CN113562128A - Water surface jumping robot - Google Patents
Water surface jumping robot Download PDFInfo
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- CN113562128A CN113562128A CN202110855899.5A CN202110855899A CN113562128A CN 113562128 A CN113562128 A CN 113562128A CN 202110855899 A CN202110855899 A CN 202110855899A CN 113562128 A CN113562128 A CN 113562128A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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Abstract
The invention provides a water surface jumping robot, and belongs to the field of bionic robots. Surface of water jumping robot includes main part braced frame, surface of water braced system, transmission system, energy storage system and actuating system, main part braced frame is located the robot middle part, energy storage system is located robot top, actuating system symmetric distribution is in the robot left and right sides, surface of water braced system is located the robot lowermost part, transmission system installs the inside at surface of water braced system, the robot realizes that the surface of water stably floats through surface of water braced system, transmission system drives energy storage system and carries out energy storage and release to the spring, provide the required energy of jump, it realizes surface of water jumping motion to drive actuating system motion. The robot main body is manufactured by adopting a high-precision 3D printing technology, and the spring is used as an energy storage original, so that the robot has the characteristics of light weight and excellent jumping performance; the water surface hopping robot has excellent hopping performance and stable motion posture.
Description
Technical Field
The invention belongs to the field of bionic robots, and particularly relates to a water surface jumping robot.
Background
In recent years, with the development of bionics, new materials, micromachining and microelectronic technologies, the water surface bionic jumping robot has attracted more and more attention due to the characteristics of high concealment, wide adaptability, low cost, wide working coverage and the like. The water surface jumping robot simulates some common aquatic insects, such as a water strider, a water spider and the like, usually beats the water surface by depending on the self part of the robot to obtain the driving force to realize water surface jumping, has certain obstacle avoidance capability, and can be matched with other automatic equipment for use to search unknown or dangerous water areas, monitor secrecy, check water quality, search water surfaces and the like. Has broad application prospect and important research significance.
Compared with land jumping, an acting force model between the water surface jumping robot and the water surface is more complex and is a highly nonlinear system, and the water surface support is different from a ground rigid support mode, so that strong instantaneous sudden-change supporting force cannot be provided for the robot jumping, otherwise, a lot of water splash can be splashed, and even the robot overturns. The water surface jumping height of the robot can be influenced by the mass of the robot, the layout of a water surface supporting system, the energy storage size of a bouncing mechanism, the releasing efficiency and other factors. The water surface jumping robot faces the problem of more careful mass center configuration, the robot can be ensured to stably float on the water surface, the air posture in the jumping process can not be overturned, and the robot stably falls back to the water surface.
Research literature finds that the current water strider jump imitation sports robot mainly comprises surface tension jump and water pressure jump. The surface tension jumping robot is constrained by dimensions, the weight of the surface tension jumping robot needs to be controlled below 1g, severe requirements are provided for energy sources, driving mechanisms, supporting structures and the like, and functional application is difficult to realize in a short period. Compared with the prior art, the research on the water surface jumping robot with the dominant water pressure focuses on simulating the water strider in the paddling action, the robot has the mass of more than ten grams, the buoyancy is used as the water surface supporting force, the water pressure generated by driving the legs to quickly hit water is used as the driving force of water surface movement, and the water surface jumping robot has certain water surface load capacity.
In summary, the existing jumping robot has the problems of difficult realization, difficult realization of functional application, incapability of continuous jumping and the like.
Disclosure of Invention
In view of the above, the present invention is directed to a water surface jumping robot, which solves the problems of difficulty in implementation, difficulty in implementing functional application, and incapability of continuous jumping of the existing jumping robot. The robot main part adopts high accuracy 3D printing technique to make, uses the spring as the energy storage original paper, has the characteristics that the quality is light, the jumping performance is excellent. The invention relates to a water surface hopping robot with excellent hopping performance and stable motion posture.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a water surface jumping robot comprises a main body supporting frame, a water surface supporting system, a transmission system, an energy storage system and a driving system, wherein the main body supporting frame is positioned in the middle of the robot, a guide rail and a plurality of positioning mounting holes are formed in the upper portion of the main body supporting frame, hinge seats are symmetrically distributed in the lower portion of the main body supporting frame, the energy storage system is positioned on the uppermost portion of the robot and is mounted on a slide rail and the positioning mounting holes in the upper portion of the main body supporting frame, the positioning mounting holes are also distributed in the front end of the energy storage system, the driving system is symmetrically distributed on the left side and the right side of the robot and is mounted in the positioning mounting holes in the front end of the main body supporting frame and the front end of the energy storage system, the water surface supporting system is positioned on the lowermost portion of the robot and is mounted on the hinge seat in the middle of the lower portion of the main body supporting frame, and the transmission system is mounted in the water surface supporting system;
the robot realizes the stable showy of surface of water through surface of water braced system, and transmission system drives energy storage system and carries out energy storage and release, provides the required energy of jump, drives actuating system motion and realizes the surface of water jumping motion.
Furthermore, the surface of water braced system includes two foam ball legs, four mounts, supports base, four carbon poles and rectangle leg, four the mount links to each other through a carbon pole respectively with four corners that support the base, and two mounts that are located the front side are connected with a foam ball leg respectively, and two mounts that are located the rear side connect the rectangle leg jointly.
Further, the transmission system comprises a worm shaft, a worm, a motor, a first carbon rod shaft, a composite gear, a reel gear and a second carbon rod shaft, the motor is fixed on the support base, one end of the worm is matched with the motor through a D-shaped shaft, the other end of the worm is matched with the worm shaft and is installed in a shaft hole of the support base, the composite gear is installed inside the support base through the first carbon rod shaft and comprises a worm wheel and an incomplete gear which are integrally connected, the worm is matched with the worm wheel in the composite gear, the incomplete gear in the composite gear is matched with the reel gear, the reel gear is installed inside the support base through the second carbon rod shaft, a pull rope is installed and fixed on the reel gear, the worm is driven by the motor to recover and stretch the reel gear, the energy storage system stores energy, when the incomplete gear in the composite gear is matched with the reel gear, the gear of the reel is released, and the pull rope is released to release the energy storage system to provide energy required by jumping.
Furthermore, the energy storage system also comprises four torsion springs, a slider frame, two upper connecting rods, two tension spring carbon rod shafts, two tension spring fixing blocks, a fixed pulley and two lower connecting rods;
two guide rails are fixedly arranged in positioning mounting holes at corresponding positions on a main body supporting frame in parallel, a slider frame is arranged on the guide rails in a sliding manner, two upper connecting rods are arranged in parallel, one ends of the two upper connecting rods are connected with the slider frame through carbon rods, the other ends of the two upper connecting rods are respectively connected with tension spring fixing blocks positioned on corresponding sides on the main body supporting frame through carbon rods, the two lower connecting rods are arranged in parallel, one ends of the two lower connecting rods are connected with the tension spring fixing blocks on the corresponding sides, the other ends of the two lower connecting rods are connected with the main body supporting frame, the upper connecting rods and the lower connecting rods connected with the same tension spring fixing block are meshed through gears, the upper connecting rods and the lower connecting rods are matched through gears to determine a relative movement relationship, and torsion springs are respectively arranged at the joints of the upper connecting rods and the slider frame and the joints of the lower connecting rods and the main body supporting frame;
the tension spring carbon rod shaft is arranged on each tension spring fixing block, a tension spring is arranged between the two tension spring carbon rod shafts, the six-link mechanism is composed of two upper connecting rods, two lower connecting rods, a sliding block frame and a main body supporting frame, the fixed pulley is arranged in the main body supporting frame through the carbon rod, a pull rope in the transmission system is connected to a rope fixing end mounting hole in the middle of the sliding block frame by bypassing the fixed pulley, the pull rope pulls the sliding block frame to slide on the guide rail, the movement of the sliding block frame drives the six-link mechanism to move, so that the torsion springs at the revolute pairs are stressed and deformed, and meanwhile, the tension springs fixed between the tension spring carbon rod shafts at the left end and the right end of the six-link mechanism are stressed and deformed, and energy storage and release are realized.
Furthermore, the driving system comprises two driving legs, two connecting rods, a right chute rod, two carbon rod shaft III and a left chute rod, the left chute rod and the right chute rod are symmetrically arranged on two sides of the main body supporting frame, the middle parts of the left chute rod and the right chute rod are fixed on the main body supporting frame, the chute ends of the two chute rods are respectively installed on the slider frame through the carbon rod shaft III, the other ends of the two chute rods are respectively connected with a connecting rod, the free end of each connecting rod is connected with one driving leg, the two chute rods are driven by the movement of the slider frame to swing back and forth, the back and forth movement of the driving legs is achieved, and the jumping movement is achieved.
Furthermore, one section of the torsion spring matched with the upper connecting rod is fixed in the torsion spring mounting hole of the upper connecting rod, the other section of the torsion spring is mounted on the sliding block frame, one section of the torsion spring matched with the lower connecting rod is fixed in the torsion spring mounting hole of the lower connecting rod, and the other section of the torsion spring is mounted on the main body supporting frame.
Furthermore, two sides of a supporting base of the water surface supporting system are respectively and correspondingly arranged on two hinge seats at the middle position of the lower part of the main body supporting frame through a pitching shaft.
Furthermore, a carbon rod shaft II and a carbon rod shaft I are bonded inside the supporting base, a carbon rod shaft III is bonded on the sliding block frame, and a cylindrical hole in clearance fit with the guide rail is arranged below the sliding block frame.
Furthermore, the worm, the composite gear, the wire wheel gear, the sliding block frame, the upper connecting rod, the tension spring fixing block, the fixed pulley and the lower connecting rod are all made of photosensitive resin, and the guide rail is made of a carbon rod.
Further, drive leg, right sliding chute pole and left sliding chute pole material are photosensitive resin, the connecting rod material is hollow aluminium bar, and it is fixed all through the hot melt adhesive adhesion between connecting rod and corresponding drive leg and the corresponding sliding chute pole.
Compared with the prior art, the water surface jumping robot has the following advantages:
1. according to the robot, the main parts are all manufactured by high-precision 3D printing, the manufacturing time and cost are reduced, the tension springs and the torsion springs are used as energy storage elements, the spring energy release efficiency is improved, the symmetrical driving system is adopted, the stability of the robot in water surface motion is improved, foams are used as the robot water surface supporting piece, the dragging force of the water surface in the take-off process is reduced, and the jumping performance is improved.
2. The robot has the capability of continuously jumping on the water surface, the movement space of the robot is effectively expanded, and the movement flexibility is improved.
3. The robot supporting leg and the six-connecting-rod energy storage system adopt different characteristic parameters, different jumping motion effects can be realized, and the jumping efficiency can be improved, and the jumping height and the jumping distance can be increased by optimizing the distribution of the supporting leg, the shape of the supporting leg, the elastic coefficient of the spring and the rod length parameter.
4. The invention has wide application range, can be applied to the fields of military detection, water surface obstacle crossing search, communication nodes and the like by matching with corresponding sensor modules, and can be applied to the work of unknown or dangerous water area exploration, water quality inspection and the like.
5. The total weight of the water surface jumping robot is about 91g, buoyancy material foam is used as a supporting leg, and the water pressure is utilized in both a robot supporting mode and a driving mode. The robot energy storage mechanism is a six-link mechanism, and the energy storage element is formed by combining a tension spring and a torsion spring, so that the robot energy storage mechanism has better energy storage efficiency and support rigidity. The single jump height is about 290mm, which is 1.32 times the length of the robot body, and the single jump distance is about 1050mm, which is 4.77 times the length of the robot body.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is an isometric view of a water surface hopping robot according to an embodiment of the invention;
fig. 2 is a front view of a water surface hopping robot according to an embodiment of the present invention;
fig. 3 is a top view of a water surface hopping robot according to an embodiment of the present invention;
fig. 4 is a left side view of a water surface hopping robot according to an embodiment of the invention;
fig. 5 is a water surface supporting system structure diagram of a water surface jumping robot according to an embodiment of the invention;
FIG. 6 is a diagram of a transmission system of a water surface hopping robot according to an embodiment of the invention;
fig. 7 is a structural diagram of an energy storage system of a water surface hopping robot according to an embodiment of the invention;
fig. 8 is a structural diagram of a driving system of a water surface hopping robot according to an embodiment of the invention;
fig. 9 is a schematic view illustrating installation and positioning of a main body support frame and a support base of the water surface hopping robot according to the embodiment of the present invention.
Description of reference numerals:
1-a water surface supporting system, 2-a transmission system, 3-a main body supporting frame, 4-an energy storage system, 5-a driving system, 6-a foam ball leg, 7-a fixed frame, 8-a supporting base, 9-a carbon rod, 10-a rectangular leg, 11-a worm shaft, 12-a worm, 13-a motor, 14-a carbon rod shaft I, 15-a compound gear, 16-a line gear, 17-a carbon rod shaft II, 18-a torsion spring, 19-a slider frame, 20-an upper connecting rod, 21-a tension spring carbon rod shaft, 22-a tension spring fixed block, 23-a fixed pulley, 24-a lower connecting rod, 25, a driving leg, 26-a connecting rod, 27-a right chute rod, 28-a carbon rod shaft III, 29-a left chute rod, 30-a pitch shaft, 31-a guide rail, 32-cord fixed end mounting hole.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-9, the water surface hopping robot comprises a main body supporting frame 3, a water surface supporting system 1, a transmission system 2, an energy storage system 4 and a driving system 5, the main body supporting frame 3 is positioned in the middle of the robot, the upper part of the main body supporting frame 3 is provided with a guide rail 31 and a plurality of positioning and mounting holes, the lower part is symmetrically distributed with hinge seats, the energy storage system 4 is positioned at the uppermost part of the robot and is arranged on a slide rail and a positioning mounting hole at the upper part of the main body supporting frame 3, the front ends of the energy storage system 4 are symmetrically distributed with the positioning mounting hole, the driving systems 5 are symmetrically distributed at the left side and the right side of the robot and are arranged at the positioning mounting holes at the front ends of the main body supporting frame 3 and the energy storage system 4, the water surface supporting system 1 is positioned at the lowest part of the robot and is arranged on a hinge seat at the middle position of the lower part of the main body supporting frame 3, and the transmission system 2 is arranged in the water surface supporting system 1 through a carbon rod and a bolt;
the robot realizes the stable showy of surface of water through surface of water braced system 1, and transmission system 2 drives energy storage system 4 and carries out energy storage and release to the spring, provides the required energy of jump, drives actuating system 5 motion and realizes the surface of water jumping motion.
The water surface supporting system 1 comprises two foam ball legs 6, four fixing frames 7, a supporting base 8, four carbon rods 9 and rectangular legs 10, wherein the four fixing frames 7 are respectively connected with four corners of the supporting base 8 through one carbon rod, the two fixing frames positioned on the front side are respectively connected with one foam ball leg, and the two fixing frames positioned on the rear side are jointly connected with the rectangular legs 10; two sides of the supporting base 8 of the water surface supporting system 1 are respectively and correspondingly arranged on two hinge seats at the middle position of the lower part of the main body supporting frame 3 through a pitching shaft 30.
The transmission system 2 comprises a worm shaft 11, a worm 12, a motor 13, a first carbon rod shaft 14, a compound gear 15, a pulley gear 16 and a second carbon rod shaft 17, wherein the motor 13 is fixed on the support base 8, one end of the worm 12 is matched with the motor 13 through a D-shaped shaft, the other end of the worm 12 is matched with the worm shaft 11 and is installed in a shaft hole of the support base 8, the compound gear 15 is installed inside the support base 8 through the first carbon rod shaft 14, the compound gear 15 comprises a worm wheel and an incomplete gear which are integrally connected, the worm 12 is matched with the worm wheel in the compound gear 15, the incomplete gear in the compound gear 15 is matched with the pulley gear 16, the pulley gear 16 is installed inside the support base 8 through the second carbon rod shaft 17, the second carbon rod shaft 17 and the first carbon rod shaft 14 are adhered inside the support base 8, a pull rope (not shown) is installed and fixed on the pulley gear 16, the worm 12 is driven by the motor 13, the reel gear 16 is recovered and stretched to store energy for the energy storage system 4, when the incomplete gear part moves to the composite gear 15 and is matched with the reel gear 16, the reel gear 16 is released, the pull rope is released, the energy storage system 4 is released, and energy required by jumping is provided.
The energy storage system 4 further comprises four torsion springs 18, a slider frame 19, two upper connecting rods 20, two tension spring carbon rod shafts 21, two tension spring fixing blocks 22, a fixed pulley 23 and two lower connecting rods 24;
the two guide rails 31 are fixedly arranged in the positioning mounting holes at corresponding positions on the main body supporting frame 3 in parallel, the slider frame 19 is arranged on the guide rails 32 in a sliding manner, and cylindrical holes in clearance fit with the guide rails 32 are arranged below the slider frame 19; the two upper connecting rods 20 are arranged in parallel, one ends of the two upper connecting rods 20 are connected with the slider frame 19 through carbon rods, the other ends of the two upper connecting rods 20 are respectively connected with the tension spring fixing blocks positioned on the corresponding sides of the main body supporting frame 3 through carbon rods, the two lower connecting rods 24 are arranged in parallel, one ends of the two lower connecting rods 24 are connected with the tension spring fixing blocks on the corresponding sides, the other ends of the two lower connecting rods 24 are connected with the main body supporting frame 3, the upper connecting rods and the lower connecting rods connected with the same tension spring fixing block 22 are meshed through gears, the upper connecting rods 20 and the lower connecting rods 24 determine relative motion relationship through gear matching, and torsion springs 18 are respectively arranged at the connecting positions of the upper connecting rods and the slider frame and the connecting positions of the lower connecting rods and the main body supporting frame; the method specifically comprises the following steps: one section of the torsion spring matched with the upper connecting rod 20 is fixed in the torsion spring mounting hole of the upper connecting rod 20, the other section of the torsion spring is mounted on the slider frame 19, one section of the torsion spring matched with the lower connecting rod 24 is fixed in the torsion spring mounting hole of the lower connecting rod 24, and the other section of the torsion spring is mounted on the main body supporting frame 3;
each tension spring fixing block 22 is provided with a tension spring carbon rod shaft 21, a tension spring (not shown) is arranged between the two tension spring carbon rod shafts 21, the two upper connecting rods 20, the two lower connecting rods 24, the slider frame 19 and the main body supporting frame 3 form a six-connecting-rod mechanism, the fixed pulley 23 is arranged in the main body supporting frame 3 through the carbon rods, a pull rope in the transmission system 2 is connected to a wire rope fixing end mounting hole 32 in the middle of the slider frame 19 by bypassing the fixed pulley 23, the pull rope pulls the slider frame 19 to slide on the guide rail 32, the movement of the slider frame 19 drives the six-connecting-rod mechanism to move, so that the torsion spring 18 at the rotating pair is stressed and deformed, and meanwhile, the tension springs fixed between the tension spring carbon rod shafts 21 at the left end and the right end of the six-connecting-rod mechanism are stressed and deformed, and energy storage and release are realized. The selected pull rope has the characteristics of light weight, high strength and no toughness, such as a fishing line with a larger diameter, and the pull rope prevents the reverse motion in the take-off process by passing through the center of mass of the robot.
The driving system 5 comprises two driving legs 25, two connecting rods 26, a right sliding chute rod 27, two carbon rod shaft three 28 and a left sliding chute rod 29, the carbon rod shaft three 28 is adhered to the sliding block frame 19, the left sliding chute rod 29 and the right sliding chute rod 27 are symmetrically arranged on two sides of the main body supporting frame 3, the middle parts of the left sliding chute rod 29 and the right sliding chute rod 27 are fixed on the main body supporting frame 3, the chute ends of the two sliding chute rods are respectively installed on the sliding block frame 19 through the carbon rod shaft three, the other ends of the two sliding chute rods are respectively connected with one connecting rod, the free end of each connecting rod is connected with one driving leg, the two sliding chute rods are driven by the movement of the sliding block frame 19 to swing back and forth, the back and forth movement of the driving legs 25 is realized, and the jumping movement is realized.
The worm 12, the compound gear 15, the reel gear 16, the slider frame 19, the upper connecting rod 20, the tension spring fixing block 22, the fixed pulley 23 and the lower connecting rod 24 are all made of photosensitive resin, and the guide rail 32 is made of a carbon rod; the drive leg 25, the right sliding groove rod 27 and the left sliding groove rod 29 are made of photosensitive resin, the connecting rod 26 is made of a hollow aluminum rod, and the connecting rod, the corresponding drive leg and the corresponding sliding groove rod are fixed through hot melt adhesive adhesion.
The working process of the water surface hopping robot is as follows: when the robot does not jump, the robot realizes that the surface of water stably floats through surface of water braced system 1, and concrete jump process is: the motor 13 is started, the worm 12 of the transmission system 2 is driven to rotate through the motor 13, the wire wheel gear 16 is driven to wind a wire rope, the pull rope in the transmission system 2 bypasses the fixed pulley 23 and is connected to a wire rope fixed end mounting hole 32 in the middle of the slider frame 19, therefore, the wire rope is driven to bypass the fixed pulley 23 to pull the slider frame 19 to move downwards when the wire wheel gear 16 rotates, the movement of the slider frame 19 causes the six-link mechanism to move, the torsion spring 18 at the revolute pair is stressed and deformed, meanwhile, the tension springs between the tension spring carbon rod shafts 21 at the left end and the right end of the six-link mechanism are stressed and deformed, namely, the torsion angle of the torsion spring 18 at the revolute pair is increased, the length of the tension spring between the left end and the right end of the six-link is increased, the energy storage of the system is realized, when the slider 19 moves to the lowest end, the transmission system 2 moves to an incomplete gear disengagement position, the wire rope wheel gear 16 releases the wire rope, the slide block frame 19 moves upwards rapidly under the combined action of the torsion spring 18 and the tension spring, so that the energy of the system is released; the sliding block frame 19 moves to drive the sliding groove rods 27 and 28 to swing back and forth, so that the driving legs 25 move back and forth, and the water surface is slapped in the moving process, and the jumping motion is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A water surface jumping robot is characterized in that: including main part braced frame (3), surface of water braced system (1), transmission system (2), energy storage system (4) and actuating system (5), main part braced frame (3) be located the robot middle part, the upper portion of main part braced frame (3) is equipped with guide rail (31) and a plurality of location mounting hole, lower part symmetric distribution hinge seat, energy storage system (4) be located the top of robot, install on slide rail and the location mounting hole on main part braced frame (3) upper portion, the front end of energy storage system (4) also distributes the location mounting hole, actuating system (5) symmetric distribution is in the robot left and right sides, installs the location mounting hole department of arranging at main part braced frame (3) and energy storage system (4) front end, surface of water braced system (1) is located the robot bottommost, installs on the hinge seat of main part braced frame (3) lower part intermediate position, the transmission system (2) is arranged inside the water surface supporting system (1);
the robot realizes stable floating of the water surface through the water surface supporting system (1), the transmission system (2) drives the energy storage system (4) to store and release energy, energy required by jumping is provided, and the driving system (5) is driven to move to realize water surface jumping movement.
2. The water surface hopping robot of claim 1, wherein: the water surface supporting system (1) comprises two foam ball legs (6), four fixing frames (7), a supporting base (8), four carbon rods (9) and rectangular legs (10), wherein the four fixing frames (7) are connected with four corners of the supporting base (8) through the carbon rods respectively, the two fixing frames located on the front side are connected with the foam ball legs respectively, and the two fixing frames located on the rear side are connected with the rectangular legs (10) together.
3. A water surface hopping robot as claimed in claim 2, wherein: the transmission system (2) comprises a worm shaft (11), a worm (12), a motor (13), a first carbon rod shaft (14), a composite gear (15), a wire wheel gear (16) and a second carbon rod shaft (17), wherein the motor (13) is fixed on the support base (8), one end of the worm (12) is matched with the motor (13) through a D-shaped shaft, the other end of the worm (12) is matched with the worm shaft (11) and installed in a shaft hole of the support base (8), the composite gear (15) is installed inside the support base (8) through the first carbon rod shaft (14), the composite gear (15) comprises a worm wheel and an incomplete gear which are integrally connected, the worm (12) is matched with a worm wheel in the composite gear (15), the incomplete gear in the composite gear (15) is matched with the wire wheel gear (16), and the wire wheel gear (16) is installed inside the support base (8) through the second carbon rod shaft (17), a pull rope is fixedly installed on the wire wheel gear (16), the worm (12) is driven through the motor (13), the wire wheel gear (16) is recovered and stretched, the energy storage system (4) is stored, when the incomplete gear portion in the composite gear (15) is moved to be matched with the wire wheel gear (16), the wire wheel gear (16) is released, the pull rope is released, the energy storage system (4) is released, and energy required by jumping is provided.
4. A water surface hopping robot as claimed in claim 3, wherein: the energy storage system (4) further comprises four torsion springs (18), a slider frame (19), two upper connecting rods (20), two tension spring carbon rod shafts (21), two tension spring fixing blocks (22), a fixed pulley (23) and two lower connecting rods (24);
two guide rails (31) are fixedly arranged in positioning mounting holes at corresponding positions on a main body supporting frame (3) in parallel, a slider frame (19) is arranged on a guide rail (32) in a sliding manner, two upper connecting rods (20) are arranged in parallel, one ends of the two upper connecting rods (20) are connected with the slider frame (19) through carbon rods, the other ends of the two upper connecting rods (20) are respectively connected with tension spring fixing blocks positioned at corresponding sides on the main body supporting frame (3) through carbon rods, two lower connecting rods (24) are arranged in parallel, one ends of the two lower connecting rods (24) are connected with the tension spring fixing blocks at corresponding sides, the other ends of the two lower connecting rods (24) are connected with the main body supporting frame (3), the upper connecting rods and the lower connecting rods connected with the same tension spring fixing block (22) are meshed through gears, and the upper connecting rods (20) and the lower connecting rods (24) are matched through gears to determine a relative movement relationship, a torsional spring (18) is respectively arranged at the joint of the upper connecting rod and the sliding block frame and the joint of the lower connecting rod and the main body supporting frame;
each tension spring fixing block (22) is provided with a tension spring carbon rod shaft (21), a tension spring is arranged between the two tension spring carbon rod shafts (21), two upper connecting rods (20), two lower connecting rods (24), a sliding block frame (19) and a main body supporting frame (3) form a six-connecting-rod mechanism, the fixed pulley (23) is arranged in the main body supporting frame (3) through a carbon rod, a pull rope in the transmission system (2) is connected to a wire rope fixed end mounting hole (32) in the middle of the sliding block frame (19) by bypassing the fixed pulley (23), the pull rope pulls the sliding block frame (19) to slide on the guide rail (32), the movement of the sliding block frame (19) drives the six-link mechanism to move, so that the torsion spring (18) at the revolute pair is stressed and deformed, meanwhile, tension springs between tension spring carbon rod shafts (21) fixed at the left end and the right end of the six-link mechanism are stressed and deformed, and energy storage and release are realized.
5. The water surface hopping robot of claim 4, wherein: the driving system (5) comprises two driving legs (25), two connecting rods (26), a right sliding groove rod (27), two carbon rod shafts III (28) and a left sliding groove rod (29), the left sliding groove rod (29) and the right sliding groove rod (27) are symmetrically arranged on two sides of a main body supporting frame (3), the middle parts of the left sliding groove rod (29) and the right sliding groove rod (27) are fixed on the main body supporting frame (3), sliding groove ends of the two sliding groove rods are respectively installed on a sliding block frame (19) through one carbon rod shaft III, the other ends of the two sliding groove rods are respectively connected with one connecting rod, the free end of each connecting rod is connected with one driving leg, the two sliding groove rods are driven to swing back and forth through the movement of the sliding block frame (19), the back and forth movement of the driving legs (25) is achieved, and jumping movement is achieved.
6. The water surface hopping robot of claim 4, wherein: one section of the torsion spring matched with the upper connecting rod (20) is fixed in the torsion spring mounting hole of the upper connecting rod (20), the other section of the torsion spring is mounted on the sliding block frame (19), one section of the torsion spring matched with the lower connecting rod (24) is fixed in the torsion spring mounting hole of the lower connecting rod (24), and the other section of the torsion spring is mounted on the main body supporting frame (3).
7. A water surface hopping robot as claimed in claim 2, wherein: two sides of a supporting base (8) of the water surface supporting system (1) are respectively and correspondingly arranged on two hinge seats at the middle position of the lower part of the main body supporting frame (3) through a pitching shaft (30).
8. The water surface hopping robot of claim 5, wherein: the carbon rod shaft II (17) and the carbon rod shaft I (14) are bonded in the supporting base (8), the carbon rod shaft III (28) is bonded on the sliding block frame (19), and a cylindrical hole in clearance fit with the guide rail (32) is arranged below the sliding block frame (19).
9. A water surface hopping robot as claimed in claim 3, wherein: the worm (12), the composite gear (15), the wire wheel gear (16), the slider frame (19), the upper connecting rod (20), the tension spring fixing block (22), the fixed pulley (23) and the lower connecting rod (24) are all made of photosensitive resin, and the guide rail (32) is made of a carbon rod.
10. The water surface hopping robot of claim 5, wherein: drive leg (25), right sliding chute pole (27) and left sliding chute pole (29) material are photosensitive resin, connecting rod (26) material is hollow aluminium bar, all fixes through the hot melt adhesive adhesion between connecting rod and corresponding drive leg and the corresponding sliding chute pole.
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