CN108394484B - Locust-simulated jumping robot with gliding function - Google Patents

Abstract

The invention discloses a locust-like jumping robot with a gliding function, and relates to the technical field of robots. Including torso structure, buffer leg structure, gliding wing structure, jumping leg structure, drive module. The buffer leg structure consists of four buffer leg branches, which can realize the landing buffer of the robot. The gliding fin is composed of two buffer leg branches and a spring, and the robot can glide through the deformation of the spring to drive the retracting and unwinding of the gliding fin. The jumping leg structure consists of two jumping leg branches composed of six-bar mechanisms respectively, which realizes the efficient jumping of the robot. The driving module is composed of a gliding wing driving module and a jumping leg module, both of which are driven by the motor to drive the cam to compress the spring to deform to achieve energy storage and instantaneous release of energy. The invention improves the obstacle-surmounting ability 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

A locust-like jumping robot with gliding function

technical field

The invention relates to the technical field of robotics, in particular to a locust-like jumping robot with gliding function. The technology enables the jumping robot to achieve higher jumping performance and more stable landing performance, and can be applied to extreme environment landing surfaces.

Background technique

With the development of technology, robotics has been widely used in various aspects. In the fields of interstellar exploration, life rescue and military reconnaissance, there are various types of complex and unstructured working environments, which require robots to be small in size and have a strong ability to overcome obstacles. Because locusts are small and can cross obstacles several times their size, researchers have designed various locust-like jumping robots based on the principle of bionics.

In the field of locust-like jumping robots, some achievements have been made. The invention patent with the publication number of 105438306A "A locust-like jumping robot with locust performance" realizes the landing buffer of the robot by designing four buffer leg branches with the same structure. However, the design of the buffer legs is thin, the impact resistance is poor, and the buffer legs are easy to bend and fail. The invention patent with the publication number of 101954935A "Jumping robot imitating the mechanism of locust movable joint lever ejection" has designed a robot with slow energy storage and rapid release capabilities according to the locust lever ejection mechanism. However, in the design, there is energy loss in the instantaneous release and there is no landing buffer structure, and the ground impact is large. In view of the problems in the above design, it is necessary to design a new type of jumping robot, which has higher jumping performance and longer jumping distance while ensuring good buffering performance.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a locust-like jumping robot with a gliding function, which can achieve a longer jumping distance by retracting and retracting the gliding wings during the jumping process; achieve higher jumping performance through the jumping legs of the six-bar mechanism; The legs enable stable landing of the jumping robot.

The locust-like jumping robot with gliding function of the present invention includes a trunk structure 1, a buffer leg structure 2, a gliding wing structure 3, a jumping leg structure 4, and a drive module 5;

2, the torso structure 1 includes three parts: a left connecting plate 11, a right connecting plate 13, and a middle connecting plate 12; Between the connecting plates 13; the lower end of the outer side of the left connecting plate 11 is fixed with a first buffer leg bracket 111 and a second buffer leg bracket 112 arranged in front and rear; similarly, the lower end of the outer side of the right connecting plate 13 is fixed with two buffer leg brackets arranged in front and rear . Each of the above-mentioned buffer leg brackets is installed with a branch of the buffer leg structure 2 , that is, the buffer leg branch.

Each buffer leg branch includes a buffer thigh 211 bent downward, an inclined buffer lower leg 212, a first torsion spring 213, and a second torsion spring 214. One end of the buffer thigh 211 is connected to the buffer leg bracket by a shaft, and the buffer The thigh 211 rotates relative to the buffer leg bracket in the plane of the left connecting plate 11 and the right connecting plate 13 corresponding to the vertical, and at the same time, a second connecting plate 11 or right connecting plate 13 and the buffer thigh are installed at the angle. A torsion spring 213 , that is, one end of the first torsion spring 213 is fixedly connected to the left connecting plate 11 or the right connecting plate 13 , the other end of the first torsion spring 213 is fixedly connected to the buffer thigh 211 , and the first torsion spring 213 is located in the buffer thigh 211 The other end of the buffer thigh 211 bent downward and one end of the buffer calf 212 is connected by a shaft, and the buffer calf 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 shanks 212 on the same side of the left connecting plate are inclined in a figure-eight shape; the planes where the buffer shanks 212 on the same side of the left connecting plate 11 or the right connecting plate 13 are located are respectively parallel to the left connecting plate 11 or the right connecting plate 13; The planes where the buffer thighs 211 are located are all perpendicular to the left connecting plate 11 or the right connecting plate 13; a second torsion spring 214 is used to limit the position between the buffer thigh 211 and the buffer calf 212, and both ends of the second torsion spring 214 are respectively fixed on the buffer On the thigh 211 and the buffering calf 212; the second torsion spring 214 is located on the outer side of the character;

The gliding wing structure 3 includes two gliding wing branches and a third spring 33; the gliding wing structure is located at the front of the locust-like jumping robot; The membrane 313 has four parts; wherein, the wing frame structure includes a first frame 314, a second frame 315, a third frame 316, a fourth frame 317, a fifth frame 318, a sixth frame 319, and a seventh frame 320; the wing bracket 311 is Plate structure; the first frame 314, the second frame 315, the third frame 316, the fourth frame 317, the fifth frame 318, the sixth frame 319, and the seventh frame 320 are arranged in parallel in turn and are respectively fixed to the wing brackets by shaft connection On one side of 311, each frame can be rotated; the first frame 314 is connected with the wing bracket 311 by the protruding wing shaft 312, and the wing shaft 312 and the first frame 314 are fixed as one; The second frame 315, the third frame 316, the fourth frame 317, the fifth frame 318, the sixth frame 319, and the seventh frame 320 are connected together by the wing membrane 313; The two sides of the 1 are on the corresponding left connecting plate 11 and the right connecting plate 13; the wing rotating shafts 312 of the two gliding wings are connected by a torsion spring 33, and the two ends of the torsion spring 33 are respectively fixed and carried out on the wing rotating shaft 312. The spiral winding enables the non-linear expansion and contraction of the torsion spring 33 to drive the rotation of the wing shaft 312 to drive the opening and closing of the wing skeleton structure, while ensuring the synchronization of the opening and closing of the wing skeleton structure of the two gliding wings branches;

The jumping leg structure 4 includes two jumping leg branches and a jumping leg link 43 three parts; the two jumping leg branches are located on both sides of the torso structure 1 respectively, that is, the opposite outer sides of the corresponding left connecting plate 11 and right connecting plate 13 ;The jumping leg structure is located at the rear of the locust-like jumping robot;

Each jumping leg branch includes a link connecting block 411 , a first link 412 , a second link 413 , a third link 414 , a fourth link 415 , a foot cover 416 , a fourth torsion spring 417 , and a long fixed column 418 , nine parts of the short fixed column 419; the connection relationship of each component is: the overall appearance of the connecting rod connecting block 411 is a triangular plate-like structure, and the three corners are respectively recorded as angle A, angle B, and angle C; the connecting rod connecting block 411 passes through the angle A The left connecting plate 11 or the right connecting plate 13 corresponding to the side is connected by a long fixed column 418; the angle B is connected with one end of the first connecting rod 412, and the other end of the first connecting rod 412 is connected with the second connecting rod. One end of the second connecting rod 413 is axially connected; the other end of the second connecting rod 413 is nested with a foot cover 416 as a free end, which can contact 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. , the angle between the second link 413 and the third link 414 is connected by a fourth torsion spring 417, that is, one end of the fourth torsion spring 417 is connected with the second link 413, and the other end is connected with the third link 414 The initial deformation amount can be adjusted as required, which is used for energy storage before the jumping leg and instantaneous energy release during jumping; the other end of the third connecting rod 414 is axially connected with the angle C of the connecting rod connecting block 411; One end of the rod 415 is connected to the left connecting plate 11 or the right connecting plate 13 corresponding to the side by a short fixing column 419. 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 on the right connecting plate 13, and the long fixing column 418 is located on the upper part of the left connecting plate 11 or the right connecting plate 13, while the position of the short fixing column 419 is lower than the long fixing column 418; the other end of the fourth link 415 is connected to the second connecting A certain point in the middle of the rod 413 is axially connected; the parts where the second link 413 is axially connected with the third link 414 and the fourth link 415 can be the same or different, preferably different; The link connecting blocks 411 are fixedly connected by the jumping leg link 43, which drives the two link connecting blocks 411 to rotate at the same time, and ensures the synchronization of the movement of the two jumping leg branches.

The drive module 5 includes two parts: a wing drive module 51 and a jumping leg drive module 52; the wing drive module 51 includes four parts: a first motor 511, a first motor shaft 512, a first cam 513, and a second cam 514; the connection relationship of each component The first motor 511 is axially connected to the first motor shaft 512, the motor drives the motor shaft to rotate, the first motor shaft 512 and the third spring 33 are parallel when they are in a linear state, and the first motor shaft 512 and the third spring 33 are in a straight line The parallel distance between the states is denoted as L1, the first cam 513 and the second cam 514 are respectively sleeved and fixed on the first motor shaft 512, and the first cam 513 and the second cam 514 have exactly the same contour curve and structural form , and parallel, the first cam 513 and the second cam 514 are irregular cam structures with different radial dimensions, and the radius of the first cam 513 and the second cam 514 has a part greater than L1 and a part less than or equal to L1; The radial edges of the first cam 513 and the second cam 514 can drive the third spring 33 to protrude forward or not, and drive the wing shaft 312 to rotate, thereby driving the entire wing frame structure to rotate, that is, to realize the opening and closing of the wing frame structure; the first One end of the motor shaft 512 is axially connected to the left connecting plate 11 , and the other end is axially connected to the right connecting plate 13 ; the first motor 511 is fixedly connected to the middle connecting plate 12 .

The jumping leg drive module 52 includes four parts: the second motor 512, the second motor shaft 522, the third cam 523, and the fourth cam 524; Drive the motor shaft 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 exactly the same contour curve and structural form; the second motor shaft 522 The third cam 523 and the fourth cam 524 are irregular cam structures with different radial dimensions. The third cam 523 and the fourth cam The radius of 524 has a part greater than L2 and a part less than or equal to L2, and the radial edge of the third cam 523 and the fourth cam 524 drives the jumping leg link 43 to move up and down, back and forth, thereby driving the entire jumping leg structure to jump;

One end of the second motor shaft 522 is axially connected to the left connecting plate 11 , and the other end is axially connected to the right connecting plate 13 . The second motor 521 is fixed on the intermediate connecting plate 12 .

The jumping leg of the present invention forms a single-degree-of-freedom six-bar mechanism, which adopts the Stephenson type or the Watt type. The closest set of joint pose angles of the mechanism, and use this as a reference to minimize the rotation angle of the torso. Firstly, the optimization parameters are determined, and the corresponding constraints are given according to the actual situation. In particular, in order to prevent the rod length difference from being too large and deviating from reality, it is also necessary to restrict the rod length ratio. Then, according to the kinematic equation, the position of the centroid in the initial and final states is solved, and the deviation of the solved position of the centroid from the given position of the centroid is judged. After the kinematics solution is completed, the rotation angle of the torso at the beginning and end positions is further solved, and the absolute value of the difference is used as the optimization objective function. Finally, the genetic algorithm is used for optimization, so that a set of rod lengths with the smallest objective function is the desired value. In particular, according to different design requirements, the position of the center of mass can also be given when the joint attitude angle is determined, so that the leg swing angle is the closest to the given value.

The advantage of the present invention is that.

The jumping leg structure of the present invention is a single-degree-of-freedom six-bar mechanism, and through the optimization method, multiple objectives including terminal trajectory, trunk posture, take-off speed, etc. can be realized, and the requirements of motion constraints can be met at the same time, thereby achieving accurate take-off posture and stable mechanism. Great advantage;

The buffer leg structure of the invention breaks through the existing idea of simulating the physiological structure of the locust leg, and designs a new type of buffer leg, which improves the stable area of the jumping robot when landing, and reduces the ground impact force received by the robot;

The gliding fin driving module of the invention deforms and retracts the gliding fin by compressing the torsion spring by the cam, and has simple structure and easy realization;

Description of drawings

1 is a schematic diagram of the overall structure of the robot in the present invention;

2 is a schematic diagram of the structure of the robot torso in the present invention;

3 is a schematic diagram of the layout of the buffer legs and jumping legs of the robot in the present invention;

4 is a schematic structural diagram of a robot buffer leg, jumping leg and drive module in the present invention;

5 is a schematic diagram of the structure of a robot gliding wing in the present invention;

6 is a schematic diagram of the assembly of the robot drive module in the present invention;

Figure 7 is a schematic diagram of the robot's posture before jumping in the present invention;

8 is a schematic diagram of the posture of the robot after jumping in the present invention;

In the picture:

1- Torso structure 2- Cushioning leg structure 3- Glider structure 4- Jumping leg structure 5- Drive module

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

111-first buffer leg bracket 112-second buffer leg bracket 113-first positioning groove 131-second positioning groove

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

211-backward buffering thigh 212-buffering calf 213-first torsion spring 214-second torsion spring 221-forward leaning buffer thigh

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

311 - Wing bracket 312 - Wing shaft 313 - Wing membrane 314 - First frame 315 - Second frame 316 - Third frame 317 - Fourth frame 318 - Fifth frame 319 - Sixth frame 320 - Seventh frame

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 cover 417 - fourth torsion spring 418 - long fixing column 419 - short fixing 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 ways

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

Example 1

1 , the locust-like jumping robot with gliding function of the present invention includes a torso structure 1 , a buffer leg structure 2 , a gliding wing structure 3 , a jumping leg structure 4 , and a drive module 5 .

Referring to FIG. 2 , the torso structure 1 includes three parts: a left connecting plate 11 , a right connecting plate 13 , and a middle connecting plate 12 . The connection relationship between the left connecting plate 11, the right connecting plate 13, and the middle connecting plate 12 is: the left connecting plate 11 is fixedly connected with the middle connecting plate 12 through the first positioning groove 113 on the left connecting plate 11, and the right connecting plate 11 is fixedly connected. The connecting plate 13 is fixedly connected through the positioning and cooperation of the second positioning groove 131 on the right connecting plate 13 and the middle connecting plate 12 .

2 , 3 and 4 , the buffer leg structure 2 includes four parts: a first buffer leg branch 21 , a second buffer leg branch 22 , a third buffer leg branch 23 , and a fourth buffer leg branch 24 . The first buffer leg branch 21 includes four parts: a rearwardly inclined buffer thigh 211 , a buffer lower leg 212 , a first torsion spring 213 and a second torsion spring 214 . The connection relationship of each component is as follows: the rearwardly inclined buffer thigh 211 and the buffering calf 212 are axially connected, and the two can realize relative rotation; The initial deformation amount can be adjusted as required, so as to limit the relative rotation of the buffer lower leg 212 and the rearwardly inclined buffer thigh 211 . The third buffer leg branch 23 has the same structural form as the first buffer leg branch 21 . The first buffer leg branch 21 and the left connecting plate 11 are axially connected to the first buffer leg bracket 111 on the left connecting plate 11 through the backwardly inclined buffer thigh 211 of the first buffer leg branch 21, and the two can rotate relative to each other. One end of the first torsion spring 213 is connected to the left connecting plate 11 and one end is connected to the rearward buffering thigh 211 . The first buffer leg branch 21 , the second buffer leg branch 22 , the third buffer leg branch 23 and the fourth buffer leg branch 24 are connected in exactly the same way with the trunk structure 1 . The second buffer leg branch 22 includes four parts: a forwardly inclined buffer thigh 221 , a buffer lower leg 212 , a first torsion spring 213 and a second torsion spring 214 . The connection relationship of each component is as follows: the forward-inclined buffer thigh 221 is axially connected with the buffer calf 212, and the two can realize relative rotation; The initial deformation amount can be adjusted as required, and is used to limit the relative rotation of the buffer lower leg 212 and the forwardly inclined buffer thigh 221 . The structure of the fourth buffer leg branch 24 is exactly the same as that of the second buffer leg branch 22 .

4 , 5 and 8 , the gliding fin structure 3 includes three parts: a first gliding fin branch 31 , a second gliding fin branch 32 , and a third spring 33 . The first gliding wing branch 31 includes four parts: a wing bracket 311 , a wing rotating shaft 312 , a wing frame 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: the wing bracket 311 is axially connected with the wing rotating shaft 312, and the two can realize relative rotation; the first frame 314, the second frame 315, the third frame 316, the fourth frame 317, the fifth frame 318, the first frame The six skeletons 319 and the seventh skeleton 320 are axially connected to the wing brackets 311 in sequence, and can rotate relative to the wing brackets 311; the wing rotating shaft 312 is fixedly connected to the first skeleton; the wing membranes 313 are sequentially connected to the seven skeletons to ensure that each Consistency of skeletal motion. The first gliding wing branch 31 is fixedly connected to the left connecting plate 11 through the wing bracket 311 of the first gliding wing branch 31 . The second gliding fin branch 32 is identical in structure and installation to the first gliding fin branch 31 , and is axially symmetrical with respect to the intermediate connecting plate 12 . One end of the third spring 33 is fixedly connected with the wing rotating shaft 312 on the first wing branch 31, and the other end is fixedly connected with the second wing branch 32 at the same position, so as to ensure that the wing frame structure of the first wing branch 31 and the second wing branch 31 are connected with each other. Branch 32 synchronicity of opening and closing of the wing skeleton structure,

3 , 4 and 7 , the jumping leg structure 4 includes three parts: a first jumping leg branch 41 , a second jumping leg branch 42 , and a jumping leg link 43 . The first jumping leg branch 41 includes a link connecting block 411, a first link 412, a second link 413, a third link 414, a fourth link 415, a foot cover 416, a fourth torsion spring 417, and a long fixed column 418. Nine parts of the short fixed column 419. The connection relationship of each component is as follows: the connecting rod connecting block 411 is axially connected with the long fixed column 418, the first connecting rod 412 is axially connected with the connecting rod connecting block 411, the first connecting rod 412 is axially connected with the second connecting rod 413, and the second connecting rod 412 is axially connected with the connecting rod connecting block 411. The connecting rod 413 is axially connected with the third connecting rod 414, the third connecting rod 414 is axially connected with the connecting rod connecting block 411, the end of the fourth connecting rod 415 is axially connected with the second connecting rod 413, and the fourth connecting rod 415 is connected with the short fixed column 419 is axially connected, the second link 413 is nested inside the foot cover 416 to increase the friction force of the first jumping leg branch 41, one end of the fourth torsion spring 417 is connected with the second link 413, and the other end is connected with the third link 414 The initial deformation amount can be adjusted according to needs, which is used for storing energy before the first jumping leg jumps and releasing energy instantly when jumping. 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 structure and installation to the first jumping leg branch 41 . One end of the jumping leg link 43 is fixedly connected with the connecting block 411 of the first jumping leg branch 41 , and the other end is fixedly connected with the second jumping leg branch 42 at the same position to ensure that the first jumping leg branch 41 and the second jumping leg branch 42 Synchronization of movement is achieved.

Referring to FIG. 3 , FIG. 4 , and FIG. 7 , the driving module 5 includes two parts: a wing driving module 51 and a jumping leg driving module 52 . The wing driving module 51 includes four parts: a first motor 511 , a first motor shaft 512 , a first cam 513 , and a second cam 514 . The connection relationship of each component is as follows: the first motor 511 is axially connected with the first motor shaft 512 , the motor drives the motor shaft to rotate, and the first cam 513 and the second cam 514 are connected in parallel with the first motor shaft 512 . The first cam 513 and the second cam 514 have exactly the same contour curve and structure. One end of the first motor shaft 512 is axially connected to the left connecting plate 11 , and the other end is axially connected to the right connecting plate 13 . The first motor 511 is fixed on the intermediate connecting plate 12 . The jumping leg driving module 52 includes four parts: 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 axially connected with the second motor shaft 522 , the motor drives the motor shaft to rotate, and the third cam 523 and the fourth cam 524 are connected in parallel with the second motor shaft 522 . The first cam 513 and the second cam 514 have exactly the same contour curve and structure. One end of the second motor shaft 522 is axially connected to the left connecting plate 11 , and the other end is axially connected to the right connecting plate 13 . The second motor 521 is fixed on the intermediate connecting plate 12 .

The working principle of the present invention is as follows:

Referring to FIGS. 7 and 8 , before the jumping robot takes off, the first cam 513 and the second cam 514 are at the far rest end, compressing the third spring 33 to deform and store energy; In the critical state, the second link 513 and the third link 514 press the fourth torsion spring 417 to deform and store energy; when taking off, when the third cam 523 and the fourth cam 524 cross the far resting end driven by the second motor 521, the first The four torsion springs 417 release energy instantly, the second link 413 hits the ground, and the jumping robot takes off; during the period from the jumping off to jumping to the highest point, the first motor 511 drives the first cam 513 and the second cam 514 to cross the far resting end , the third spring 33 releases energy instantaneously, and drives the first frame 314 to rotate around the wing bracket 311 through the wing shaft 312, and the remaining 6 frames rotate around the wing bracket 311 at the same time under the constraint of the wing membrane 313, and the wings are unfolded; when the jumping robot jumps to the highest Before landing, the second motor 521 reverses, the jumping leg structure 4 returns to the initial state, and the fourth torsion spring 417 stores energy again; after the jumping robot lands, the first motor 511 drives the first cam 513 and the second cam 514 to Far from the rest end, the third spring 33 is deformed again to store energy.

Claims (5)

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.

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