CN101797937A - Bionic galloping robot based on connecting rod mechanism - Google Patents

Abstract

The invention relates to a bionic jumping robot based on a link mechanism, which is characterized in that: the specific structure of the robot includes: (a) a body consisting of two approximately trapezoidal quadrangular hollow metal plates for fixing and installing other parts of the robot; (b) Track traveling module: mainly includes: two shock absorbing pins, a pair of shock absorbing springs, and three pairs of track wheels; (c) Jumping mechanism module: mainly including: thigh, calf, sole, foot link, calf link ; (d) Power module: The power module can be divided into two sub-modules, namely the one-way transmission gear set and the automatic energy storage and discharge mechanism sub-module. On the one hand, the robot of the present invention can cross higher obstacles and jump on higher steps; on the other hand, it abandons the concept of simple and complete imitation. The combination of the robot's jumping method and the convenient, fast and terrain-adaptable machine crawler travel method has achieved the super obstacle-surpassing ability of the bionic robot.

Description

Bionic Jumping Robot Based on Link Mechanism

technical field

The invention relates to a bionic jumping robot based on a link mechanism, belonging to the technical field of bionic robots.

Background technique

With the development of contemporary bionic robot technology, a series of bionic robots have appeared in people's field of vision. The appearance of bionic robots with walking modes such as robotic fish, robotic snake, biped, quadruped, and hexapod has not only attracted people's attention. interests, and some have been developed into toys, and some have been developed into devices with practical engineering application value such as detectors or vehicles.

In foreign countries, the MIT Robotics Laboratory successfully developed the earliest bouncing robot in 1980. The robot can jump continuously. The Jet Propulsion Laboratory (JPL) under the National Aeronautics and Space Administration (NASA) and the California Institute of Technology have jointly developed a series of jumping machines to expand the range of activities of the rover in interstellar exploration. One of the frog-shaped jumping machines weighs 1.3 kg, the maximum jump height can reach 1.8 meters, and the maximum jump height is expected to reach 5-6 meters. This achievement was published in the American "Discovery" magazine that year. The University of Minnesota in the United States also developed a bouncing robot in 2000, with a diameter of 4 cm, which can realize jumping and rolling functions. The jumping is realized by the spring mechanism in the robot leg, which is similar to human single-leg jumping. The robot can climb stairs and jump over small obstacles, and has two independent wheels to help the robot with general locomotion. In addition, the Massachusetts Institute of Technology in the United States and the University of Zurich in Switzerland have also trial-produced robots with bouncing functions. In 2001, the University of Utah in the United States also held a bouncing robot competition.

In China, at the beginning of 2003, Professor Zhu Jianying of Nanjing University of Aeronautics and Astronautics took the lead in leading his team to conduct research on jumping robots. He mainly conducted systematic research on jumping robot programs that have been announced internationally, and made several theoretical proposals based on some theories. A prototype of a jumping robot was tested, but the effect was not very good. Northwestern Polytechnical University and Harbin Institute of Technology have also carried out related research projects in the past two years. The former mainly imitates the jumping mechanism of kangaroos. It is funded by the National Natural Science Foundation of China and has carried out a lot of theoretical research. Motion analysis has obtained a lot of experimental data, but the jumping effects of the experimental prototypes made according to the theory are quite different. The latter designed a bionic locust jumping robot in principle. Its mechanism design is relatively simple. It adopts the method of rolling the cable to pull the calf to recover the energy storage, and then retract the leg to store energy after landing; in terms of control, it is necessary to wind the cable The motor rotates forwards and backwards repeatedly to gather and release the cable, and it is necessary to use the steering gear to pull the "hook" to release the energy.

Contents of the invention

The object of the present invention is to provide a bionic jumping robot based on a link mechanism, which is a jumping robot with strong obstacle-surmounting ability. On the one hand, the robot can cross higher obstacles and jump on higher steps; on the other hand, it abandons the simple and complete imitation concept. Reached the purpose that the bionic robot has super strong obstacle-surmounting ability.

The invention adopts a modular design, and only uses an ordinary geared motor as power to rotate in one direction, and can smoothly and cyclically complete energy storage, quick release, kicking, keeping the body off the ground and maintaining a stable posture, smooth sliding in the air, and automatic retraction in the air. A series of movements of the legs, cushioning and landing smoothly.

Concrete structure of the present invention comprises:

(a) The body is composed of two trapezoidal quadrangular hollow metal plates, which are used to fix and install other parts of the robot; among the two parallel sides, the long side facing upward is called "upper side", and the short side facing down is called "bottom side". ", one side of the short hypotenuse is the forward direction of the robot, that is, the front; the two metal plates are connected together by components such as the tail shaft, the upper bolt shaft, the spring pull shaft of the head, and the two track wheel axles on the lower side.

(b) Tracked travel module. It mainly includes: two shock-absorbing pins, which are respectively inserted in the slots located at the front of the lower side of the body; a pair of shock-absorbing springs, which are respectively pushed into the two slots between the body and the two shock-absorbing pins; three pairs of tracks The two pairs of track wheels are symmetrical and installed on both sides of the body respectively. The two pairs of track wheels below are driven wheels, which are respectively fixed on the two "track wheel axles" through rolling bearings; wherein, the two track wheel axles, one One is installed on the shock-absorbing pin, one is installed on the rear of the lower side; the other pair of crawler wheels are installed on the short hypotenuse of the machine body, which are driving wheels, directly driven by the geared motor, and have a certain distance with the track wheels on the lower side. Height difference; the three track wheels on each side are linked by the tracks on them.

Among them, above the shock-absorbing pin, there is also a track final shaft, which is used to press the track down to make room for other parts inside the machine body.

Its working process is: when the front obstacle is not higher than the height of the track wheels on the short hypotenuse, the motor drives the track wheels on the short hypotenuse to rotate, and can directly cross the obstacle; when the robot jumps up and lands, the track wheels in front of the lower side The rotating shaft can slide up and down along the hole groove of the body, thereby driving the shock-absorbing pin to move against the shock-absorbing spring in the hole groove of the body to achieve the purpose of shock absorption.

(c) Jumping mechanism module. It mainly includes: thigh, calf, sole, foot link, and calf link; one end of the thigh is fixed on the incomplete gear spindle, and the other end is hinged to the set position of the calf; one end of the calf is hinged to the calf link, and the calf The other end of the connecting rod is hinged with the body; the sole of the foot is respectively hinged with the other end of the calf and one end of the foot connecting rod; the other end of the foot connecting rod is hinged at the predetermined position of the thigh;

Wherein, the set position of the lower leg is close to the hinge point of the lower leg and the lower leg connecting rod.

Wherein, the predetermined position of the thigh is close to the hinge point of the thigh and the lower leg.

Among them, let the distance between the hinge point of the thigh and the calf connecting rod on the body be a, the distance from the fixed point of the thigh on the body to the hinge point of the thigh and the foot connecting rod be b, and the distance between the hinge point of the thigh and the foot connecting rod to the thigh The distance from the hinge point of the lower leg is c, the length of the connecting rod of the lower leg is d, the distance from the hinge point of the connecting rod between the lower leg and the lower leg to the hinge point of the thigh and the lower leg is e, the hinge point of the thigh and the lower leg to the hinge of the lower leg and the sole of the foot The distance between the points is f, the length of the foot link is g, then a:b:c:d:e:f:g=5.7737:11.5:1:12.785:3.295:12.5:12.7013:2.25, the length of each part is in Jumping action can be realized within the range of ±10%.

The working process is: when the incomplete gear main shaft rotates, it drives the thigh to rotate. Due to the designed linkage mechanism, the calf drives the sole of the foot to push out about 45° to the rear and lower part of the body. At the same time, the foot link can keep the angle between the sole of the foot and the body. Basically unchanged, so that the body can stably leave the ground and realize a smooth jump.

(d) Power module. The power module can be divided into two sub-modules, namely the one-way transmission gear set and the automatic energy storage and discharge mechanism sub-module.

1) The one-way transmission gear set, the one-way transmission gear set mainly includes: the driving gear, which is fixedly connected with the output shaft of the reduction motor; The slot, the traveling shaft, can swim in the traveling card slot; the traveling gear, is connected with the traveling shaft and meshes with the driving gear; and the large gear, meshes with the traveling gear. Wherein, the inclination angle is perpendicular to the center line connecting the traveling gear and the driving gear, and the angle between the center line connecting the traveling gear and the large gear is more than 135°-180°;

Its working process is: on the one hand, when the output shaft of the deceleration motor rotates counterclockwise, it will drive the traveling gear to move obliquely downward along the traveling card slot to the limit position, and then mesh with the large gear and transmit power; When the hour hand rotates, the traveling gear will move obliquely upward along the traveling card slot, and then disengage from the large gear, so that power cannot be transmitted. On the other hand, when the large gear is driven to rotate counterclockwise, it can be well meshed with the traveling gear for transmission. When the large gear actively rotates counterclockwise, it will drive the traveling gear to move obliquely upward along the traveling card slot. , so as to disengage from the traveling gear, so that the large gear can rotate counterclockwise freely. During the whole process, the traveling gear and the driving gear are not disengaged. As long as the linear velocity of the counterclockwise rotation of the driving gear is greater than that of the large gear, the traveling gear can be driven to return to the meshed position with the large gear.

2) The automatic energy storage and discharge mechanism sub-module, which mainly includes: the incomplete gear crankshaft, which is fixedly connected with the large gear in the one-way transmission gear set; the incomplete gear main shaft, which is fixedly connected with the thigh and is connected with the incomplete gear crankshaft Engagement; spring pull piece, wound on the crankshaft of incomplete gear; automatic leg spring, one end is fixed on the track pressure shaft, and the other end is pulled on the main shaft of incomplete gear; main spring, one end is pulled on the spring pull piece, and the other end is pulled on the adjustment On the bolt; the adjusting nut cooperates with the adjusting bolt to fix the main spring with a connecting piece; the other end of the connecting piece is fixed on the spring pull shaft of the body head.

Wherein, automatic leg retracting spring can be substituted with torsion spring to realize its same function.

Its working process is: in the initial state, the main spring is at the shortest limit position, and the teeth of the incomplete gear crankshaft and the teeth of the incomplete gear main shaft are in a state of disengagement. At this time, the counterclockwise rotation of the big gear can drive the incomplete gear crankshaft Rotate counterclockwise. At this time, the incomplete gear crankshaft will elongate the main spring. Before the spring is stretched to the longest limit position, the teeth of the incomplete gear crankshaft and the teeth of the incomplete gear main shaft will start to mesh, and the incomplete gear main shaft will follow It starts to rotate, which drives the thighs to rotate, and then drives the link mechanism of the jumping mechanism module to move, so that the soles of the feet touch the ground first, and prop up the body a little. The main spring will pull the crankshaft of the incomplete gear to actively continue to rotate counterclockwise. It will be out of mesh with the big gear, so the energy of the main spring will be released quickly, driving the crankshaft of the incomplete gear to make a fast counterclockwise rotation, and then drive the soles of the feet to quickly push out about 45° to the rear of the body to push the robot jump up. When the body is still in the air, since the main spring has reached the shortest limit position, the teeth of the crankshaft of the incomplete gear and the teeth of the main shaft of the incomplete gear are in a disengaged state again, and the automatic leg retracting spring will pull the main shaft of the incomplete gear back to the initial position , and then drive the jumping mechanism module to retract to the initial state. Finally, after the body moves in the air by inertia, it uses the shock-absorbing device of the crawler travel module to cushion the landing. So far, all the mechanical parts of the robot have gone through a complete cycle and returned to the initial state, ready for the next cycle of action.

A bionic jumping robot based on a link mechanism of the present invention has the advantages and effects that: the described functions have passed the experimental verification of the manufactured object, and the bionic jumping robot has successfully completed crawler walking, jumping railings, jumping A series of experimental items such as steps. On the one hand, the robot can cross higher obstacles and jump on higher steps; on the other hand, it abandons the idea of pure and complete imitation. The combination of the robot's jumping method and the convenient, fast and terrain-adaptable machine crawler travel method has achieved the super obstacle-surpassing ability of the bionic robot. The realization of the design of the present invention has engineering practical value, and has good prospects in interstellar detection, military investigation, new toy development and the like.

Description of drawings

Fig. 1 overall structure diagram of bionic jumping robot;

Fig. 2 Schematic diagram of incomplete gear crankshaft structure;

Figure 2a is a cross-sectional view along the direction A of Figure 2;

Fig. 2b is a sectional view taken along direction B of Fig. 2;

Figure 2c is a sectional view along the direction C of Figure 2;

The principle diagram of the sole translation curve of Fig. 3 jumping mechanism module;

The schematic diagram of the sole turning posture of the jumping mechanism module of Fig. 4;

The specific labels in the figure are as follows:

1. Machine body 2. Upper side 3. Lower side 4. Short hypotenuse 5. Tail shaft 6. Upper side pin shaft 7. Spring pull shaft 8. Track wheel axle 9. Damping pin 10. Damping spring 11. Track wheel 12. Track 13. Track finale 14, thigh 15, calf 16, sole of foot 17, foot connecting rod 18, calf connecting rod 19, driving gear 20, output shaft of reduction motor 21, traveling card slot 22, traveling shaft 23, traveling gear 24. Large gear 25. Incomplete gear crankshaft 26. Incomplete gear main shaft 27. Spring pull piece 28. Automatic leg retracting spring 29. Main spring 30. Adjusting bolt 31. Adjusting nut 32. Connecting piece P, translation track of feet Z, foot posture track

specific implementation plan

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

A bionic jumping robot based on a connecting rod mechanism of the present invention adopts a modular design, and only uses an ordinary geared motor as power to rotate in one direction, and can smoothly and cyclically complete energy storage, quick release, kicking, body off the ground and A series of actions to maintain a stable posture, slide smoothly in the air, automatically retract legs in the air, and land smoothly with cushioning.

As shown in Figure 1, the specific mechanisms of the present invention include:

(a) The body 1 is composed of two trapezoidal quadrilateral hollow metal plates, which are used to fix and install other parts of the robot; among the two parallel sides, the long side is called "upper side" 2 and the short side is called "upper side" when the short side is facing down. "Bottom" 3, one side of the short hypotenuse 4 is the forward direction of the robot, that is, the front; two metal plates pass through the tail shaft 5, the upper bolt shaft 6, the spring pull shaft 7 of the head, and the two crawler wheel shafts on the lower side 8 and other components are connected together.

(b) Track travel module; mainly includes: two damping pins 9, which are respectively inserted in the slots located at the front of the lower side of the body 1; a pair of damping springs 10, respectively supported on the body 1 and the two damping pins 9 In the two holes between them; three pairs of crawler wheels 11; symmetrical in pairs, installed on both sides of the body 1 respectively, and the two pairs of track wheels on the lower side 3 are driven wheels, which are respectively fixed on two "track wheel axles" by rolling bearings. "8; wherein, the two track wheel axles 8, one is installed on the damping pin 9, one is installed on the rear of the lower side 3; the other pair of track wheels 11 is installed on the short hypotenuse of the body 1 4, is the driving wheel, directly driven by the reduction motor, and has a certain height difference with the track wheels on the lower side 3; the three track wheels on each side are linked by the track 12 on it.

Wherein, on the top of the damping pin 9, there is also a track final shaft 13, which is used to press the track down to make space for other parts inside the body.

Its working process is: when the front obstacle is not higher than the height of the track wheels on the short hypotenuse, the motor drives the track wheels on the short hypotenuse to rotate, and can directly cross the obstacle; when the robot jumps up and lands, the track wheels in front of the lower side The rotating shaft can slide up and down along the hole groove of the body, thereby driving the shock-absorbing pin to move against the shock-absorbing spring in the hole groove of the body to achieve the purpose of shock absorption.

(c) jump mechanism module: mainly include: thigh 14, shank 15, sole 16, foot connecting rod 17, shank connecting rod 18; The setting position is hinged; one end of the lower leg is hinged with the lower leg connecting rod, and the other end of the lower leg connecting rod is hinged with the body; the sole of the foot 16 is respectively hinged with the other end of the lower leg 15 and one end of the foot connecting rod 17; the other end of the foot connecting rod 17 is hinged at a predetermined location on the thigh 14;

Wherein, the set position of the lower leg is close to the hinge point of the lower leg and the lower leg connecting rod.

Wherein, the predetermined position of the thigh is close to the hinge point of the thigh and the lower leg.

Among them, let the distance between the hinge point of the thigh and the calf connecting rod on the body be a, the distance from the fixed point of the thigh on the body to the hinge point of the thigh and the foot connecting rod be b, and the distance between the hinge point of the thigh and the foot connecting rod to the thigh The distance from the hinge point of the lower leg is c, the length of the connecting rod of the lower leg is d, the distance from the hinge point of the connecting rod between the lower leg and the lower leg to the hinge point of the thigh and the lower leg is e, the hinge point of the thigh and the lower leg to the hinge of the lower leg and the sole of the foot The distance between the points is f, the length of the foot link is g, then a:b:c:d:e:f:g=5.7737:11.5:1:12.785:3.295:12.5:12.7013:2.25, the length of each part is in Jumping action can be realized within the range of ±10%. The values of the specific embodiment of the present invention are shown in FIG. 4 .

The working process is: when the incomplete gear main shaft 26 rotates, the thigh 14 is driven to rotate. Due to the designed linkage principle, the calf 15 drives the sole of the foot 16 to about 45° to the rear and lower part of the body 1, and the foot link 17 can make the The angle between the soles of the feet 16 and the body 1 remains basically unchanged, so that the body 1 leaves the ground stably and jumps smoothly.

(d) Power module: The power module can be divided into two sub-modules, namely the one-way transmission gear set and the automatic energy storage and discharge mechanism sub-module.

1) The one-way transmission gear set, the one-way transmission gear set mainly includes: the driving gear 19, which is fixedly connected with the output shaft 20 of the reduction motor; the floating card slot 21, which is opened on the body and has an inclined angle with the horizontal plane at both ends. The long circular groove, the traveling shaft 22, can swim in the traveling slot 21; the traveling gear 23 is connected with the traveling shaft 22 and meshes with the driving gear 19; the large gear 24 is meshed with the traveling gear 23. Wherein, the inclination angle is perpendicular to the line connecting the traveling gear and the driving gear, and the angle between the center line connecting the traveling gear and the large gear is 135°-120° or more.

Its working process is: on the one hand, when the output shaft of the deceleration motor rotates counterclockwise, it will drive the traveling gear to move obliquely downward along the traveling card slot to the limit position, and then mesh with the large gear and transmit power; When the hour hand rotates, the traveling gear will move obliquely upward along the traveling card slot, and then disengage from the large gear, so that power cannot be transmitted. On the other hand, when the large gear is driven to rotate counterclockwise, it can be well meshed with the traveling gear for transmission. When the large gear actively rotates counterclockwise, it will drive the traveling gear to move obliquely upward along the traveling card slot. , so as to disengage from the floating gear, so that the large gear 18 can rotate counterclockwise freely. During the whole process, the traveling gear and the driving gear are not disengaged. As long as the linear velocity of the counterclockwise rotation of the driving gear is greater than that of the large gear, the traveling gear can be driven to return to the meshed position with the large gear.

2) The automatic energy storage and discharge mechanism sub-module, which mainly includes: an incomplete gear crankshaft 25, which is fixedly connected with the large gear 24 in the one-way transmission gear set; an incomplete gear main shaft 26, which is connected with the thigh 14 and connected with the The incomplete gear crankshaft 25 meshes; the spring pull piece 27 is wound on the incomplete gear crankshaft 25; the automatic leg retracting spring 28 is fixed on the track pressing shaft 13 at one end, and is pulled on the incomplete gear main shaft 26 at the other end; the main spring 29 is at one end Pull on the spring pull piece 27, and the other end is pulled on the adjusting bolt 30; the adjusting nut 31 cooperates with the adjusting bolt 30 to fix the main spring 29 and a connecting piece 32; the other end of the connecting piece 32 is fixed on the body head On the spring pull shaft 7 of the part.

Wherein, automatic leg retracting spring can be substituted with torsion spring to realize its same function.

Its working process is: in the initial state, the main spring is at the shortest limit position, and the teeth of the incomplete gear crankshaft and the teeth of the incomplete gear main shaft are in a state of disengagement. At this time, the counterclockwise rotation of the big gear can drive the incomplete gear crankshaft Rotate counterclockwise. At this time, the incomplete gear crankshaft will elongate the main spring. Before the spring is stretched to the longest limit position, the teeth of the incomplete gear crankshaft and the teeth of the incomplete gear main shaft will start to mesh, and the incomplete gear main shaft will follow It starts to rotate, which drives the thighs to rotate, and then drives the link mechanism of the jumping mechanism module to move, so that the soles of the feet touch the ground first, and prop up the body a little. The main spring will pull the crankshaft of the incomplete gear to actively continue to rotate counterclockwise. It will be out of mesh with the big gear, so the energy of the main spring will be released quickly, driving the crankshaft of the incomplete gear to make a fast counterclockwise rotation, and then drive the soles of the feet to quickly push out about 45° to the rear of the body to push the robot jump up. When the body is still in the air, since the main spring has reached the shortest limit position, the teeth of the crankshaft of the incomplete gear and the teeth of the main shaft of the incomplete gear are in a disengaged state again, and the automatic leg retracting spring will pull the main shaft of the incomplete gear back to the initial position , and then drive the jumping mechanism module to retract to the initial state. Finally, after the body moves in the air by inertia, it uses the shock-absorbing device of the crawler travel module to cushion the landing. So far, all the mechanical parts of the robot have gone through a complete cycle and returned to the initial state, ready for the next cycle of action.

Referring to Fig. 2, the key to the design of the incomplete gear crankshaft 19 is the relative position between the teeth of the incomplete gear and the crankshaft direction of the crankshaft. Reasonable design can ensure that the two incomplete gears mesh with each other in the aforementioned automatic energy storage and discharge mechanism module. Time requirement for disengagement.

Referring to Fig. 3, the thigh 14 is driven by the incomplete gear main shaft 26 in Fig. 1. When the thigh 14 rotates, the trajectory of the end of the calf 15 is as shown in the figure. This trajectory is approximately a straight line at 45° obliquely downward. Like this, It imitates the action of insects kicking their legs.

Referring to Fig. 4, a hinge point is added on the thigh 14, and the foot link 17 is linked with a hinge point on the sole of the foot 16 to ensure that the position and posture of the sole of the foot 16 relative to the body 1 are as shown in Fig. 4 during the kicking process. , as long as the center of gravity of the body deviates from the extended line of the "foot track" shown in Figure 4, it can be guaranteed that the heel and toe of the sole of the foot 16 are on the ground simultaneously during the kicking process, so that the posture of the sole of the foot 16 ensures that the body can It is stable when flying.

Claims (7)

1. A bionic jumping robot based on link mechanism, characterized in that: the specific structure of the robot comprises: (a) The body is composed of two trapezoidal quadrangular hollow metal plates, which are used to fix and install other parts of the robot; among the two parallel sides, the long side facing upward is called "upper side", and the short side facing down is called "bottom side". ", the side of the short hypotenuse is the forward direction of the robot, that is, the front; the two metal plates are connected together by components such as the tail shaft, the upper bolt shaft, the spring pull shaft at the head, and the two track wheel axles at the bottom; (b) Track traveling module: mainly includes: two damping pins, which are respectively inserted in the slots located at the front of the lower side of the machine body; In the hole groove; three pairs of track wheels; two pairs of track wheels are installed symmetrically on both sides of the body, and the two pairs of track wheels below are driven wheels, which are respectively fixed on two "track wheel axles" through rolling bearings; One crawler wheel shaft, one is installed on the shock-absorbing pin, and the other is installed on the rear of the lower side; the other pair of crawler wheels is installed on the short hypotenuse of the body, which is the driving wheel, directly driven by the geared motor, and is connected to the lower side. The track wheels have a certain height difference; the three track wheels on each side are linked by the track on it; (c) Jumping mechanism module: mainly includes: thigh, calf, sole, foot link, and calf link; one end of the thigh is fixed on the incomplete gear main shaft, and the other end is hinged to the set position of the calf; one end of the calf It is hinged with the calf link, and the other end of the calf link is hinged with the body; the sole is respectively hinged with the other end of the calf and one end of the foot link; the other end of the foot link is hinged at the predetermined position of the thigh; (d) Power module: The power module can be divided into two sub-modules, namely the one-way transmission gear set and the sub-module of the automatic energy storage and discharge mechanism: 1) The one-way transmission gear set, the one-way transmission gear set mainly includes: the driving gear, which is fixedly connected with the output shaft of the reduction motor; The slot, the traveling shaft, can swim in the traveling card slot; the traveling gear, is connected with the traveling shaft and meshes with the driving gear; the large gear, meshes with the traveling gear; 2) The automatic energy storage and discharge mechanism sub-module, which mainly includes: the incomplete gear crankshaft, which is fixedly connected with the large gear in the one-way transmission gear set; the incomplete gear main shaft, which is fixedly connected with the thigh and is connected with the incomplete gear crankshaft Engagement; spring pull piece, wound on the crankshaft of incomplete gear; automatic leg spring, one end is fixed on the track pressure shaft, and the other end is pulled on the main shaft of incomplete gear; main spring, one end is pulled on the spring pull piece, and the other end is pulled on the adjustment On the bolt; the adjusting nut cooperates with the adjusting bolt to fix the main spring with a connecting piece; the other end of the connecting piece is fixed on the spring pull shaft of the body head. 2. The bionic jumping robot based on the link mechanism according to claim 1, characterized in that: above the shock-absorbing pin, a crawler pin is also provided to press down the crawler belt so as to give the inside of the body Make room for other components. 3. The bionic jumping robot based on a link mechanism according to claim 1, characterized in that: the set position of the lower leg is close to the hinge point of the lower leg and the lower leg connecting rod. 4. The bionic jumping robot based on a link mechanism according to claim 1, wherein the predetermined position of the thigh is close to the hinge point of the thigh and the lower leg. 5. the bionic jumping robot based on link mechanism according to claim 1, is characterized in that: the distance of setting thigh and the fixed point of shank connecting rod on the body is a, the fixed point of thigh on the body to thigh and pin The distance between the hinge point of the connecting rod is b, the distance from the hinge point of the thigh and foot connecting rod to the hinge point of the thigh and calf is c, the length of the calf connecting rod is d, the hinge point of the calf and calf connecting rod to the thigh and calf The distance between the hinge point of the thigh and the calf is f, the distance between the hinge point of the thigh and the calf is f, and the length of the foot link is g, then a:b:c:d:e:f:g= 5.7737: 11.5: 1: 12.785: 3.295: 12.5: 12.7013: 2.25, the length of each part can be changed within ±10% range to realize the jumping action. 6. The bionic jumping robot based on the link mechanism according to claim 1, characterized in that: the oblique angle of the swimming slot is perpendicular to the connecting line between the traveling gear and the driving gear, and perpendicular to the connecting line between the traveling gear and the driving gear. The angle between the center line of the gear and the bull gear is 135°--180°. 7. The bionic jumping robot based on a link mechanism according to claim 1, characterized in that: the automatic leg retracting spring can be a torsion spring.

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