A biomimetic high-jump device

Abstract

A biomimetic high-jumping device includes a torso covered by an outer shell, with a lithium battery installed underneath. Forelimbs are symmetrically mounted on both sides of the front of the torso, and hindlimbs are symmetrically mounted on both sides of the tail. The right hindlimb is connected to a transmission mechanism and a drive mechanism, which are installed inside the torso. The lithium battery serves as the power source for the drive mechanism. This invention provides power through a motor, which, combined with the transmission mechanism, powers the hindlimbs, enabling efficient jumping. It features a simple and compact structure, outstanding jumping ability, a wide range of motion, strong off-road capability, and adaptability to various terrains and landforms in nature.

Description

Technical Field

[0001] This utility model relates to the field of bouncing device technology, specifically a biomimetic high-bouncing device. Background Technology

[0002] In recent years, the application of bionics in engineering has provided new ideas for solving the problems of energy efficiency and motion adaptability in traditional mechanical design. Frogs, as creatures with outstanding jumping ability in nature, possess unique skeletal structures in their hind limbs, tendon energy storage mechanisms, and muscle synergy, enabling them to release high explosive force in a very short time and achieve efficient jumping movements. Existing jumping devices, such as the novel pneumatic frog-like robot proposed by Zhang Wei of Harbin Institute of Technology, utilize pneumatic devices as the driving mechanism, which suffers from problems such as high energy loss, the need for a pneumatic drive to connect to an air source, insufficient stability, and poor environmental adaptability. Although some research has been conducted on frog-like jumping mechanisms, such as the patent application entitled "A Bionic Frog Jumping Robot" (publication number CN118457761A), its simulation of the multi-level energy transfer and joint coordination mechanisms of organisms is still not accurate enough, especially in terms of landing stability.

[0003] Therefore, there is an urgent need for a new type of biomimetic high-jump device that can achieve breakthroughs in miniaturization, high energy efficiency, and adaptability to complex terrain through biomimetic structural optimization, providing better solutions for disaster relief, field exploration, and special robots. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a biomimetic high-jumping device, which provides power through a motor and a transmission part to provide power to the hind limbs, so as to achieve efficient jumping movement. It has the characteristics of simple and compact structure, outstanding jumping ability, wide range of activity, strong off-road ability, and can be widely adapted to various terrains in nature.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A biomimetic high-jumping device includes a torso 4, which is covered by a shell 1. A lithium battery 8 is installed below the torso 4. Forelimbs 3 are symmetrically installed on both sides of the front part of the torso 4, and hindlimbs 2 are symmetrically installed on both sides of the tail part of the torso 4. The right hindlimb 2 is connected to a transmission mechanism 7 and a drive mechanism 6 via a transmission mechanism 7. The transmission mechanism 7 and the drive mechanism 6 are installed inside the torso 4. The lithium battery 8 serves as the power source for the drive mechanism 6.

[0007] The inner side of the torso 4 is provided with a central partition, and a slider moving rod 41, a first compression spring mounting rod 42, and a second compression spring mounting rod 43 are installed at the bottom of one side of the central partition. The first compression spring mounting rod 42 and the second compression spring mounting rod 43 are on the same vertical plane.

[0008] The forelimb 3 is divided into a left forelimb and a right forelimb, both of which have the same structure. The forelimb 3 includes a forelimb connecting plate 31, which is mounted on the torso 4 and connected to the upper end of the forelimb body 34. The bottom end of the forelimb body 34 is connected to the forelimb base 38. A forelimb slider 35 is mounted on the forelimb body 34. A forelimb compression spring 33 is provided on the outer side of the forelimb body 34, with its lower end connected to the forelimb slider 35. The forelimb compression spring 33 is connected to an upper baffle 32, which is mounted on the forelimb body 34. The front side of the forelimb slider 35 is connected to one end of a first foreclaw connecting rod 313, and the other end of the first foreclaw connecting rod 313 is connected to the first foreclaw 3. In the middle of section 12, the rear end of the first forelimb 312 is mounted on the front side of the forelimb base 38, and a forelimb wheel 311 is mounted on the front end of the first forelimb 312; the right side of the forelimb slider 35 is connected to one end of the second forelimb connecting rod 36, and the other end of the second forelimb connecting rod 36 is connected to the end of the second forelimb 310, and the front end of the second forelimb 310 is mounted on the right side of the forelimb base 38; the rear side of the forelimb slider 35 is connected to one end of the third forelimb connecting rod 37, and the other end of the third forelimb connecting rod 37 is connected to the end of the third forelimb 39, and the front end of the third forelimb 39 is mounted on the rear side of the forelimb base 38, and forelimb wheels 311 are mounted on both sides of the end of the third forelimb 39; the forelimb slider 35 and the forelimb base 38 on the left and right sides have the same forelimb structure.

[0009] The drive mechanism 6 includes a left cover plate 61 and a right cover plate 68 for the reduction section. The left cover plate 61 connects to the left ends of the first gear shaft 63, the second gear shaft 65, and the third gear shaft 67, while the right cover plate 68 connects to the right ends of the first gear shaft 63 and the second gear shaft 65. The left cover plate 61 and the right cover plate 68 are connected as a whole by four reduction section supports 62 and are installed on the partition in the middle of the body 4. The first gear shaft 63 meshes with the third gear shaft 67. The second gear 64 is coaxially mounted with the first gear shaft 63 and meshes with the second gear shaft 65. The right end of the third gear shaft 67 is a bushing structure, which is connected to one end of the motor output shaft 611. The other end of the motor output shaft 611 is connected to the drive motor 69, which is installed inside the front end of the body 4 via a motor mounting plate 5.

[0010] The transmission mechanism 7 includes a dial 71, which is mounted on a second gear shaft 65. The right end of the second gear shaft 65 is connected to one end of a lever 72. The other end of the lever 72 is connected to one end of a lever connecting rod 73 via a lever connecting shaft 715. The other end of the lever connecting rod 73 is connected to the middle of a stroke amplification rod 74 via a connecting shaft 711. The left side of the connecting shaft 711 is installed in a groove in the middle partition of the torso 4. The lower end of the stroke amplification rod 74 is connected to a connecting rod support 77 via a support connecting shaft 716. The connecting rod support 77 is connected to the torso 4. The upper end of the stroke amplification rod 74 is connected to the slider. 710 is connected to the slider 710 and the spring pressure plate 75. The slider 710 is mounted on the slider moving rod 41. The spring pressure plate 75 is mounted on the first compression spring mounting rod 42 and the second compression spring mounting rod 43 on the torso 4. Springs 712 are mounted on the first compression spring mounting rod 42 and the second compression spring mounting rod 43. The spring pressure plate 75 is connected to the torso 4 and the hind limb drive linkage 29 through the hind limb drive shaft 713. The right end of the hind limb drive shaft 713 is mounted in the groove on the right side partition of the torso 4. A limit ring 76 is installed at the right end of the hind limb drive shaft 713.

[0011] The hind limb 2 is divided into a left hind limb and a right hind limb, and the two hind limbs have the same structure. The hind limb 2 includes two first hind limbs 23. The lower end of the first hind limb 23 is connected to the hind foot 22. The middle part of the first hind limb 23 is connected to one end of the second hind limb 24. The upper part of the first hind limb 23 is connected to one end of the third hind limb 25. The other end of the third hind limb 25 is connected to the middle of the fourth hind limb 26. The lower end of the fourth hind limb 26 is mounted on the middle of the second hind limb 24 through the hind limb connecting shaft 21. The upper end of the fourth hind limb 26 is connected to the left side partition of the torso 4. The other end of the second hind limb 24 is connected to the lower end of the fifth hind limb 27. The middle of the fifth hind limb 27 is connected to the left side partition of the torso 4. The upper end of the right fifth hind limb 27 is connected to the hind limb drive linkage 29 through the pin 210. The hind limb drive linkage 29 is connected to the spring pressure plate 75 through the hind limb transmission shaft 713.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] Because the forelimb design of this utility model adopts a biomimetic buffer system combining a slide bar, spring, and baffle plate to simulate the landing cushioning action of a frog; the transmission part adopts a biomimetic dial linkage transmission mechanism, which can simulate the two-phase motion trajectory of the frog's hind limbs pushing and folding; the hind limbs adopt the lever amplification principle to optimize the slider stroke, thereby improving the transmission efficiency without changing the size of the mechanism, it has the advantages of high structural integration, efficient absorption of vertical impact kinetic energy, significant increase in jump height, and strong adaptability to different ground surfaces. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model, wherein (a) is an external schematic diagram; and (b) is an internal schematic diagram of the torso.

[0015] Figure 2 This is a schematic diagram of the torso of an embodiment of the present invention.

[0016] Figure 3 This is a schematic diagram of the forelimb structure according to an embodiment of the present invention, wherein (a) is a schematic diagram of the upper part of the forelimb structure; and (b) is a schematic diagram of the lower part of the forelimb structure.

[0017] Figure 4 This is a schematic diagram of the drive mechanism according to an embodiment of the present utility model, wherein (a) is an external schematic diagram of the drive mechanism; and (b) is an internal schematic diagram of the drive mechanism.

[0018] Figure 5 This is a schematic diagram of the transmission mechanism according to an embodiment of the present utility model, wherein (a) is a schematic diagram of the transmission mechanism in one direction; and (b) is a schematic diagram of the transmission mechanism in another direction.

[0019] Figure 6 This is a schematic diagram of the hind limb according to an embodiment of the present invention, wherein (a) is a lower part of the hind limb; and (b) is a schematic diagram of the connection between the hind limb and the trunk.

[0020] The components include: 1. Outer shell; 2. Hind limbs; 3. Forelimbs; 4. Torso; 5. Motor mounting plate; 6. Drive mechanism; 7. Transmission mechanism; 8. Lithium battery; 41. Slider moving rod; 42. First compression spring mounting rod; 43. Second compression spring mounting rod; 31. Forelimb connecting plate; 32. Upper baffle; 33. Forelimb compression spring; 34. Forelimb body; 35. Forelimb slider; 36. Second forelimb connecting rod; 37. Third forelimb connecting rod; 38. Forelimb base; 39. Third forelimb; 310. Second forelimb; 311. Forelimb wheel; 312. First forelimb; 313. First forelimb connecting rod; 61. Left cover plate of the reduction section; 62. Reduction section support column; 63. First gear shaft; 64. Second gear; 65. Second gear shaft; 66. Gear top. 67. Third gear shaft; 68. Right cover plate of reduction section; 69. Drive motor; 610. Motor reduction section; 611. Motor output shaft; 71. Dial; 72. Lever; 73. Lever connecting rod; 74. Stroke amplification rod; 75. Spring pressure plate; 76. Limit ring; 77. Linkage support; 78. Washer; 79. Dial set screw; 710. Slider; 711. Connecting shaft; 712. Spring; 713. Rear limb drive shaft; 714. Snap ring; 715. Lever connecting shaft; 716. Support connecting shaft; 21. Rear limb connecting shaft; 22. Rear foot; 23. First hind limb; 24. Second hind limb; 25. Third hind limb; 26. Fourth hind limb; 27. Fifth hind limb; 28. Cotter pin; 29. ​​Rear limb drive linkage; 210. Pin. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the embodiments and accompanying drawings.

[0022] Reference Figure 1 , Figure 4 A biomimetic high-jumping device includes a shell 1, hind limbs 2, forelimbs 3, torso 4, motor mounting plate 5, drive mechanism 6, transmission mechanism 7, and lithium battery 8. The shell 1 covers the outside of the torso 4, providing protection for the internal mechanical structure, providing a certain constraint force for the torso 4, and increasing the stability of the structure. The lithium battery 8 is installed below the torso 4 and serves as the power source for the drive mechanism 6. The forelimbs 3 are symmetrically installed on both sides of the front of the torso 4 by bolts, and the hind limbs 2 are symmetrically installed on both sides of the tail of the torso 4. The right hind limb 2 is connected to the hind limb transmission shaft 713 by a hind limb drive linkage 29. The transmission mechanism 7 is installed on the left side inside the torso 4 and is connected to the hind limb 2 through the hind limb transmission shaft 713. The drive mechanism 6 is installed at the front end inside the torso 4 by the motor mounting plate 5, connected to the middle partition of the torso 4 by a reduction section support 62, and connected to the transmission mechanism 7 by a second gear shaft 65.

[0023] Reference Figure 2 The inner side of the torso 4 is provided with a central partition, and a slider moving rod 41, a first compression spring mounting rod 42, and a second compression spring mounting rod 43 are installed at the bottom of one side of the central partition. The first compression spring mounting rod 42 and the second compression spring mounting rod 43 are on the same vertical plane.

[0024] Reference Figure 3 The forelimb 3 is divided into a left forelimb and a right forelimb. The two forelimbs have the same structure. The forelimb 3 provides a cushioning effect for the device after it bounces and falls.

[0025] The forelimb 3 includes: a forelimb connecting plate 31, an upper baffle 32, a forelimb body 34, a forelimb slider 35, a forelimb compression spring 33, a forelimb base 38, a first forelimb connecting rod 313, a first forelimb 312, a second forelimb connecting rod 36, a second forelimb 310, a third forelimb connecting rod 37, a third forelimb 39, and a forelimb wheel 311. The forelimb connecting plate 31 is mounted on the torso 4. The forelimb connecting plate 31 is bolted to the upper end of the forelimb body 34. The bottom end of the forelimb body 34 is connected to the forelimb base 38. A forelimb slider 35 is mounted on the forelimb body 34. A forelimb compression spring 33 is provided on the outer side of the forelimb body 34. The lower end of the forelimb compression spring 33 is connected to the forelimb slider 35. The forelimb compression spring 33 is connected to the upper baffle 32, which is mounted on the forelimb body 34. The front side of the forelimb slider 35 is bolted to the first forelimb base 38. One end of a first front claw link 313 is bolted to the middle of a first front claw 312. The rear end of the first front claw 312 is mounted on the front side of the forelimb base 38. A front claw wheel 311 is mounted on the front end of the first front claw 312. The right side of the forelimb slider 35 is bolted to one end of a second front claw link 36. The other end of the second front claw link 36 is bolted to the end of a second front claw 310. The front end of the second front claw 310 is mounted on the right side of the forelimb base 38. The rear side of the forelimb slider 35 is bolted to one end of a third front claw link 37. The other end of the third front claw link 37 is bolted to the end of a third front claw 39. The front end of the third front claw 39 is mounted on the rear side of the forelimb base 38. Front claw wheels 311 are mounted on both sides of the end of the third front claw 39. The forelimb slider 35 and the left and right front claws of the forelimb base 38 have the same structure.

[0026] Reference Figure 1 , Figure 2 , Figure 4 The drive mechanism 6 includes: a drive motor 69, a motor reduction section 610, a motor output shaft 611, a left cover plate 61 of the reduction section, a right cover plate 68 of the reduction section, a support column 62 of the reduction section, a first gear shaft 63, a second gear 64, a second gear shaft 65, a third gear shaft 67, and a gear set screw 66. The drive mechanism 6 is used to increase the output torque of the drive motor 69.

[0027] The left cover plate 61 of the reduction section connects to the left ends of the first gear shaft 63, the second gear shaft 65, and the third gear shaft 67, while the right cover plate 68 of the reduction section connects to the right ends of the first gear shaft 63 and the second gear shaft 65. The left cover plate 61 and the right cover plate 68 of the reduction section are connected as one unit by four reduction section supports 62 and are installed on the partition in the middle of the body 4. The first gear shaft 63 meshes with the third gear shaft 67. The second gear 64 is coaxially installed with the first gear shaft 63 and meshes with the second gear shaft 65. The right end of the third gear shaft 67 is a bushing structure, which is connected to one end of the motor output shaft 611 and fixed by the gear set screw 66. The other end of the motor output shaft 611 is connected to the drive motor 69, which is equipped with a motor reduction section 610. The drive motor 69 is installed inside the front end of the body 4 by the motor mounting plate 5.

[0028] Reference Figure 2 , Figure 5 , Figure 6The transmission mechanism 7 includes a dial 71, a lever 72, a lever connecting rod 73, a stroke amplification rod 74, a spring pressure plate 75, a limiting ring 76, a connecting rod support 77, a washer 78, a dial set screw 79, a slider 710, a connecting shaft 711, a spring 712, a rear limb transmission shaft 713, a retaining ring 714, a support connecting shaft 716, and a lever connecting shaft 715. The dial 71 is mounted on the second gear shaft 65 via the dial set screw 79. The right end of the second gear shaft 65 is connected to one end of the lever 72. The other end of the lever 72 is connected to one end of the lever connecting rod 73 via the lever connecting shaft 715. Retaining rings 714 are installed on both sides of the connection. A washer 78 is installed between the lever 72 and the lever connecting rod 73. The other end of the lever connecting rod 73 is connected to the middle of the stroke amplification rod 74 via the connecting shaft 711. Retaining rings 714 are installed on both sides of the connection. The left side of the connecting shaft 711 is mounted on the torso 4. In the groove of the middle partition; the lower end of the stroke amplification rod 74 is connected to the connecting rod support 77 via the support connecting shaft 716, and snap rings 714 are installed on both sides of the connection. The connecting rod support 77 is bolted to the torso 4; the upper end of the stroke amplification rod 74 is connected to the right rod of the slider 710; the right rod of the slider 710 is connected to the spring pressure plate 75, and the slider 710 is installed on the slider moving rod 41; the spring pressure plate 75 is installed on the first compression spring mounting rod 42 and the second compression spring mounting rod 43 on the torso 4, and springs 712 are installed on the first compression spring mounting rod 42 and the second compression spring mounting rod 43; the spring pressure plate 75 is connected to the torso 4 and the hind limb drive connecting rod 29 via the hind limb drive shaft 713, and snap rings 714 are installed on both sides of the connection; the right end of the hind limb drive shaft 713 is installed in the groove of the right side partition of the torso 4, and a limit ring 76 is installed at the right end of the hind limb drive shaft 713. The support connecting shaft 716 and the right rod of the slider 710 can reciprocate in the slots at both ends of the stroke amplification rod 74. The connecting shaft 711 can reciprocate in the slot of the partition in the middle of the torso 4. The hind limb transmission shaft 713 can reciprocate in the slot of the partition on the right side of the torso 4. The transmission mechanism 7 converts the rotational motion output by the second gear shaft 65 into linear motion.

[0029] Reference Figure 5 , Figure 6 The hind limb 2 is divided into a left hind limb and a right hind limb. The two hind limbs have the same structure and are connected by a hind limb connecting shaft 21. Limiting rings 76 are installed on both sides of the connecting end. The hind limb 2 includes: hind foot 22, first hind limb 23, second hind limb 24, third hind limb 25, fourth hind limb 26, fifth hind limb 27, hind limb driving link 29, pin 210, and cotter pin 28. The hind limb 2 provides the device with the power to jump upward.

[0030] There are two first hind limbs 23. The lower ends of the two first hind limbs 23 are connected to the hind feet 22 by bolts. The middle part of the first hind limb 23 is connected to one end of the second hind limb 24 by bolts. The upper part of the first hind limb 23 is connected to one end of the third hind limb 25 by bolts. The other end of the third hind limb 25 is connected to the middle of the fourth hind limb 26 by bolts. The lower end of the fourth hind limb 26 is mounted on the middle of the second hind limb 24 through the hind limb connecting shaft 21. The upper end of the fourth hind limb 26 is connected to the left side partition of the torso 4 by bolts. The other end of the second hind limb 24 is connected to the lower end of the fifth hind limb 27 by bolts. The middle of the fifth hind limb 27 is connected to the left side partition of the torso 4 by bolts. The upper end of the right fifth hind limb 27 is connected to the hind limb drive linkage 29 through the pin 210 and the cotter pin 28. The hind limb drive linkage 29 is connected to the spring pressure plate 75 through the hind limb transmission shaft 713. Snap rings 714 are installed on both sides of the connection end.

[0031] The working principle of this utility model is as follows: First, the device is placed on the ground, and then the lithium battery 8 supplies power to the drive mechanism 6. The drive motor 69 in the drive mechanism 6 rotates, and the drive motor 69 transmits power to the third gear shaft 67 through the motor output shaft 611, and then to the first gear shaft 63, and then to the second gear shaft 65. The dial 71 and lever 72 in the transmission mechanism 7 are connected to the second gear shaft 65. The input rotational motion is converted into linear motion through the lever connecting rod 73, the stroke amplification rod 74, and the slider 710. The stroke amplification rod 74 can amplify the linear motion and output it as linear motion to drive the slider 710 to move. The dial 71 rotates half a turn first, and the stroke amplification rod 74 drives the slider 710 to move backward on the slider moving rod 41. The slider 710 drives the spring pressure plate 75 to compress the first spring mounting rod 42. The second compression spring mounting rod 43 moves backward to compress the spring 712. The spring pressure plate 75 drives the rear limb 2 to bend through the rear limb drive shaft 713 and the rear limb drive linkage 29. The dial 71 rotates half a turn, and the stroke amplification rod 74 drives the slider 710 to move forward on the slider moving rod 41. The slider 710 drives the spring pressure plate 75 to move forward on the first compression spring mounting rod 42 and the second compression spring mounting rod 43. At the same time, the spring 712 returns to its original position, and the rear limb 2 straightens. The device jumps upward. After the device falls, the front limb 3 contacts the ground first. After the front limb 3 receives the impact, the front limb slider 35 moves upward on the front limb body 34 to compress the front limb compression spring 33, thereby achieving the buffering effect of the impact. The jump from the device to the landing is one motion cycle. The continuous power output by the drive motor 69 completes the continuous jump of the device.

[0032] In summary, this utility model presents a biomimetic high-jumping device. Based on the analysis of the physiological structure and jumping action of frogs, a biomimetic high-jumping device was designed. It can not only assist humans in completing some dangerous tasks, such as reconnaissance and detection, but also has a simple and compact structure, outstanding jumping ability, wide range of activity, and strong terrain adaptability.

[0033] Finally, it should be noted that the above content is only used to illustrate the technical solution of this utility model, and is not intended to limit the scope of protection of this utility model. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model do not depart from the essence and scope of the technical solution of this utility model.

Claims

1. A biomimetic high-jump device, characterized in that: The torso (4) is covered by a shell (1), and a lithium battery (8) is installed below the torso (4). Forelimbs (3) are symmetrically installed on both sides of the front part of the torso (4), and hindlimbs (2) are symmetrically installed on both sides of the tail part of the torso (4). The right hindlimb (2) is connected to the transmission mechanism (7) and the drive mechanism (6) via the transmission mechanism (7) and the drive mechanism (6). The transmission mechanism (7) and the drive mechanism (6) are installed inside the torso (4). The lithium battery (8) serves as the power source for the drive mechanism (6).

2. The biomimetic high-jump device according to claim 1, characterized in that: The inner side of the torso (4) is provided with a central partition, and a slider moving rod (41), a first compression spring mounting rod (42), and a second compression spring mounting rod (43) are installed on one side of the central partition. The first compression spring mounting rod (42) and the second compression spring mounting rod (43) are on the same vertical plane.

3. The biomimetic high-jump device according to claim 2, characterized in that: The forelimb (3) is divided into a left forelimb and a right forelimb, and the two forelimbs have the same structure. The forelimb (3) includes a forelimb connecting plate (31), which is installed on the torso (4). The forelimb connecting plate (31) is connected to the upper end of the forelimb body (34). The bottom end of the forelimb body (34) is connected to the forelimb base (38). A forelimb slider (35) is installed on the forelimb body (34). A forelimb compression spring (33) is provided on the outside of the forelimb body (34). The lower end of the forelimb compression spring (33) is connected to the forelimb slider (35). The forelimb compression spring (33) is connected to the upper baffle (32), which is installed on the forelimb body (34). The front side of the forelimb slider (35) is connected to one end of the first forelimb connecting rod (313), and the other end of the first forelimb connecting rod (313) is connected to the first forelimb. (312) In the middle, the rear end of the first forepaw (312) is installed on the front side of the forelimb base (38), and the front end of the first forepaw (312) is equipped with a forepaw wheel (311); the right side of the forelimb slider (35) is connected to one end of the second forepaw link (36), the other end of the second forepaw link (36) is connected to the end of the second forepaw (310), and the front end of the second forepaw (310) is installed on the right side of the forelimb base (38); the rear side of the forepaw slider (35) is connected to one end of the third forepaw link (37), the other end of the third forepaw link (37) is connected to the end of the third forepaw (39), the front end of the third forepaw (39) is installed on the rear side of the forelimb base (38), and the forepaw wheels (311) are installed on both sides of the end of the third forepaw (39); the forepaw slider (35) and the forepaws on the left and right sides of the forelimb base (38) have the same structure.

4. The biomimetic high-jump device according to claim 2, characterized in that: The drive mechanism (6) includes a left cover plate (61) and a right cover plate (68) for the deceleration section. The left cover plate (61) is connected to the left end of the first gear shaft (63), the second gear shaft (65), and the third gear shaft (67), and the right cover plate (68) is connected to the right end of the first gear shaft (63) and the second gear shaft (65). The left cover plate (61) and the right cover plate (68) are connected as one unit by four deceleration section supports (62) and are installed on the torso (4). On the middle partition: the first gear shaft (63) meshes with the third gear shaft (67); the second gear (64) is coaxially mounted with the first gear shaft (63), and the second gear (64) meshes with the second gear shaft (65); the right end of the third gear shaft (67) is a bushing structure, the bushing is connected to one end of the motor output shaft (611), the other end of the motor output shaft (611) is connected to the drive motor (69), and the drive motor (69) is mounted inside the front end of the torso (4) through the motor mounting plate (5).

5. The biomimetic high-jump device according to claim 4, characterized in that: The transmission mechanism (7) includes a dial (71), which is mounted on a second gear shaft (65). The right end of the second gear shaft (65) is connected to one end of a lever (72). The other end of the lever (72) is connected to one end of a lever connecting rod (73) via a lever connecting shaft (715). The other end of the lever connecting rod (73) is connected to the middle of a stroke amplification rod (74) via a connecting shaft (711). The left side of the connecting shaft (711) is installed in a groove in the middle partition of the torso (4). The lower end of the stroke amplification rod (74) is connected to a connecting rod support (77) via a support connecting shaft (716). The connecting rod support (77) is connected to the torso (4). The upper end of the stroke amplification rod (74) is connected to the slider. (710) connection, slider (710) and spring pressure plate (75) connection, slider (710) is mounted on slider moving rod (41); spring pressure plate (75) is mounted on first compression spring mounting rod (42) and second compression spring mounting rod (43) of torso (4), spring (712) is mounted on first compression spring mounting rod (42) and second compression spring mounting rod (43); spring pressure plate (75) is connected to torso (4) and hind limb drive linkage (29) through hind limb drive shaft (713), the right end of hind limb drive shaft (713) is mounted in the groove on the right side partition of torso (4), and a limit ring (76) is installed at the right end of hind limb drive shaft (713).

6. The biomimetic high-jump device according to claim 5, characterized in that: The hind limb (2) is divided into a left hind limb and a right hind limb, and the two hind limbs have the same structure; the hind limb (2) includes two first hind limbs (23), the lower end of the first hind limb (23) is connected to the hind foot (22), the middle part of the first hind limb (23) is connected to one end of the second hind limb (24), and the upper part of the first hind limb (23) is connected to one end of the third hind limb (25); the other end of the third hind limb (25) is connected to the middle part of the fourth hind limb (26); the lower end of the fourth hind limb (26) is connected to the hind limb connecting shaft (2) 1) Installed in the middle of the second hind limb (24), the upper end of the fourth hind limb (26) is connected to the left side partition of the trunk (4); the other end of the second hind limb (24) is connected to the lower end of the fifth hind limb (27), the middle part of the fifth hind limb (27) is connected to the left side partition of the trunk (4), and the upper end of the right fifth hind limb (27) is connected to the hind limb drive linkage (29) through a pin (210); the hind limb drive linkage (29) is connected to the spring pressure plate (75) through the hind limb transmission shaft (713).

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