CN108394484B

CN108394484B - Locust-simulated jumping robot with gliding function

Info

Publication number: CN108394484B
Application number: CN201810135603.0A
Authority: CN
Inventors: 张自强; 常斌; 赵京; 杨琪
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2018-02-09
Filing date: 2018-02-09
Publication date: 2020-07-17
Anticipated expiration: 2038-02-09
Also published as: CN108394484A

Abstract

The invention discloses a locust-simulated jumping robot with a gliding function, and relates to the technical field of robots. Comprises a trunk structure, a buffering leg structure, a gliding wing structure, a jumping leg structure and a driving module. The buffering leg structure is composed of four buffering leg branches, and landing buffering of the robot can be achieved. The gliding wing is composed of two buffering leg branches and a spring, and the gliding wing is driven to retract and release through the deformation of the spring so as to realize the gliding of the robot. The jumping leg structure is composed of jumping leg branches formed by two six-rod mechanisms respectively, and efficient jumping of the robot is achieved. The driving module consists of a gliding wing driving module and a jumping leg module, and the gliding wing driving module and the jumping leg module are driven by a motor to press a spring to deform so as to realize energy storage and instantaneous energy release. The invention improves the obstacle crossing capability and jumping performance of the jumping robot by combining the three structures of the buffer leg structure, the gliding wing structure and the jumping leg structure, and realizes the stable landing of the robot.

Description

Locust-simulated jumping robot with gliding function

Technical Field

The invention relates to the technical field of robots, in particular to a locust-simulated hopping robot with a gliding function.

Background

With the development of technology, robotics has been widely used in various aspects. In the fields of interstellar exploration, life rescue, military reconnaissance and the like, various types of complex and unstructured working environments exist, and therefore the robot is required to be small in size and have strong obstacle crossing capability. Because the locust is small in size and can cross obstacles which are several times of the size of the locust, researchers design various locust-simulated jumping robots based on the bionics principle.

In the field of locust-simulated jumping robots, some achievements have been achieved at present. The invention patent 'locust-simulated jumping robot with locust performance' with publication number 105438306A realizes the landing buffering of the robot by designing four buffering leg branches with completely the same structure. However, the buffer leg is thin and has poor shock resistance, and the buffer leg is easy to bend and fail. The invention patent 'jumping robot imitating locust moving joint lever ejection mechanism' with publication number 101954935A designs a robot with slow energy storage and fast release capability according to the locust lever ejection mechanism. But the energy loss exists in the instant release in the design, and the ground impact is large because no land buffer structure exists. In view of the problems in the above design, it is necessary to design a new type of jump robot, which has a higher jump performance and a longer jump distance while ensuring a good buffer performance.

Disclosure of Invention

The invention aims to provide a locust-simulated jumping robot with a gliding function, which can realize a longer jumping distance by retracting and releasing gliding wings in a jumping process; the jumping leg of the six-bar mechanism realizes higher jumping performance; the stable landing of the jumping robot is realized through the buffering legs.

The locust-simulated hopping robot with the gliding function comprises a trunk structure 1, a buffering leg structure 2, a gliding wing structure 3, a hopping leg structure 4 and a driving module 5;

referring to fig. 2, the trunk structure 1 includes three parts, a left connecting plate 11, a right connecting plate 13, and a middle connecting plate 12; the left connecting plate 11 is parallel to the right connecting plate 13, and the middle connecting plate 12 is vertically and fixedly lapped between the left connecting plate 11 and the right connecting plate 13; a first buffering leg bracket 111 and a second buffering leg bracket 112 which are arranged in a front-back manner are fixed at the lower end of the outer side surface of the left connecting plate 11; similarly, two buffer leg brackets which are arranged in front and back are fixed at the lower end of the outer side surface of the right connecting plate 13. Each of the above-mentioned buffer leg brackets is provided with a branch of the buffer leg structure 2, i.e. a buffer leg branch.

Each buffering leg branch comprises a buffering thigh 211 bent downwards, an inclined buffering shank 212, a first torsion spring 213 and a second torsion spring 214, one end of the buffering thigh 211 is connected with the buffering leg support through a shaft, the buffering thigh 211 rotates relative to the buffering leg support in a vertical corresponding left connecting plate 11 and right connecting plate 13 surface, meanwhile, the first torsion spring 213 is installed at an included angle between the corresponding left connecting plate 11 or right connecting plate 13 and the buffering thigh, namely, one end of the first torsion spring 213 is fixedly connected with the left connecting plate 11 or right connecting plate 13, the other end of the first torsion spring 213 is fixedly connected with the buffering thigh 211, and the first torsion spring 213 is positioned above the buffering thigh 211; the other end of the downward bend of the buffering thigh 211 is connected with one end of the buffering shank 212 through a shaft, and the buffering shank can rotate around the buffering thigh 211 in a plane parallel to the left connecting plate 11 or the right connecting plate 13; the two buffering shanks 212 on the same side of the left connecting plate are inclined in a splayed manner; the plane of the buffer shank 212 on the same side of the left connecting plate 11 or the right connecting plate 13 is parallel to the left connecting plate 11 or the right connecting plate 13 respectively; the plane of each buffer thigh 211 is vertical to the left connecting plate 11 or the right connecting plate 13; the position between the buffer thigh 211 and the buffer shank 212 is limited by a second torsion spring 214, and two ends of the second torsion spring 214 are fixedly arranged on the buffer thigh 211 and the buffer shank 212 respectively; the second torsion spring 214 is positioned on the outer side of the splayed shape;

the gliding fin structure 3 comprises three parts, namely two gliding fin branches and a third spring 33; the gliding wing structure is positioned at the front part of the locust-simulated jumping robot; each gliding wing branch comprises four parts, namely a wing bracket 311, a wing rotating shaft 312, a wing framework structure and a wing membrane 313; the wing skeleton structure comprises a first skeleton 314, a second skeleton 315, a third skeleton 316, a fourth skeleton 317, a fifth skeleton 318, a sixth skeleton 319 and a seventh skeleton 320; wing bracket 311 is a plate structure; a first framework 314, a second framework 315, a third framework 316, a fourth framework 317, a fifth framework 318, a sixth framework 319 and a seventh framework 320 are sequentially arranged in parallel and are respectively fixed on one side of the wing bracket 311 by adopting a shaft connection, and each framework can rotate; the first frame 314 is connected with the wing bracket 311 through a protruded wing rotating shaft 312, and the wing rotating shaft 312 and the first frame 314 are fixed into a whole; the first framework 314, the second framework 315, the third framework 316, the fourth framework 317, the fifth framework 318, the sixth framework 319 and the seventh framework 320 are connected together by adopting a wing membrane 313; the two gliding wing branches are respectively fixed on the two sides of the trunk structure 1, namely the corresponding left connecting plate 11 and the right connecting plate 13, by adopting wing supports 311; the wing rotating shafts 312 of the two gliding wing branches are connected by adopting a torsion spring 33, two ends of the torsion spring 33 are respectively fixed and spirally wound on the wing rotating shafts 312, so that the torsion spring 33 can drive the wing rotating shafts 312 to rotate through nonlinear telescopic deformation, thereby driving the wing framework structures to be opened and closed, and simultaneously ensuring the opening and closing synchronism of the wing framework structures of the two gliding wing branches;

the jumping leg structure 4 comprises three parts, two jumping leg branches and a jumping leg link 43; the two jumping leg branches are respectively positioned at two sides of the trunk structure 1, namely the opposite outer sides of the corresponding left connecting plate 11 and the right connecting plate 13; the jumping leg structure is positioned at the rear part of the locust-simulated jumping robot;

each jumping leg branch comprises nine parts, namely a connecting rod connecting block 411, a first connecting rod 412, a second connecting rod 413, a third connecting rod 414, a fourth connecting rod 415, a foot sleeve 416, a fourth torsion spring 417, a long fixing column 418 and a short fixing column 419; the connection relationship of each component is as follows: the overall appearance of the connecting rod connecting block 411 is of a triangular plate-shaped structure, and the three angles are respectively marked as an angle A, an angle B and an angle C; the connecting rod connecting block 411 is connected with the left connecting plate 11 or the right connecting plate 13 corresponding to the side of the connecting rod connecting block through an angle A by adopting a long fixing column 418; the angle B is pivotally connected to one end of the first link 412, and the other end of the first link 412 is pivotally connected to one end of the second link 413; the other end of the second connecting rod 413 is nested with a foot sleeve 416 as a free end and can be in contact with the ground; a certain point in the middle of the second connecting rod 413 is connected with one end of the third connecting rod 414 in a shaft mode, an included angle between the second connecting rod 413 and the third connecting rod 414 is connected through a fourth torsion spring 417, namely one end of the fourth torsion spring 417 is connected with the second connecting rod 413, the other end of the fourth torsion spring 417 is connected with the third connecting rod 414, and the initial deformation amount of the fourth torsion spring 417 can be adjusted according to requirements and is used for storing energy before jumping of jumping legs and releasing energy instantly when jumping; the other end of the third link 414 is connected to the angle C of the link connecting block 411; one end of the fourth connecting rod 415 is connected with the corresponding left connecting plate 11 or right connecting plate 13 at the side by adopting a short fixing column 419, the short fixing column 419 and a long fixing column 418 of the same jumping leg branch are fixed on the same left connecting plate 11 or right connecting plate 13, the long fixing column 418 is positioned at the upper part of the left connecting plate 11 or right connecting plate 13, and the position of the short fixing column 419 is lower than that of the long fixing column 418; the other end of the fourth link 415 is connected to a middle point of the second link 413 by a shaft; the positions of the second link 413, the third link 414 and the fourth link 415, which are connected by the shaft, may be the same or different, and preferably different; the two connecting rod connecting blocks 411 of the two jumping leg branches are fixedly connected by the jumping leg connecting rod 43, and simultaneously, the two connecting rod connecting blocks 411 are driven to rotate, and the synchronism of the movement of the two jumping leg branches is ensured.

The drive module 5 comprises a wing drive module 51 and a jumping leg drive module 52, the wing drive module 51 comprises a first motor 511, a first motor shaft 512, a first cam 513 and a second cam 514, the first motor 511 is connected with the first motor shaft 512 in a shaft connection mode, the motor drives the motor shaft to rotate, the first motor shaft 512 and the third spring 33 are parallel when in a straight state, the parallel distance between the first motor shaft 512 and the third spring 33 when in the straight state is recorded as L1, the first cam 513 and the second cam 514 are respectively sleeved and fixed on the first motor shaft 512, the first cam 513 and the second cam 514 have the same contour curve and structure form completely, the first cam 513 and the second cam 514 are parallel, the first cam 513 and the second cam 514 are irregular cam structures with different radial sizes, the radius of the first cam 513 and the second cam 514 is larger than L1 and is smaller than or equal to L1, the radial edges of the first cam 513 and the second cam can drive the third spring 33 to rotate towards the front side, the front side of the first cam 513 and the second cam 514 can drive the first motor shaft 511 to rotate, the left side connecting plate 312 and the first motor shaft 511 and the second connecting plate 12 are connected on the left side frame 12 in a closed mode, and the first motor shaft 12.

The jumping leg driving module 52 comprises a second motor 512, a second motor shaft 522, a third cam 523 and a fourth cam 524, wherein the second motor 512 is in shaft connection with the second motor shaft 522, the motors drive the motor shafts to rotate, the third cam 523 and the fourth cam 524 are parallel and fixedly sleeved on the second motor shaft 522, the first cam 513 and the second cam 514 have completely the same contour curve and structural form, the second motor shaft 522 is parallel to the jumping leg connecting rod 43, the parallel distance between the second motor shaft 522 and the jumping leg connecting rod 43 is L2, the third cam 523 and the fourth cam 524 are irregular cam structures with different radial sizes, the radiuses of the third cam 523 and the fourth cam 524 are a part larger than L2 and a part smaller than or equal to L2, and the jumping leg connecting rod 43 is driven to move up and down and back and forth through the radial edges of the third cam 523 and the fourth cam 524 so as to drive the whole jumping leg structure to jump;

the second motor shaft 522 has one end coupled to the left connecting plate 11 and the other end coupled to the right connecting plate 13. The second motor 521 is fixedly connected to the intermediate connection plate 12.

The jumping leg of the present invention forms a single-degree-of-freedom six-bar mechanism, adopts a Stefan type or a Watt type, and the optimization method is that under the condition of giving the leg swing angles of the initial and final positions, a group of mechanism joint attitude angles closest to a given centroid position are solved, and the trunk rotation angle is minimized by taking the mechanism attitude angles as reference. Firstly, determining an optimization parameter, and giving a corresponding constraint condition according to an actual situation. In particular, in order to prevent the difference in the rod lengths from becoming too large and coming out of practice, it is also necessary to restrict the rod length ratio. Then, according to a kinematic equation, the centroid positions in the initial state and the final state are solved, and the deviation between the solved centroid position and the given centroid position is judged. After the kinematics solution is completed, the torso rotation angles of the beginning and end positions are further solved, and the absolute value of the difference value is used as an optimization objective function. And finally, optimizing by adopting a genetic algorithm, so that the group of rod lengths with the minimum objective function is the required value. In particular, according to different design requirements, the position of the center of mass can be given when the joint attitude angle is determined, so that the leg swing angle is closest to the given value.

The invention has the advantages.

The jumping leg structure is a single-degree-of-freedom six-rod mechanism, and through an optimization method, multiple targets including tail end tracks, trunk postures, jumping speed and the like can meet the requirement of motion constraint at the same time, so that the advantages of accurate jumping pose and good mechanism robustness are realized;

the structure of the buffering leg breaks through the existing thought of simulating the physiological structure of the locust leg, and the novel buffering leg is designed, so that the stable area of the jumping robot during landing is improved, and the ground impact force on the robot is reduced;

the gliding wing driving module compresses the torsional spring to deform and retract the gliding wings through the cam, and is simple in structure and easy to realize; the design of the gliding wing structure improves the stability of the jumping posture of the robot and also improves the jumping distance.

Drawings

FIG. 1 is a schematic view of the overall structure of the robot of the present invention;

FIG. 2 is a schematic diagram of a robot torso structure according to the present invention;

FIG. 3 is a schematic layout of a buffer leg and a jumping leg of the robot of the present invention;

FIG. 4 is a schematic structural diagram of a buffer leg, a jumping leg and a driving module of the robot in the invention;

FIG. 5 is a schematic view of the structure of the gliding wing of the robot in the present invention;

FIG. 6 is a schematic view of the assembly of the robot drive module of the present invention;

FIG. 7 is a schematic diagram of the attitude of the robot before jumping in the present invention;

FIG. 8 is a schematic diagram of the post-jump attitude of the robot of the present invention;

in the figure:

1-torso structure 2-buffer leg structure 3-glider structure 4-jump leg structure 5-drive module

11-left connecting plate 12-middle connecting plate 13-right connecting plate

111-first cushion leg support 112-second cushion leg support 113-first detent 131-second detent

21-first buffer leg branch 22-second buffer leg branch 23-third buffer leg branch 24-fourth buffer leg branch

211-retroversion cushioning thigh 212-cushioning shank 213-first torsion spring 214-second torsion spring 221-anteversion cushioning thigh

31-first gliding fin branch 32-second gliding fin branch 33-third spring

311-wing support 312-wing rotating shaft 313-wing membrane 314-first skeleton 315-second skeleton 316-third skeleton 317-fourth skeleton 318-fifth skeleton 319-sixth skeleton 320-seventh skeleton

41-first jumping leg branch 42-second jumping leg branch 43-jumping leg link

411-connecting rod connecting block 412-first connecting rod 413-second connecting rod 414-third connecting rod 415-fourth connecting rod 416-foot sleeve 417-fourth torsion spring 418-long fixed column 419-short fixed column

51-wing drive module 52-jumping leg drive module

511-first motor 512-first motor shaft 513-first cam 514-second cam

521-second motor 522-second motor shaft 523-third cam 524-fourth cam

Detailed Description

The present invention will be described below with reference to the drawings and examples, but the present invention is not limited to the following examples.

Example 1

Referring to fig. 1, the locust-simulated hopping robot with the gliding function comprises a trunk structure 1, a buffering leg structure 2, a gliding wing structure 3, a hopping leg structure 4 and a driving module 5.

Referring to fig. 2, the torso structure 1 includes three portions, a left connecting panel 11, a right connecting panel 13, and a middle connecting panel 12. The connection relation among the left connecting plate 11, the right connecting plate 13 and the middle connecting plate 12 is as follows: the left connecting plate 11 is fixedly connected with the middle connecting plate 12 through the positioning fit of the first positioning groove 113 on the left connecting plate 11, the right connecting plate 13 is fixedly connected with the middle connecting plate 12 through the positioning fit of the second positioning groove 131 on the right connecting plate 13, and the left connecting plate 11 and the right connecting plate 13 are symmetrical relative to the axis of the middle connecting plate 12.

Referring to fig. 2, 3 and 4, the leg buffer structure 2 includes four parts, namely a first leg buffer branch 21, a second leg buffer branch 22, a third leg buffer branch 23 and a fourth leg buffer branch 24. The first leg branch 21 includes a rear leaning buffer thigh 211, a buffer shank 212, a first torsion spring 213, and a second torsion spring 214. The connection relationship of each component is as follows: the backward tilting buffer thigh 211 and the buffer shank 212 are in shaft connection, and can realize relative rotation; the second torsion spring 214 has one end fixedly connected to the backward tilting buffer thigh 211 and one end fixedly connected to the buffer shank 212, and the initial deformation amount thereof can be adjusted as required to limit the relative rotation between the buffer shank 212 and the backward tilting buffer thigh 211. The third damping leg branch 23 has exactly the same design as the first damping leg branch 21. The first buffer leg branch 21 and the left connecting plate 11 are coupled to the first buffer leg bracket 111 on the left connecting plate 11 through the backward tilting buffer thigh 211 of the first buffer leg branch 21, and can rotate relatively. The first torsion spring 213 has one end connected to the left connecting plate 11 and one end connected to the recline cushioning thigh 211, and its initial deformation amount can be adjusted as needed to limit the relative rotation of the recline cushioning thigh 211 with respect to the left connecting plate 11. The first 21, second 22, third 23 and fourth 24 cushioning leg branches are connected to the torso structure 1 in exactly the same manner. The second leg branch 22 comprises a forward leaning buffer thigh 221, a buffer shank 212, a first torsion spring 213 and a second torsion spring 214. The connection relationship of each component is as follows: the forward leaning buffering thigh 221 and the buffering shank 212 are in shaft connection, and can realize relative rotation; one end of the second torsion spring 214 is fixedly connected with the forward leaning buffering thigh 221, the other end is fixedly connected with the buffering shank 212, and the initial deformation amount can be adjusted as required to limit the relative rotation of the buffering shank 212 and the forward leaning buffering thigh 221. The fourth damping leg branch 24 has the same design as the second damping leg branch 22.

Referring to fig. 4, 5, and 8, the glide fin structure 3 includes three portions, i.e., a first glide fin branch 31, a second glide fin branch 32, and a third spring 33. The first gliding wing branch 31 comprises four parts of a wing bracket 311, a wing rotating shaft 312, a wing framework structure and a wing membrane 313. The wing skeleton structure includes a first skeleton 314, a second skeleton 315, a third skeleton 316, a fourth skeleton 317, a fifth skeleton 318, a sixth skeleton 319, and a seventh skeleton 320. The connection relationship of each component is as follows: the wing bracket 311 is coupled to the wing shaft 312, and the wing bracket and the wing shaft can rotate relative to each other; the first framework 314, the second framework 315, the third framework 316, the fourth framework 317, the fifth framework 318, the sixth framework 319 and the seventh framework 320 are sequentially coupled with the wing bracket 311, so that the rotation relative to the wing bracket 311 can be realized; the wing rotating shaft 312 is fixedly connected with the first framework; the wing membranes 313 are sequentially connected to the seven frameworks to ensure the consistency of the motion of each framework. The first glide wing branch 31 is fixedly connected to the left connecting plate 11 via the wing support 311 of the first glide wing branch 31. The second gliding fin branch 32 is identical in structure and installation manner to the first gliding fin branch 31, and is axially symmetrical with respect to the intermediate connection plate 12. One end of the third spring 33 is fixedly connected with the wing rotating shaft 312 on the first gliding wing branch 31, and the other end is fixedly connected with the second gliding wing branch 32 at the same position, so as to ensure the opening and closing synchronism of the wing framework structure of the first gliding wing branch 31 and the wing framework structure of the second gliding wing branch 32,

referring to fig. 3, 4, and 7, jumping leg structure 4 includes three portions, a first jumping leg branch 41, a second jumping leg branch 42, and a jumping leg link 43. First jumping leg branch 41 includes nine portions of link connection block 411, first link 412, second link 413, third link 414, fourth link 415, foot strap 416, fourth torsion spring 417, long fixing column 418, and short fixing column 419. The connection relationship of each component is as follows: the connecting rod connecting block 411 is connected with the long fixing column 418 in a shaft mode, the first connecting rod 412 is connected with the connecting rod connecting block 411 in a shaft mode, the first connecting rod 412 is connected with the second connecting rod 413 in a shaft mode, the second connecting rod 413 is connected with the third connecting rod 414 in a shaft mode, the third connecting rod 414 is connected with the connecting rod connecting block 411 in a shaft mode, the end of the fourth connecting rod 415 is connected with the second connecting rod 413 in a shaft mode, the fourth connecting rod 415 is connected with the short fixing column 419 in a shaft mode, the second connecting rod 413 is nested inside the foot sleeve 416 to increase friction force of the first jumping leg branch 41, one end of the fourth torsion spring 417 is connected with the second connecting rod 413, the other end of the fourth torsion spring 417 is connected with the third connecting rod 414, and initial deformation amount of the. The long fixing column 418 is fixed above the left connecting plate 11, and the short fixing column 419 is fixed below the left connecting plate 11. The second jumping leg branch 42 is identical in construction and mounting to the first jumping leg branch 41. One end of the jumping leg connecting rod 43 is fixedly connected with the connecting rod connecting block 411 of the first jumping leg branch 41, and the other end of the jumping leg connecting rod 43 is fixedly connected with the second jumping leg branch 42 at the same position, so that the first jumping leg branch 41 and the second jumping leg branch 42 are ensured to realize the movement synchronism.

Referring to fig. 3, 4 and 7, driving module 5 includes a wing driving module 51 and a jumping leg driving module 52. Wing driving module 51 includes four parts, first motor 511, first motor shaft 512, first cam 513 and second cam 514. The connection relationship of each component is as follows: the first motor 511 is coupled to the first motor shaft 512, the motor drives the motor shaft to rotate, and the first cam 513 and the second cam 514 are fixedly connected to the first motor shaft 512 in parallel. The first cam 513 and the second cam 514 have identical contour curves and structural forms. The first motor shaft 512 has one end coupled to the left connecting plate 11 and the other end coupled to the right connecting plate 13. The first motor 511 is attached to the intermediate connection plate 12. The jumping leg driving module 52 includes four parts, i.e., a second motor 521, a second motor shaft 522, a third cam 523, and a fourth cam 524. The connection relationship of each component is as follows: the second motor 521 is coupled to the second motor shaft 522, the motor drives the motor shaft to rotate, and the third cam 523 and the fourth cam 524 are fixedly connected to the second motor shaft 522 in parallel. The first cam 513 and the second cam 514 have identical contour curves and structural forms. The second motor shaft 522 has one end coupled to the left connecting plate 11 and the other end coupled to the right connecting plate 13. The second motor 521 is fixedly connected to the intermediate connection plate 12.

The working principle of the invention is as follows:

referring to fig. 7 and 8, before the jumping robot jumps, the first cam 513 and the second cam 514 are at the far rest ends, and press the third spring 33 to deform and store energy; the third cam 523 and the fourth cam 524 are in a critical state of just passing the distal rest ends, and the second link 513 and the third link 514 press the fourth torsion spring 417 to deform and store energy; when jumping, the third cam 523 and the fourth cam 524 are driven by the second motor 521 to pass over the far rest end, the fourth torsion spring 417 releases energy instantly, the second connecting rod 413 collides with the ground, and the jumping robot jumps; during the jumping robot jumps from the jumping to the highest point, the first motor 511 drives the first cam 513 and the second cam 514 to cross the far rest end, the third spring 33 releases energy instantly, the first framework 314 is driven to rotate around the wing bracket 311 through the wing rotating shaft 312, the rest 6 frameworks rotate around the wing bracket 311 under the constraint of the wing film 313, and the wings are unfolded; before the jumping robot jumps to the highest point to the ground, the second motor 521 rotates reversely, the jumping leg structure 4 is restored to the initial state, and the fourth torsion spring 417 stores energy again; after the hopping robot lands, the first motor 511 drives the first cam 513 and the second cam 514 to the far rest end, and the third spring 33 deforms and stores energy again.

Claims

1. A locust-simulated jumping robot with a gliding function is characterized by comprising a trunk structure (1), a buffering leg structure (2), a gliding wing structure (3), a jumping leg structure (4) and a driving module (5);

the trunk structure (1) comprises a left connecting plate (11), a right connecting plate (13) and a middle connecting plate (12); the left connecting plate (11) is parallel to the right connecting plate (13), and the middle connecting plate (12) is vertically and fixedly lapped between the left connecting plate (11) and the right connecting plate (13); a first buffering leg support (111) and a second buffering leg support (112) which are arranged in a front-back manner are fixed at the lower end of the outer side surface of the left connecting plate (11); two buffer leg brackets which are arranged in front and back are fixed at the lower end of the outer side surface of the right connecting plate (13) in the same way; each buffering leg bracket is provided with a branch of a buffering leg structure (2), namely a buffering leg branch;

each buffering leg branch comprises a buffering thigh (211) bent downwards, an inclined buffering shank (212), a first torsion spring (213) and a second torsion spring (214), wherein one end of the buffering thigh (211) is connected with the buffering leg support through a shaft, the buffering thigh (211) rotates relative to the buffering leg support in the vertical corresponding left connecting plate (11) and right connecting plate (13) surface, meanwhile, the first torsion spring (213) is installed at a corner between the corresponding left connecting plate (11) or right connecting plate (13) and the buffering thigh, namely, one end of the first torsion spring (213) is fixedly connected with the left connecting plate (11) or right connecting plate (13), the other end of the first torsion spring (213) is fixedly connected with the buffering thigh (211), and the first torsion spring (213) is positioned above the buffering thigh (211); the other end of the downward bent buffer thigh (211) is connected with one end of the buffer shank (212) through a shaft, and the buffer shank can rotate around the buffer thigh (211) in a plane parallel to the left connecting plate (11) or the right connecting plate (13); the two buffer cruses (212) on the same side of the left connecting plate are inclined in a splayed manner; the plane of the buffer shank (212) on the same side of the left connecting plate (11) or the right connecting plate (13) is parallel to the left connecting plate (11) or the right connecting plate (13) respectively; the plane of each buffer thigh (211) is vertical to the left connecting plate (11) or the right connecting plate (13); a second torsion spring (214) is adopted between the buffering thigh (211) and the buffering shank (212) for limiting, and two ends of the second torsion spring (214) are fixedly arranged on the buffering thigh (211) and the buffering shank (212) respectively; the second torsion spring (214) is positioned on the outer side of the splayed shape;

the gliding fin structure (3) comprises three parts, namely two gliding fin branches and a third spring (33); the gliding wing structure is positioned at the front part of the locust-simulated jumping robot; each gliding wing branch comprises four parts, namely a wing bracket (311), a wing rotating shaft (312), a wing framework structure and a wing membrane (313); the wing skeleton structure comprises a first skeleton (314), a second skeleton (315), a third skeleton (316), a fourth skeleton (317), a fifth skeleton (318), a sixth skeleton (319) and a seventh skeleton (320); the wing bracket (311) is in a plate structure; the wing support comprises a first framework (314), a second framework (315), a third framework (316), a fourth framework (317), a fifth framework (318), a sixth framework (319) and a seventh framework (320), wherein the first framework, the second framework, the third framework, the fourth framework, the fifth framework, the sixth framework and the seventh framework are sequentially arranged in parallel and are respectively fixed to one side of the wing support (311) through shafts, and each framework can rotate; the first framework (314) is connected with the wing bracket (311) through a protruded wing rotating shaft (312), and the wing rotating shaft (312) and the first framework (314) are fixed into a whole; the first framework (314), the second framework (315), the third framework (316), the fourth framework (317), the fifth framework (318), the sixth framework (319) and the seventh framework (320) are connected together by adopting a wing membrane (313); the two gliding wing branches are respectively fixed on two sides of the trunk structure (1), namely a corresponding left connecting plate (11) and a corresponding right connecting plate (13), by a wing bracket (311); the wing rotating shafts (312) of the two gliding wing branches are connected by adopting a torsion spring (33), two ends of the torsion spring (33) are respectively fixed and spirally wound on the wing rotating shafts (312), so that the torsion spring (33) can drive the wing rotating shafts (312) to rotate through nonlinear telescopic deformation, the wing framework structures are driven to be opened and closed, and the opening and closing synchronism of the wing framework structures of the two gliding wing branches is ensured;

the jumping leg structure (4) comprises three parts, namely two jumping leg branches and a jumping leg connecting rod (43); the two jumping leg branches are respectively positioned at two sides of the trunk structure (1), namely the opposite outer sides of the corresponding left connecting plate (11) and the right connecting plate (13); the jumping leg structure is positioned at the rear part of the locust-simulated jumping robot;

each jumping leg branch comprises nine parts, namely a connecting rod connecting block (411), a first connecting rod (412), a second connecting rod (413), a third connecting rod (414), a fourth connecting rod (415), a foot sleeve (416), a fourth torsion spring (417), a long fixing column (418) and a short fixing column (419); the connection relationship of each component is as follows: the overall appearance of the connecting rod connecting block (411) is of a triangular plate-shaped structure, and the three angles are respectively marked as an angle A, an angle B and an angle C; the connecting rod connecting block (411) is connected with a left connecting plate (11) or a right connecting plate (13) corresponding to the side of the connecting rod connecting block through an angle A by adopting a long fixing column (418) for shaft connection; the angle B is connected with one end of the first connecting rod (412) through a shaft, and the other end of the first connecting rod (412) is connected with one end of the second connecting rod (413) through a shaft; the other end of the second connecting rod (413) is nested with a foot sleeve (416) as a free end and can be in contact with the ground; a certain point in the middle of the second connecting rod (413) is connected with one end of the third connecting rod (414) in a shaft mode, an included angle between the second connecting rod (413) and the third connecting rod (414) is connected through a fourth torsion spring (417), namely one end of the fourth torsion spring (417) is connected with the second connecting rod (413), the other end of the fourth torsion spring is connected with the third connecting rod (414), and the initial deformation amount of the fourth torsion spring can be adjusted according to requirements and is used for storing energy before jumping of jumping legs and releasing energy instantly when jumping; the other end of the third connecting rod (414) is connected with an angle C of the connecting rod connecting block (411) through a shaft; one end of the fourth connecting rod (415) is connected with the left connecting plate (11) or the right connecting plate (13) corresponding to the side where the fourth connecting rod is located through a short fixing column (419) in a shaft mode, the short fixing column (419) and the long fixing column (418) of the same jumping leg branch are fixed on the same left connecting plate (11) or the same right connecting plate (13), the long fixing column (418) is located on the upper portion of the left connecting plate (11) or the right connecting plate (13), and the position of the short fixing column (419) is lower than that of the long fixing column (418); the other end of the fourth connecting rod (415) is connected with a middle point of the second connecting rod (413) through a shaft; the parts of the second connecting rod (413) which are connected with the third connecting rod (414) and the fourth connecting rod (415) through shafts are the same or different; the two connecting rod connecting blocks (411) of the two jumping leg branches are fixedly connected by a jumping leg connecting rod (43), and simultaneously the two connecting rod connecting blocks (411) are driven to rotate, and the synchronism of the movement of the two jumping leg branches is ensured;

the drive module (5) comprises a wing drive module (51) and a jumping leg drive module (52), wherein the wing drive module (51) comprises a first motor (511), a first motor shaft (512), a first cam (513) and a second cam (514), the connection relationship of the first motor (511) and the first motor shaft (512) is in shaft connection, the motors drive the motor shafts to rotate, the first motor shaft (512) and the third spring (33) are in a linear state and are parallel, the parallel distance between the first motor shaft (512) and the third spring (33) in the linear state is recorded as L, the first motor shaft (512) is respectively sleeved with and fixedly connected with the first cam (513) and the second cam (514), the first cam (513) and the second cam (514) have the same contour curve and structure form, the first cam (513) and the second cam (514) are parallel, the first cam (513) and the second cam (514) are in irregular cam structures with radial sizes, the first cam (513) and the second cam (514) are not equal to the radius of the first cam (513) and the second cam (514), the second cam (514) is larger than the radius of the radial size of the first motor shaft (511) and the second cam (3), the second cam (3611) is connected with the middle connecting plate (3611) to drive the first motor shaft (13) to rotate, the second cam (3) to drive the first motor shaft (511) to drive the second cam (3) to rotate, the second cam (3) to drive the first motor shaft (13) to drive the second cam (3) to rotate, the second cam (3);

the jumping leg driving module (52) comprises four parts, namely a second motor (512), a second motor shaft (522), a third cam (523) and a fourth cam (524), wherein the second motor (512) is in shaft connection with the second motor shaft (522), the motors drive the motor shafts to rotate, the third cam (523) and the fourth cam (524) are parallel to each other and fixedly sleeved on the second motor shaft (522), the first cam (513) and the second cam (514) have identical profile curves and structural forms, the second motor shaft (522) is parallel to the jumping leg connecting rod (43), the parallel distance between the second motor shaft and the jumping leg connecting rod is L2, the third cam (523) and the fourth cam (524) are of irregular cam structures with different radial sizes, the radii of the third cam (523) and the fourth cam (524) are larger than L2 and smaller than or equal to L2, and the radial edges of the third cam (523) and the fourth cam (524) drive the leg connecting rod (43) to move up and down so as to drive the whole jumping leg structure to move forwards and backwards;

one end of a second motor shaft (522) is connected to the left connecting plate (11) in a shaft mode, and the other end of the second motor shaft is connected to the right connecting plate (13) in a shaft mode; the second motor (521) is fixedly connected to the middle connecting plate (12).

2. A sliding locust-simulated hopping robot according to claim 1, wherein the hopping legs form a single-degree-of-freedom six-bar mechanism, which is of a Stevenson type or a Watt type, and the optimization method is that under the condition of a given starting position and a given end position of leg swing angle, a group of mechanism joint attitude angles closest to a given center of mass position are solved, and the trunk rotation angle is minimized by taking the mechanism attitude angles as reference; firstly, determining an optimization parameter, and giving a corresponding constraint condition according to an actual situation.

3. A sliding locust simulated jumping robot according to claim 2, wherein the rod length ratio is restrained in order to prevent the difference of the rod length from getting out of practice; then, according to a kinematic equation, solving the centroid position in the initial state and the final state, and judging the deviation of the solved centroid position and the given centroid position; after the kinematics solution is completed, further solving the trunk rotation angles of the initial and final positions, and taking the absolute value of the difference value as an optimization objective function; and finally, optimizing by adopting a genetic algorithm, so that the group of rod lengths with the minimum objective function is the required value.

4. A locust-simulated hopping robot with gliding function as claimed in claim 3, wherein the position of the center of mass is given also at the time of the joint attitude angle determination so that the leg swing angle is closest to the given value according to the design requirement.

5. The locust-simulated jumping robot working method for gliding function according to claim 1, wherein the working steps comprise the following: before the jumping robot jumps, the first cam (513) and the second cam (514) are positioned at the far rest ends, and the third spring (33) is pressed to deform and store energy; the third cam (523) and the fourth cam (524) are in a critical state of just exceeding the far rest end, and the second connecting rod (513) and the third connecting rod (514) press the fourth torsion spring (417) to deform and store energy; when jumping, the third cam (523) and the fourth cam (524) are driven by the second motor (521) to cross over the far rest end, the fourth torsion spring (417) releases energy instantly, the second connecting rod (413) collides with the ground, and the jumping robot jumps; during the jumping robot jumps to the highest point from the jumping to the jumping, the first motor (511) drives the first cam (513) and the second cam (514) to cross the far rest end, the third spring (33) releases energy instantly, the first framework (314) is driven to rotate around the wing bracket (311) through the wing rotating shaft (312), the rest 6 frameworks rotate around the wing bracket (311) under the constraint of the wing film (313), and the wings are unfolded; before the jumping robot jumps to the highest point to the ground, the second motor (521) rotates reversely, the jumping leg structure (4) restores to the initial state, and the fourth torsion spring (417) stores energy again; after the hopping robot lands, the first motor (511) drives the first cam (513) and the second cam (514) to the far stopping end, and the third spring (33) deforms and stores energy again.