38results about How to "Enhance jumping ability" patented technology

The invention discloses a leg bouncing mechanism for a frog-type robot. A tension spring is sleeved on a guide rod. The tail end of the spring is connected with a hip joint, and the upper end of the spring is connected with a slider. The guide rod, the slider, an oblique support rod, a thigh and joints form a crank slider structure. The leg part consists of a thigh, a shank, a connecting rod and joints; and the leg structure comprises the combination of two four-rod mechanisms. The stretch and contraction of the leg mechanism can be adjusted by controlling the slide of the slider on the guide rod. The sole of the robot is arc-shaped, and an arch support is arranged on the sole. The mechanical structure of the invention simulates skeletons of a frog, optimizes the leg structure, improves the utilization ratio of energy of power elements, improves the flexibility of the mechanical structure, and improves the jumping ability of the robot.

The invention discloses an assistant leg based on a multi-stage spring lock mechanism, and belongs to the field of medical auxiliary sports apparatuses. The assistant leg comprises a calf supporting structure, a spring energy-storage device, a foot fixing device and a knee joint supporting structure, wherein the calf supporting structure comprises a calf connecting plate and a calf fixing plate; one end of a tension spring on the spring energy-storage device is fixed to a support frame and the other end of the tension spring is linked to a chain; a fiber rope is connected to the other end of the chain; meanwhile, a steel wire rope is connected to the lower end of a movable pulley, and the steel wire rope is connected to a fixed piece; a disc brake group is arranged on one side of a chain wheel; a disc brake cable is arranged on the disc brake group, and the disc brake cable is connected to a disc brake switch; a foot base plate of the foot fixing device is connected to a pedal; one end of a pneumatic rod on the knee joint supporting device is fixedly arranged on the support frame; and the other end of the pneumatic rod is connected to a thigh fixing plate. The device (the assistant leg) is simple and convenient to wear and is capable of assisting a leg in normal walking; the problem that energy is stored without bouncing when a user takes a step and the energy is released for assisting when the user walks forwards is solved; and in addition, a knee joint torque when sitting down and standing up can be also relieved, so that physical consumption is reduced.

The invention provides a modular driving device of elastic joints of a hopping robot. The device comprises a joint shaft bracket, a joint shaft, a joint shaft fixing pin, a joint torsion spring, a joint bearing, a joint bearing support, a motor mounting rack, a motor, an electromagnetic clutch, an electromagnetic clutch mounting rack, a worm small support bearing, a worm-wheel shaft, a worm gear support large bearing, a worm gear support large bearing end cover, a worm shaft, a worm support large bearing, a worm gear mounting rack, a worm gear support small bearing, a synchronous toothed belt, a synchronous pulley, an electromagnetic clutch bracket, a tension wheel mounting rack, a tension wheel, a worm support large bearing end cover, a worm fixing pin and a worm. The modular driving device is suitable for driving the joints of the hopping robot, and has the characteristics of low power demand for the motor, and high hopping performance; and the motor performance is played fully.

The invention relates to a robot simulated jump aid. Both ends of a rocker rod are respectively hinged with a connecting rod and a support seat, a leg connecting rod is respectively hinged with the support seat and the connecting rod for forming a parallelogrammic connecting rod mechanism, the ratio of the long edge to the short edge of the connecting rod mechanism is 4 / 3, one side of the support seat is provided with a sole connecting rod parallel to the support seat, an electromagnet control mechanism is fixed at a hinging part of the rocker rod and the support seat, a toe plate is hinged with one end of the sole connecting rod through a toe joint rotating shaft, a torsional spring is sheathed and arranged on the toe joint rotating shaft, a connecting body is fixed at the shaft end of a telescopic shaft of an electromagnet, and one surface of the connecting body is matched with the outer arc surface of a baffle block. In the jumping process of the invention, the support seat, the sole connecting rod and the toe plate sequentially leave the ground, the acting time of the foot and the ground is prolonged, the ground leaving speed of the mass center is accelerated, and the jump acid function is realized. The landing process is opposite to the jumping process. The jumping performance of a jumping robot fixedly connected with the device can be improved through simulating the functions of the hamstring tendon and the feet in the animal jumping process.

The embodiment of the invention discloses an expectant-direct-driven leg-foot super-dynamic robot based on multi-joint coupling. A robot supporting leg can comprise a hip joint driving device, a thighmechanism, a knee joint driving device, a shank mechanism, a leg-foot mechanism and a joint coupling assembly. According to the robot supporting leg, on the one hand, the action principle of a bionictransarticular tendon-ligament in biodynamic motion is introduced, function extension is performed, the synergistic effect of joints can be driven, the jumping ability of the robot is improved, meanwhile the balance point which is static and free of motor power input is formed, and the problem of motor heating during long-time stationary state of a direct-driven robot can be solved; and on the other hand, by combining with a second speed-reducing transmission mechanism, a robot which adopts the robot supporting leg can be formed into the expectant-direct-driven leg-foot robot, and the robot super-dynamic movement ability is improved.

The invention relates to a cable path identification and fault positioning vehicle which comprises a vehicle body, a plurality of sets of walking assemblies arranged on the vehicle body, a line finderarranged at the lower part of the vehicle body, and a fault positioning instrument arranged on the vehicle body and suspended outside the vehicle body, the multiple sets of walking assemblies are divided into two sets, and the two sets of walking assemblies are installed on the two opposite sides of the vehicle body correspondingly. The vehicle has the effects of reducing the workload of workersduring cable maintenance and improving the detection work efficiency.

The invention relates to the technical field of robots. According to the technical scheme, a jumping degree-adjustable bionic bouncing device is characterized by comprising a machine frame, and further comprising a driving mechanism, a transmission mechanism, hind leg mechanisms, fore leg mechanisms and a controller which are mounted on the machine frame; two groups of the fore leg mechanisms andtwo groups of the hind leg mechanisms are symmetrically mounted on the machine frame; and the driving mechanism comprises a first small gear which is rotatably positioned on the machine frame and is driven by a stepping motor, a first big gear which is engaged with the first small gear and is coaxially fixed to a second small gear, a second big gear which is rotatably positioned on the machine frame and is coaxially fixed to a ratchet, a pawl which is hinged to the machine frame and is matched with the ratchet, a third small gear which is rotatably positioned on the machine frame and is fixedto a cam, and an L-shaped rod which is positioned on the machine frame in a swinging manner. The bouncing device can realize adjustable control over the jumping degree, and has the characteristics ofhigh jumping ability, the stable structure and convenience in control.

The invention provides a communication system and method based on frequency hopping, GMSK and DS, and the method comprises the steps of using a signal transmission module to collect the information data, carrying out the RS coding, DS direct spread and GMSK modulation on the information data, carrying out the frequency mixing and frequency hopping processing, and then transmitting; and using the signal receiving module receives the information data transmitted by the signal transmitting module, perform frequency hopping and mixing processing, then perform capturing, judging, decoding and framing processing, and finally output the information data. Through the RS coding, DS direct spread, GMSK modulation and frequency mixing and frequency hopping processing, the anti-interference capabilitycan be greatly improved, and the safe and accurate transmission of signals is ensured.

The invention discloses an assistant leg based on a multi-stage spring lock mechanism, and belongs to the field of medical auxiliary sports apparatuses. The assistant leg comprises a calf supporting structure, a spring energy-storage device, a foot fixing device and a knee joint supporting structure, wherein the calf supporting structure comprises a calf connecting plate and a calf fixing plate; one end of a tension spring on the spring energy-storage device is fixed to a support frame and the other end of the tension spring is linked to a chain; a fiber rope is connected to the other end of the chain; meanwhile, a steel wire rope is connected to the lower end of a movable pulley, and the steel wire rope is connected to a fixed piece; a disc brake group is arranged on one side of a chain wheel; a disc brake cable is arranged on the disc brake group, and the disc brake cable is connected to a disc brake switch; a foot base plate of the foot fixing device is connected to a pedal; one end of a pneumatic rod on the knee joint supporting device is fixedly arranged on the support frame; and the other end of the pneumatic rod is connected to a thigh fixing plate. The device (the assistant leg) is simple and convenient to wear and is capable of assisting a leg in normal walking; the problem that energy is stored without bouncing when a user takes a step and the energy is released for assisting when the user walks forwards is solved; and in addition, a knee joint torque when sitting down and standing up can be also relieved, so that physical consumption is reduced.

The invention discloses a bionic composite bouncing foot structure applicable to surfaces with different roughness. The bionic composite bouncing foot structure applicable to the surfaces with different roughness comprises a fixing rod, a second rod, a third rod and a fourth rod; one end of the fixing rod is hinged with the second rod; the other end of the fixing rod is hinged with the fourth rod;one end, far away from the fixing rod, of the second rod is hinged to the upper end of the third rod; one end, far away from the fixing rod, of the fourth rod is hinged to the third rod; a motor is arranged above the fixing rod; one end of an elastic connecting piece is connected to the hinging position of the third rod and the fourth rod; the other end of the elastic connecting piece is connected to a transmission shaft of the motor; a hook structure and a foot pad structure are arranged at the lower end of the third rod; the top of the hook structure is connected with the third rod throughan elastomer; and a first bionic adhesion layer is arranged at the bottom of the foot pad structure. According to the bionic composite bouncing foot structure applicable to the surfaces with differentroughness, a defect that an existing robot bouncing mechanism or sole structure cannot very well jump on smooth surfaces is eliminated; and the bionic composite bouncing foot structure applicable tothe surfaces with different roughness realizes better bouncing ability on both smooth and rough surfaces.

The invention provides a two-foot and four-foot switchable variable topology robot. The robot comprises arms, legs, a control system and a trunk. The arms are connected with the upper end of the trunk. The legs are connected with the lower end of the trunk. The control system is connected with the trunk. The arms of the robot have six degrees of freedom. The legs of the robot have seven degrees offreedom. The back side of the trunk is provided with the control system of the robot and a sensor module, and the control system and the sensor module are used for controlling motion of joints and detecting the ambient landform and environment. The two-foot and four-foot switchable variable topology robot provided by the invention can be switched between a four-limb exoskeleton mode and a four-foot walking detection mode under control of the control system. In the four-limb exoskeleton mode, the robot can meet the requirements of a wearer for the flexibility of body activities, improve the jump ability and loading capacity of the wearer and increase the running speed. In the four-foot walking detection mode, the robot can execute autonomously mobile detection tasks through a camera, a laser radar and other sensors. The two-foot and four-foot switchable variable topology robot is flexible and simple in structure and high in practicality.

The invention aims to provide an energy-storage type leapfrog-simulation robot. The energy-storage type leapfrog-simulation robot comprises fore limbs, a body and hind limbs, wherein a servo motor drives a rotating crank to rotate, the rotating crank pulls hind legs to swing forwards through an inhaul cable so that energy storage can be performed, when the rotating crank rotates by 180 degrees, the force, acting on the crank through the inhaul cable, of hind limb energy storage springs is in the opposite direction, a one-way bearing is separated from a shaft, the acting force disappears, the hind legs are not constrained, the whole robot is pushed to complete the jumping task through the acting force of the springs, the hind leg springs return to the original length after jumping, the motor continues to dive the crank to rotate, and the hind legs are pulled to complete the leg retracting action after jumping; when the robot falls to the ground, the contact angle between each fore limb and the ground is adjusted by a steering engine, and ground impact is relieved through C-shaped flexible foot soles. Driving mechanisms and executing mechanisms of the fore limbs and the hind limbs are reasonably arranged, the utilization rate of driving elements of the robot is increased, the bionic degree of the robot is improved, the jumping capacity of the robot is enhanced, and the flexible effect and the buffering effect of the mechanical structure of the robot are improved.

The invention discloses a bionic joint type pneumatic bouncing leg which comprises an ankle joint, a knee joint and a pneumatic shank. Each of the ankle joint and the knee joint is a four-rod mechanism which is composed of three fixed-length rod pieces and a rod piece with the length adjusted through a servo air cylinder and adopts three hinges and a fixed connection part. A jumping servo air cylinder body of the pneumatic shank is fixedly connected with a shank tibia, and the ankle joint and the pneumatic shank are connected in parallel and then connected with the knee joint in series. Accurate control over the take-off direction and the landing posture of the bouncing leg is achieved by adjusting the bending angles of the ankle joint and the knee joint, and the jumping capacity of the bouncing leg is improved by driving the jumping servo air cylinder body, the ankle joints and the knee joints to move upwards together. Controllable landing buffering and posture stabilizing of the bouncing leg are achieved by adjusting the inflating and deflating processes of the ankle joint, the knee joint and the bouncing servo air cylinder. According to the bionic joint type pneumatic bouncing leg, pneumatic power integrating explosive power, controllability and self-buffering performance is used as a single power source, and the bionic joint type pneumatic bouncing leg is higher in bouncingcapacity.

The invention discloses a three-degree-of-freedom biomimetic jumping mechanical leg, belonging to the field of biomimetic robots. The leg includes feet soles, mechanical calves, mechanical thighs anda body, further includes a composite ankle joint, a composite knee joint and a composite hip joint; each joint comprises a joint body, a joint power unit and a joint energy storage mechanism, and theankle power unit is the same as the knee power unit and the hip power unit, and each device includes a two-way memory material and a heating element; an ankle joint energy storage mechanism, the kneejoint energy storage mechanism, the hip joint energy storage mechanism have the same structure and comprise elastic storage elements, thermally bonded coatings A installed on the boss A and thermallybonded coatings B installed on the boss B, wherein the boss A and the boss B are composed of piezoelectric materials, and resistance wires for heating are arranged inside the thermally bonded coatingA and the thermally bonded coating B. The invention relates to a biomimetic jumping mechanical leg with simple structure and three degrees of freedom, which drives joint motion by relying on memory material.

The invention provides a robot capable of jumping and sliding on water surface. The robot comprises a water surface supporting system, a main body supporting frame, a driving system, a pitch angle adjusting mechanism, an energy storage spring, two driving legs and two space elliptical track mechanisms; the main body supporting frame is located above the water surface supporting system, the main body supporting frame and the water surface supporting system are connected through a pair of hinge bases, the two space elliptical track mechanisms are symmetrically installed on the left side and the right side of the rear portion of the main body supporting frame, each space elliptical track mechanism is matched with one driving leg, the pitch angle adjusting mechanism is arranged on the left front portion of the main body supporting frame, the pitch angle adjusting mechanism is connected with the main body supporting frame and the water surface supporting system, the driving system is fixed in the main body supporting frame, and the two ends of the energy storage spring are connected to the driving system and the water surface supporting system respectively. The robot is manufactured by adopting a 3D printing technology, a tension spring is used as an energy storage element, and a foam hemisphere and a foam plate are used as supporting bodies, so that the robot has the characteristics of light weight and diversified movement modes.

The invention discloses a preparation process of attached environment-friendly synthetic leather. The preparation process includes the steps of smooth release paper unwinding, primary coating, primarydrying and cooling, secondary coating, secondary drying and cooling, adhesive coating, bonding with base cloth, tertiary drying and cooling, paper-leather separation, release paper winding, syntheticleather embossing, and leather inspection and packaging. Tiny soft magnetic particles with high magnetic conductivity and low hysteresis are added into an adhesive and dispersed in the adhesive; anda strong magnetic field is applied to the adhesive in the moment after the adhesive is coated and before the adhesive is attached to the base cloth, so that the viscosity of the adhesive is increased,and the flowability of the adhesive is reduced. According to the preparation process of the attached environment-friendly synthetic leather, a bonding layer between a synthetic leather semi-finishedproduct and the base cloth has variable and controllable fluidity, so that the bonding layer has the most suitable fluidity in the two processes of adhesive coating and bonding with base cloth.

The embodiment of the invention discloses an expectant-direct-driven leg-foot super-dynamic robot based on multi-joint coupling. A robot supporting leg can comprise a hip joint driving device, a thighmechanism, a knee joint driving device, a shank mechanism, a leg-foot mechanism and a joint coupling assembly. According to the robot supporting leg, on the one hand, the action principle of a bionictransarticular tendon-ligament in biodynamic motion is introduced, function extension is performed, the synergistic effect of joints can be driven, the jumping ability of the robot is improved, meanwhile the balance point which is static and free of motor power input is formed, and the problem of motor heating during long-time stationary state of a direct-driven robot can be solved; and on the other hand, by combining with a second speed-reducing transmission mechanism, a robot which adopts the robot supporting leg can be formed into the expectant-direct-driven leg-foot robot, and the robot super-dynamic movement ability is improved.

The invention provides a manufacturing method for a semiconductor device. The manufacturing method comprises: a semiconductor substrate is provided and a groove for forming a through silicon via is formed in the semiconductor substrate; a protection layer that covers the side wall and the bottom of the groove and is used for absorbing a swelling stress is formed; at least one transition layer is formed on the protection layer; and the groove is filled by metallic copper, wherein the transition layer employs a metal material and the thermal expansion coefficient of the transition layer is smaller than that of the copper. According to the manufacturing method, the metal material having the small thermal expansion coefficient is added between the silicon and cooper during the through silicon via forming process to form the transition layer between the Si / Cu, so that the thermal mismatching between the two kinds of materials is reduced; the thermal expansion coefficient is increased gradually from the transition layer to the metallic copper layer, thereby reducing the thermal mismatching among all materials at all layers effectively and thus avoiding layering or copper layer protrusion.

The invention relates to a robot simulated jump aid. Both ends of a rocker rod are respectively hinged with a connecting rod and a support seat, a leg connecting rod is respectively hinged with the support seat and the connecting rod for forming a parallelogrammic connecting rod mechanism, the ratio of the long edge to the short edge of the connecting rod mechanism is 4 / 3, one side of the supportseat is provided with a sole connecting rod parallel to the support seat, an electromagnet control mechanism is fixed at a hinging part of the rocker rod and the support seat, a toe plate is hinged with one end of the sole connecting rod through a toe joint rotating shaft, a torsional spring is sheathed and arranged on the toe joint rotating shaft, a connecting body is fixed at the shaft end of atelescopic shaft of an electromagnet, and one surface of the connecting body is matched with the outer arc surface of a baffle block. In the jumping process of the invention, the support seat, the sole connecting rod and the toe plate sequentially leave the ground, the acting time of the foot and the ground is prolonged, the ground leaving speed of the mass center is accelerated, and the jump acid function is realized. The landing process is opposite to the jumping process. The jumping performance of a jumping robot fixedly connected with the device can be improved through simulating the functions of the hamstring tendon and the feet in the animal jumping process.

The invention provides the foot-end design of a leg-foot robot with cushioning and boosting functions. The functions of increasing the contact surface, cushioning and damping are realized through themutual cooperation of a spring structure and components. According to the foot-end design, on the one hand, the contact range of toes of the foot end is enlarged through the compression of a spring, so that the robot is kept stable; and on the other hand, the effects of cushioning and damping are achieved by compressing the center of the palm of the foot end, and thus, the service life of the robot is prolonged. In the process of the leg-foot robot touching the ground, the impact can be reduced, and the energy can absorbed; and in the process of leaving the ground, the rigidity of the leg-footrobot is maintained, the jumping ability of the leg-foot robot is not affected, and thus, the jumping ability and the adaptive capacity to environment of the leg-foot robot are improved.

The invention discloses a bionic through-axis jumping mechanism and a jumping method thereof. The bionic through-axis jumping mechanism comprises a power module and an execution module. The power module comprises a limiting cover plate, a transmission module and a shell. The overall high-speed take-off of the mechanism can be achieved. The main elastic energy storage element is the compression spring, the action mode is simple, and the invalid energy loss in the release process is small. The jumping duration of the mechanism can be effectively prolonged through swinging of the shin section rod piece, and the jumping ability is enhanced. Reciprocating jumping can be achieved under the condition that the motor continuously operates, swing of the shin section rod piece is achieved through the structure, and compared with an active control jumping structure, cost is low, and the structure is simple.

The invention provides a five-joint robot imitating a frog to jump. The five-joint robot is composed of a trunk mechanism, a fore limb mechanism and a hind limb mechanism. The trunk mechanism comprises two driving motors, a left body side plate, a right body side body, a reinforcing supporting shaft, a body hind limb hanging spring shaft, a motor protective plate, two body fixing plates and two synchronous belt transmission mechanisms. The fore limb mechanism comprises a fore limb thigh mechanism, a fore limb crus mechanism and a sole mechanism. The fore limb thigh mechanism comprises a left fore limb thigh, a right fore limb thigh, a shoulder joint shaft and a fore limb thigh fixing plate. The fore limb crus mechanism comprises a left fore limb crus, a right fore limb crus, a spring installation plate, a reset spring, a crus driving rope, an elbow joint shaft, a crus reinforcing supporting shaft and a fore limb crus fixing plate. The sole mechanism comprises a sole, a sole reset spring and a sole rotation shaft. The hind limb mechanism comprises a hind limb thigh mechanism, a hind limb crus mechanism and a sole mechanism. The bionic degree of the robot is improved, the jumping capacity of the robot is enhanced, and the flexibility, take-off and buffering effects of the mechanical mechanisms of the robot are improved.

The invention discloses a hopping robot with a posture balance adjustment mechanism. The hopping robot includes a hopping robot body and a tail balance mechanism arranged on the hopping robot body; the tail balance mechanism includes a connecting frame fixed on the hopping robot body, a tail body, and a tail control mechanism which is arranged between the connecting frame and the tail body and used for driving the tail body to swing relative to the connecting frame; the tail control mechanism includes a first bevel gear and a second bevel gear which are coaxially and oppositely arranged on theconnecting frame and are correspondingly driven by a first driving motor and a second driving motor respectively to rotate, and a third bevel gear and a fourth bevel gear which are coaxially and oppositely arranged on the tail body and are meshed between the first bevel gear and the second bevel gear. According to the hopping robot with the posture balance adjustment mechanism, it can be ensuredthat the tail balance mechanism can adjust postures during the rising phase of the robot, so that the robot comes to the ground in a proper posture.

The invention provides a water surface jumping and gliding robot, comprising a water surface support system, a main body support frame, a driving system, a pitch angle adjustment mechanism, an energy storage spring, two driving legs and two space elliptical trajectory mechanisms; the main body support frame is located on the water surface support Above the system, the main support frame and the water surface support system are connected through a pair of hinge seats. Two spatial elliptical trajectory mechanisms are symmetrically installed on the left and right sides behind the main support frame. Each spatial elliptical trajectory mechanism is equipped with a driving leg. The pitch angle The adjustment mechanism is arranged on the left front of the main body support frame, the pitch angle adjustment mechanism is connected to the main body support frame and the water surface support system, the drive system is fixed inside the main body support frame, and the two ends of the energy storage spring are respectively connected to the drive system and the water surface support system. The invention is manufactured by 3D printing technology, uses tension springs as energy storage elements, foam hemispheres and foam boards as supports, and has the characteristics of light weight and diversified movement modes.

The invention relates to a manufacturing method for a clothing fashion trend sample display board in the technical field of clothing fashion trend prediction. The manufacturing method comprises the following steps: S1, establishing a fashion trend clothing sample library; s2, extracting fashion trend elements; s3, manufacturing a theme display board; s4, manufacturing a style and style display board; and S5, preparing a sample display board. According to the invention, through the assistance of network data and related software, elements influencing clothing fashion trends are extracted and converted into display boards related to colors, fabrics, styles and the like, so that the problem of short design boards faced by small and medium-sized enterprises can be greatly improved, and meanwhile, good materials are provided for designers.

The present invention provides a communication system and method based on frequency hopping, GMSK and DS. The signal transmission module collects information data, performs RS coding, DS direct spread and GMSK modulation processing on the information data, and then performs frequency mixing and frequency hopping processing before transmitting ; The signal receiving module receives the information data transmitted by the signal transmitting module and performs frequency hopping and mixing processing, and then performs capture, judgment, decoding and framing processing, and finally outputs the information data. By adopting RS coding, DS direct expansion, GMSK modulation and frequency mixing and frequency hopping processing, the present invention can greatly improve anti-interference ability and ensure safe and accurate signal transmission.

The invention discloses a preparation process of composite environment-friendly synthetic leather. The preparation process comprises the steps of spinning, lapping, needling, non-woven fabric pretreatment, dipping, paste coating, solidification and film formation, washing, tentering and drying, cooling and embossing; spinning raw materials comprise polystyrene, polyamide and polyacrylonitrile; anda magnetic field is applied in the silk thread direction in the solidification and crystallization stage. The durability of synthetic leather base cloth under the environment of high-temperature andlong-time exposure to the sun is remarkably improved by utilizing good weather resistance, good solarization resistance and chemical reagent resistance of polyacrylonitrile, moreover, in a mode of applying the magnetic field in the solidification and crystallization stage, the crystallization orientation of the polyacrylonitrile is controlled and enhanced, the fiber density is increased, the fiberstrength is improved, therefore, the defect of low strength of the polyacrylonitrile is overcome, and the strength of the lapping silk threads is guaranteed.

The invention discloses a leg structure of a jumping robot. The leg structure comprises a mechanical thigh and a mechanical shank, and a mounting groove is formed in the middle-upper part of the mechanical shank; a mechanical joint is arranged at the bottom of the mounting groove; the mechanical joint is movably connected with the bottom of the mechanical thigh; movable blocks are symmetrically mounted on the outer side of the top end of the mechanical shank; and movable rods are fixedly connected to the outer side faces of the movable blocks. The middles of the movable rods are sleeved with movable sleeves; and the other ends of the movable rods are sleeved with self-locking devices; the self-locking devices are rotationally connected to the two sides of the middle of the mechanical thigh. The movable rods between the movable sleeves and the self-locking devices are connected with a tension spring in a sleeved mode, an electric telescopic rod is arranged between the mechanical thigh and the mechanical shank, hinge pieces are fixedly installed at the two ends of the electric telescopic rod respectively, and the two hinge pieces are fixedly connected to the mechanical thigh and themechanical shank respectively. The leg structure of the jumping robot has the advantages of the simple structure, agreement and strong obstacle jumping capability, and is mainly used for jumping of the robot.

The invention provides a modular driving device of elastic joints of a hopping robot. The device comprises a joint shaft bracket, a joint shaft, a joint shaft fixing pin, a joint torsion spring, a joint bearing, a joint bearing support, a motor mounting rack, a motor, an electromagnetic clutch, an electromagnetic clutch mounting rack, a worm small support bearing, a worm-wheel shaft, a worm gear support large bearing, a worm gear support large bearing end cover, a worm shaft, a worm support large bearing, a worm gear mounting rack, a worm gear support small bearing, a synchronous toothed belt, a synchronous pulley, an electromagnetic clutch bracket, a tension wheel mounting rack, a tension wheel, a worm support large bearing end cover, a worm fixing pin and a worm. The modular driving device is suitable for driving the joints of the hopping robot, and has the characteristics of low power demand for the motor, and high hopping performance; and the motor performance is played fully.