gear 424 is periodic. When engaged in the toothed section, the take-up reel 430 winds the force transmission rope 440, causing the rear limb mechanism 300 to compress the elastic element 340 to store energy. When disengaged in the toothless section, the take-up reel 430 stops rotating or releases the force transmission rope 440 using rebound force, and the elastic element 340 quickly releases energy to complete the jump. This gear arrangement not only achieves efficient transmission and periodic interruption of the drive signal but also automatically switches between energy storage and release through the mechanical structure itself, eliminating the need for additional clutch or braking devices. This simplifies the system structure and improves the reliability and repeatability of the jumping action.

[0046] In another possible implementation, such as Figure 4 As shown, the transmission gear set 420 also includes a transmission gear 424 that meshes with the incomplete gear 423. The transmission gear 424 and the take-up reel 430 are mounted on the frame 100 via the same shaft. The incomplete gear 423 is mounted on the frame 100 via a shaft and is directly connected to the drive motor 410.

[0047] In the above embodiments, the transmission gear set 420 adopts a simpler direct-drive structure. Specifically, the output shaft of the drive motor 410 is directly coaxially connected to the incomplete gear 423 (i.e., direct-drive connection), eliminating the intermediate multi-stage gear transmission links; the incomplete gear 423 is rotatably mounted on the frame 100 via a rotating shaft and meshes with the transmission gear 424; while the transmission gear 424 and the take-up reel 430 share the same rotating shaft and are also fixedly mounted on the frame 100. When the drive motor 410 operates, the incomplete gear 423 rotates synchronously. Its toothed segment periodically meshes with the transmission gear 424, driving the transmission gear 424 and the coaxial take-up reel 430 to rotate, thereby winding the force transmission rope 440 and pulling the hind limb mechanism 300 to compress the elastic element 340 to complete energy storage. When the incomplete gear 423 rotates to the toothless segment, it disengages from the transmission gear 424, the take-up reel 430 stops being stressed, and the force transmission rope 440 is released under the rebound action of the elastic element 340, allowing the hind limb mechanism 300 to quickly extend and achieve a jump. This scheme significantly reduces the number of transmission components and energy loss through direct drive, improves response speed and system compactness, and automatically achieves the "take-up-release" cycle switching by relying on the inherent geometric characteristics of the incomplete gear 423. The structure is simple and the control logic is clear, which is conducive to improving the stability and energy efficiency of continuous jumping of the bionic jumping robot.

[0048] In one possible implementation, there are two transmission gear sets 420, which are symmetrically distributed, and there are two corresponding hind limb mechanisms 300, which are also symmetrically distributed.

[0049] In the above embodiment, two transmission gear sets 420 are configured and symmetrically arranged on the left and right sides of the frame 100. Each transmission gear set 420 independently drives a corresponding rear limb mechanism 300, and the two rear limb mechanisms 300 are also symmetrically installed with the center line of the frame 100 as the axis of symmetry. Specifically, each transmission gear set 420 includes components such as an incomplete gear 423, a transmission gear 424, a take-up reel 430, and a force transmission rope 440, and can be connected to its respective drive motor 410 by direct drive or indirect drive. During operation, the transmission systems on both sides operate synchronously: when the drive motor 410 starts, the take-up reels 430 on both sides synchronously wind the force transmission rope 440, pulling the linkage assembly of their respective rear limb mechanisms 300 to retract in coordination, so that the elastic elements 340 on both sides simultaneously store energy; then, when the incomplete gear 423 enters the toothless section, the force transmission rope 440 is released synchronously, and the elastic elements 340 on both sides rebound instantly, pushing the balls of both feet 310 to push off the ground synchronously, achieving a smooth and coordinated jumping action. This symmetrical dual hind limb drive structure not only significantly improves balance and directional stability during jumping, but also effectively enhances propulsion and load capacity. It is particularly suitable for complex terrain operation scenarios that require high dynamic performance and high reliability, such as traversing ruins or exploring rugged fields.

[0050] It should be noted that the two transmission gear sets 420 can share a single drive motor 410 driven by a synchronization mechanism, or they can be configured with independent drive motors 410 respectively.

[0051] In one possible implementation, the drive motor 410 is a servo motor, a stepper motor, a geared motor, or a brushless DC motor.

[0052] In the above embodiments, all four types of motors can be electrically connected to the control module and can flexibly switch working modes according to the overall robot control strategy, taking into account performance, efficiency and system robustness, and improving the adaptability of the bionic jumping robot in diverse application environments.

[0053] In one possible implementation, the elastic element 340 is a tension spring.

[0054] In the above embodiments, the tension spring has the advantages of simple structure, light weight, high energy storage density, and long fatigue life, and is particularly suitable for biomimetic jumping systems that require high-frequency and high-efficiency energy cycling.

[0055] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0056] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A biomimetic hopping robot, characterized in that, The application relates to a jumping mechanism for a robot, which comprises the following parts: a frame (100); a forelimb mechanism (200) arranged at one end of the frame (100); a hindlimb mechanism (300) arranged at a position opposite to the forelimb mechanism (200) on the frame (100), which comprises a sole (310), a first connecting rod assembly (320) connected to the sole (310) through a pin shaft, a second connecting rod assembly (330) connected to the sole (310) through a pin shaft, and an elastic member (340) with two ends connected to the first connecting rod assembly (320) and the second connecting rod assembly (330) through pin shafts respectively, wherein the first connecting rod assembly (320) and the second connecting rod assembly (330) are connected to each other, one end of the first connecting rod assembly (320) away from the sole (310) is connected to the frame (100) through a pin shaft, and one end of the second connecting rod assembly (330) away from the sole (310) is connected to the frame (100) through sliding; a driving mechanism (400) arranged on the frame (100) and used for driving the first connecting rod assembly (320) and the second connecting rod assembly (330) to bend and make the elastic member (340) stretch and store power and then release the power, so that the hindlimb mechanism (300) can continuously jump.

2. The biomimetic jumping robot of claim 1, wherein, The first connecting rod assembly (320) comprises a first connecting rod (321) connected to the frame (100) through a pin shaft, a second connecting rod (322) connected to the first connecting rod (321) through a pin shaft, and a third connecting rod (323) connected to the second connecting rod (322) through a pin shaft, wherein the third connecting rod (323) is connected to the sole (310) through a pin shaft, and one end of the first connecting rod (321) away from the frame (100) is connected to the second connecting rod assembly (330) through a pin shaft. The first connecting rod assembly (320) further comprises a connecting seat (324) connected to the second connecting rod (322) and the third connecting rod (323) through a first pin shaft (325).

3. The biomimetic jumping robot of claim 2, wherein, The second connecting rod assembly (330) comprises a sliding block (331) connected to the frame (100) through sliding, a fourth connecting rod (332) connected to the sliding block (331) through a pin shaft, a fifth connecting rod (333) connected to the fourth connecting rod (332) through a pin shaft, and a sixth connecting rod (334) connected to the fifth connecting rod (333) through a pin shaft, wherein one end of the fourth connecting rod (332) away from the sliding block (331) is connected to the first connecting rod (321) through a pin shaft, one end of the first connecting rod (321) away from the frame (100) is connected to the sixth connecting rod (334) through a pin shaft, and the fifth connecting rod (333) and the sixth connecting rod (334) are connected through a second pin shaft (335).

4. The biomimetic jumping robot of claim 3, wherein, Two ends of the elastic member (340) are connected to the first pin shaft (325) and the second pin shaft (335) respectively.

5. The biomimetic jumping robot of claim 4, wherein, The driving mechanism (400) comprises a driving motor (410), a transmission gear set (420) in driving connection with the driving motor (410), a take-up reel (430) in driving connection with the transmission gear set (420), a force transmission rope (440) having one end connected to the take-up reel (430) through a pin shaft, and having the other end fixed to the rack (100) after winding through a connecting seat (324), the driving motor (410) being electrically connected with a control module, the transmission gear set (420) comprising an incomplete gear (423) for completing the periodical transformation of take-up winding and release of the force transmission rope (440) on the take-up reel (430).

6. The biomimetic jumping robot of claim 5, wherein, The transmission gear set (420) further comprises a driving gear (421) connected with the output end of the driving motor (410), a driven gear (422) in engagement with the driving gear (421), and a transmission gear (424) in engagement with the incomplete gear (423), the driven gear (422) and the incomplete gear (423) being mounted on the rack (100) through the same rotating shaft, and the transmission gear (424) and the take-up reel (430) being mounted on the rack (100) through the same rotating shaft.

7. The biomimetic jumping robot of claim 5, wherein, The transmission gear set (420) further comprises a transmission gear (424) in engagement with the incomplete gear (423), the transmission gear (424) and the take-up reel (430) being mounted on the rack (100) through the same rotating shaft, and the incomplete gear (423) being mounted on the rack (100) through a rotating shaft, and the incomplete gear (423) being directly connected with the driving motor (410).

8. The biomimetic jumping robot of claim 6 or 7, wherein, The number of the transmission gear sets (420) is two, and they are symmetrically distributed, and the number of the hind leg mechanisms (300) is also two symmetrically distributed.

9. The biomimetic jumping robot of claim 8, wherein, The driving motor (410) is a servo motor, a stepping motor or a reduction motor.

10. The biomimetic jumping robot of claim 1, wherein, The elastic member (340) is a tension spring.

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