1063 results about "Bionics" patented technology

The invention discloses an information detection bionic spiral robot in a grain bin; the robot comprises the following structures: a housing; at least three spiral propellers, each propeller comprises a grain inlet and a grain outlet, can rotate to suck in the grains from the grain inlet and discharge the grains through the grain outlet, so the spiral propeller can advance in the grain bin; a sensor unit arranged outside the housing and used for detecting ecology information of the grains in the grain bin. The spiral propeller comprises the following elements: a hollow transmission shaft with two opening ends, and the transmission shaft can rotate relative to the housing; a spiral body arranged in the transmission shaft; a drive motor driving the transmission shaft to rotate through a pair of meshing gear wheels. The robot can obtain real time information of the grain condition in a remote mode, so no temperature measuring cable is needed in the grain bin, thus reducing grain bin labor and material operation cost, and fundamentally solving the problems that wiring in the grain bin is hard, and the temperature measuring cable can disturb grain incoming and outgoing works.

The invention relates to a combined type bionic quadruped robot controller, which is in a structure similar to a vertebrate nervous system, wherein the controller is divided into a decision layer, a planning layer and an execution layer which respectively correspond to a higher nervous center, a lower nervous center and a motor nerve of an animal. The decision layer for realizing that the robot senses the working environment and generates corresponding motion decision instructions consists of an ARM9 (advanced RISC (reduced instruction-set computer) machine 9) and an environmental information acquisition system, and a real-time operating system is embedded in the ARM9. The core of the planning layer is a walking pattern generator, and is used for planning and solving the motion parameters of each joint according to the decision instructions from the upper layer. The execution layer for controlling the current, the position and the speed of a driving motor in three closed loops consists of a motor controller using a digital signal processor as the core. Data can be effectively transmitted among the three layers in real time through a dual-port RAM (random-access memory) and a CAN (controller area network) bus network. The combined type bionic quadruped robot controller disclosed by the invention has the characteristics of high reliability, high flexibility, extension easiness and maintenance easiness, and has a broad application prospect in the technical field of bionic legged robots.

The invention discloses a novel modular bionic underwater robot based on full-flexible pectoral fins. A hydrodynamic module of eagle ray pectoral fins is analyzed, and motion of the pectoral fins is decomposed into vertical bending flapping in the vertical body longitudinal axis direction and twisting motion taking the vertical body longitudinal axis direction as the axis. The whole robot comprises a sectioned main body, a left flexible pectoral fin module, a right flexible pectoral fin module and a tail fin module, and a group module is formed by connecting fin connecting parts; the left and right flexible pectoral fin modules are identical in structure and are in mirror symmetry; a pectoral fin framework adopts a structure similar to that of a plane rib, a symmetrical airfoil is taken as the basic shape, and the pectoral fin modules with streamline sections are spliced through serial connection of straight pectoral fin trunk bones and steel wires. A large steering engine and a small steering engine are arranged at the root and the tip of each pectoral fin to control vertical flapping and twisting motion of each pectoral fin. Through adjustment of motion amplitude, motion frequency and phase difference of the two steering engines of each pectoral fin, different pectoral fin motion postures can be realized, and fish body motion can be finished better.

A bionic mechanical fish is composed of casing consisting of upper and lower halves, chest fins driven by step motor, tail unit consisting of tail fin, skin, frame, and fixing plate, and driven by linear motor, detecting unit consisting of miniature camera head, infrared sensor and pressure sensor, control unit comprising microcontroller, information acquisition module, motor driver and communication module, and float regulating unit consisting of linear motor and piston-cylinder reciprocating unit.

The invention discloses a biomimetic mechanical jellyfish that is driven by shape memory alloy wires, relates to a biomimetic mechanical jellyfish and aims at solving the problems that the existing biomimetic mechanical jellyfishes only simulate jellyfish actions, do not cover devices such as a drive device and the like, and have complex structure and the biomimetic effect that is totally different with the action principle of real jellyfishes. The biomimetic mechanical jellyfish has following structure: an action unit (10) consists of the shape memory alloy wires (12), an elastic body (13), a coating skin (15) and a substrate (16), the substrate (16) and the shape memory alloy wires (12) are fixedly arranged on the elastic body (13), the action unit (10) is coated inside an umbrella-like soft layer (11), the coating skin (15) covers outside the shape memory alloy wires (12), the substrate (16) and a sealing cover (3) are fixedly connected with a supporting body (2), a power source (7), a control device (5), a communication device (6) and a sinking and floating control device (9) are fixedly arranged on the supporting body (2), and the power source (7) provides electricity respectively to the control device (5), the communication device (6) and the shape memory alloy wires (12). The biomimetic mechanical jellyfish has simple structure, lightness, low production cost, large action range and good biomimetic effect.

The bionic mechanical jellyfish consists of a power system comprising four electromagnet devices, a driving system comprising four baffles and two return springs, a water jetting system comprising two leather bags, two water inlet pipes and four water outlet pipes, and a fixing rack comprising a right and a left fixing beam. The present invention has no noise, complete functions, simple structure, high work efficiency, low cost and other advantages.

The invention discloses a bionic manipulator, which comprises a main body lifting cylinder, which extends along a vertical direction, wherein a main body rotating cylinder capable of rotating around a central axis of the main body lifting cylinder is fixedly arranged on the output end of the main body lifting cylinder, an arm telescopic cylinder, which extends along a horizontal direction, is fixedly arranged on the output end of the main body rotating cylinder, an artifice rotating cylinder, which rotates around the central axis of the arm telescopic cylinder, is fixedly arranged on the arm telescopic cylinder, and a paw part used for grabbing articles is arranged on a rotating output part on the artifice rotating cylinder. When used, materials are grabbed by the paw part firstly, and then the paw part is moved and adjusted to a proper position through a telescopic action of the arm telescopic cylinder, a rotating action of the main body rotating cylinder and a lifting action of the main body lifting cylinder according to actual requirements, when the paw is moved in place, the materials are put down by the paw part, so that the materials can be conveyed without manual work.

The invention provides a multimodal amphibious bio-robot, which comprises a head, a replaceable wheel paddle / flipper mechanism, a propelling unit and a caudal peduncle compound drive mechanism. In water, the propelling unit and the caudal peduncle compound drive mechanism oscillate back and forth to propel by imitating a fish in the plane, and a rotating mechanism rotates the propelling unit and the caudal peduncle compound drive mechanism for 90 degrees, and switches the moving mode of propelling by imitating a fish into that of swimming by imitating a dolphin; and the flipper mechanism assists the tail propelling to accomplish actions of moving forward, moving backward, turning and pitching, and the paddle mechanism assists the robot turning. On land, the flipper mechanism rotates continuously to make the robot creep on the ground, imitates the movement of a wheel mechanism when rotating continuously, thereby the robot improves the speed of the movement, has obstacle-climbing capability, and a driven wheel reduces the resistance of the movement on the land. The robot can induce the own environment in real time by two liquid level sensors arranged at the head and the propelling unit respectively; and when the land and water environments are changed, according to the information of the liquid level sensors, a main control panel uses corresponding movement policies to accomplish the intelligent switching between the modes of moving on the land and in the water.

The invention discloses a giant squid bionic sea floor exploration intelligent robot and belongs to the technical field of electromechanics. The giant squid bionic sea floor exploration intelligent robot comprises a submerging device, a video signal processor, a tankoscope, an underwater camera, a mechanical claw, a mechanical arm, mechanical peduncles, a working device, a base framework, an embedded clamping plate, a storage battery pack, horizontal propellers, perpendicular propellers, a main controller, perpendicular ducts, a switching interface, a umbilical cord cable and a sea floor explorer, wherein the working device is arranged at the upper part of the base framework; the video signal processor and the storage battery pack are arranged inside the working device; the underwater camera and a group of horizontal propellers are arranged at the outer side of the working device; the submerging device is arranged at the upper part of the working device; the four perpendicular ducts are arranged inside the submerging device; the perpendicular propellers are arranged inside the perpendicular ducts; the sea floor explorer is arranged in the middle of the base framework; the mechanical arm is arranged on the side of the base framework; the mechanical claw is arranged on the mechanical arm; and five mechanical peduncles are arranged at the lower part of the base framework. The robot can execute various sea floor exploration tasks and is stable in performance.

The invention relates to a machine fish, wherein it is characterized in that: it comprises a fish head module sealed, left and right chest fin modules, at least two driving modules, and caudal fin; said fish head module has controller and main motor for floating the left and right chest fin modules whose main axles via movable sealing device are connected to the main motor; the left and right chest fin modules both have assist motors to drive the chest fins up and down; the axle of chest fin via the movable sealing device is connected to the assist motors; the driving module via the swing rod is connected; the first driving module via the head-tail connector is fixed on the back of fish head module; the caudal fin via the connector is connected to the back of driving module. The invention can be used in underwater detection, etc.

The invention relates to an improved artificial fish school optimization method based on vehicle path planning. The existing algorithm has the defects of large calculation amount and long time consumption. The invention effectively combines the bionics principle of the artificial fish school and the subjective bias of a decision maker, improves the artificial fish school algorithm, and introduces the concept of a fish school sensing range for reconstructing an optimization formula of the artificial fish school algorithm by a repulsion region, a neutral region and an attracting region. The moving step length of the artificial fish, the view field range and the adjacent field value are dynamically regulated through judging the demands of nodes on the vehicle path, the reset transportation capability of the current vehicles, and the subjective bias of the decision maker, so the overall searching capability and the searching speed of the artificial fish school algorithm can be improved. Finally, the improved artificial fish school algorithm is used for improving the cargo taking and cargo sending behaviors of the vehicles and completing the path dispatching problem of return trip cargo taking vehicles. The invention is superior to the traditional optimization algorithms such as the genetic algorithm, the simulation annealing algorithm and the like in aspects of calculation precision and stability, and has good optimization capability.

The invention relates to a smart under-actuated bionic robot finger device with parallel-connected tendon ropes, which belongs to the technical field of anthropomorphic robots. A diarticular finger device comprises a pedestal, a first motor, a second motor, a juxta-articular shaft, a first finger segment, a distal-articular shaft, an tail end finger segment and a return spring. The device also comprises a first rope wheel, a second rope wheel, a third rope wheel, a first tendon rope, a second tendon rope and a third tendon rope. A polyarticular finger device also comprises at least one middle finger segment and at least one middle rope wheel. The device comprehensively realizes the special effect of combining finger original configuration variability and self-adaptive grasp by utilizing the motors, the rope wheels, the tendon ropes and the return spring. The device can flexibly bend the middle joints of fingers before grasp to achieve a stable and anthropomorphic prebent gesture and grasps an object in a self-adaptive under-actuated mode when in grasp. The grasping action of the device more approaches to a human hand, and the device can self-adaptively and stably grasp different objects and is applicable to an anthropomorphic robot hand.

The present invention relates to biomedicine engineering and bionics, and is especially one new type of implanted artificial cochlea and its making process. The implanted artificial cochlea consists of one implanted piezoelectric or fiber type microphone, one signal amplifier, one phonetic processor and one decoding stimulator. It has optimized MSPR mixed coding mode and multiple stimulating modes. Experiment shows that the implanted artificial cochlea has high sensitivity and good frequency characteristic, and is suitable for sufferer, especially children sufferer, of deafness.

The invention provides an in-situ self-sustaining contaminated soil restoring device by simulating the capillary phenomenon and the transpiration function of a plant and a method for restoring soil by utilizing the device. The restoring device comprises the following members: a main body, filling materials, an evaporator and accessories, wherein the main body is a hollow pipe fitting which is tightly filled with the filling materials; the filling materials are supported by depending on the accessories; the evaporator is arranged at the top end of the main body pipe fitting; the accessories are mainly of supporting materials for mounting other members. The specification of the restoring device is selected and the distribution density and depth are selected according to soil contamination conditions, and then the restoring device is inserted into the soil, so that contaminants in the soil are driven to move by utilizing the capillarity phenomenon and the transpiration function of the restoring device so as to be transferred into the restoring device. Thus, the contaminants in the soil are effectively removed.

The invention relates to an amphibious bionic robot which is characterized in that the amphibious bionic robot includes a sealed main cabin body and four propeller leg complex propelling mechanisms. A control device, a power supply device and a waterway environment detection sensor are arranged in the main cabin body; the four propeller leg complex propelling mechanisms are opposite in pairs and symmetrically arranged on two sides of the main cabin body; each propeller leg complex propelling mechanism includes two driving rods, a driven rod and a swing propeller; one end of each driving rod is respectively connected with the output ends of two motors; one driving rod is close to the middle part of the main cabin body, and the other end of the driving rod is connected with one end of the swing propeller through a rotating shaft; the other driving rod is close to the outer side of the main cabin body, the other end of the driving rod is connected with the driven rod through a rotating shaft; the driven rod is connected with the middle position of the swing propeller, the other end of the swing propeller is an execution tail end. The amphibious bionic robot has the advantages of good adaptability to environment, stability and reliability, and flexible movement, thereby the amphibious bionic robot can complete various tasks for prospecting, working, etc. in marshes and offshore water, and play an important role in an offshore landing battle in the future.

The invention discloses a coupling-bionics-based food crispness tester which comprises a chewing simulator, a cracking signal acquisition system and a data processing and analysis system, wherein the chewing simulator is used for simulating the food chewing of a human chewing system; the cracking signal acquisition system is used for acquiring a pressure signal and a sound signal, which are generated during the chewing of the chewing simulator; the data processing and analysis system is used for receiving the signals, and performing data processing and analysis to acquire a predetermined food crispiness result. The coupling-bionics-based food crispness tester is established by simulating the human chewing system and an auditory system by a bionic technology, and is used for acquiring mechanical and acoustic signals when the food is chewed, establishing a sensory crispness evaluation and mechanical and acoustic signal prediction model and comprehensively determining the crispness of the food by utilizing the model; an integrated manual technical system with the characteristic of achieving maximum environmental adaptability with low energy consumption is constructed; a test is carried out from a crispness formation mechanism, and is superior to crispness evaluation from other indexes such as cracks and simply from the mechanical signals.

The invention provides a bionic robot fish provided with a rising module and a tail module, relating to the bionic robot fish used underwater and aiming at solving the defects of the existing bionic robot fishes that the rising speed is low; rising characteristics are indistinct and adjusting the tail fin movement-diameter is inconvenient, etc. The other end of a screw (11) is fixedly connected with a piston (4) through a screw end closure (3), the piston (4) is arranged in a cylinder (1), and one end of a cylinder end closure (6) is fixedly connected with the cylinder (1); a straight-spur cone gearwheel (38) is arranged on a central shaft (43) and two ends of a central shaft (43) are rotationally connected with two sides of a box body (39), and two sets of sliding mechanism assemblies (84) are respectively arranged on a first disk (22) and a second disk (44) through a first eccentric shaft (25) and a second eccentric shaft (41). The bionic robot fish provided by the invention has a better rising characteristic and better bionic effect and can easily realize the adjusting to the tail fin movement-diameter of the robot fish so as to lead the swaying of the fish body to be rare and the moving stability to be better.

The invention relates to a wall surface mobile robot based on gecko motion organism structural form bionics and in particular relates to a wall surface mobile robot which can rapidly move on the magnetic conductive material surface of a high cone-shaped steel tower or a large spherical tank and carries large load operation. The wall surface mobile robot provided by the invention is obtained by carrying out bionic evolution on the structural form of a gecko motion organism and comprises a driving unit, a chain caterpillar track, a load dispersing mechanism, an antidumping device, an ultrasonic probe servo mobile device, a robot box shell and a control system, wherein the chain caterpillar track is provided with a relative rotating shaft and a multipath magnetic circuit magnetic stripe adsorption unit. The robot in a gecko bionic form structure can safely move on a flat and smooth magnetic conductive wall surface, is especially suitable for moving on various curved wall surfaces with an arc, and can perform corresponding operations, thus a rapid and large-load automatic transporting tool is provided for overhead operation.

The invention relates to a soft wearable mechanic skeleton arm. It consists of big 3PRS shoulder shunt-wound unit, the shoulder sliding ring units, two elbow sliding ring units, wrist sliding ring unit and little 3PRS wrist shunt-wound in order. It can move freely in nine directions to go with people arms' omnidirectional move. The invention uses cylinder to drive and imitates muscle moving. So it has better tenacity and bionics character, and improves the convenient and comfort of the device, enlarges the move sphere of the manipulator's arm, delimits the present device's limitation on the moving. The moving information of the wearer's arm can be collected easily by the move sensor that is matched with the cylinder. Control the mechanic arm with appreciable force by computer. The mechanic arm can be used to cure as assistant facility for the patients whose arm is atrophied.

The invention relates to a hexapodous biomimetic wet-sucking wall-climbing robot, which belongs to the technical field of bionics. The robot comprises a body framework, biomimetic podites, motors, a driving circuit, a pre-compression structure, a cam structure and a pull rope structure, wherein all the components are installed on the body framework. The body framework comprises a support and a crossbeam which is installed in the groove of the body framework; each biomimetic podite comprises a base seat, a femur, a tibia, a spring steel sheet and a flexible structure, one end of the femur and the flexible structure is connected with the base seat, the other end thereof is connected with the tibia, and the spring steel sheet is installed on the tibia; the driving circuit performs joint control to the motors, the motors are vertically installed in the motor grooves and horizontally installed on the crossbeam; the pre-compression structure comprises a podite support and a T-shaped femur extension support which are connected through a spring; the cam structure comprises a cam and a cam fixing support, one end of the cam is fixed on the motor shafts, and the other end is connected with the cam fixing support; the pull rope structure comprises a pull rope support, pull ropes and brake lines, and the pull ropes are connected with the biomimetic podites through the pull rope support. The hexapodous biomimetic wet-sucking wall-climbing robot has the advantages of simple structure, part modularization and standardization, convenient processing and assembly, hollow structure, light overall weight, multi-motor driving, easy gait planning, and easy realization of stable and reliable operation of the hexapodous wall-climbing robot.

The embodiment of the invention provides a vocal print feature recognition method and a vocal print feature recognition system. The method comprises the following specific steps: after speech separation treatment based on hearing characteristics on pretreated noise-containing mixed noise, extracting a frequency cepstrum coefficient and a perceptual linear prediction coefficient of a signal, by utilizing the background distinction degree of the noise, analyzing the frequency cepstrum coefficient and the perceptual linear prediction coefficient under different noise environments so that the feature fusion is completed, and finally, in a pre-established vocal print feature template library, carrying out mode matching on the features after fusion by adopting a gaussian mixture model-universal background model (GMM-UBM). According to the vocal print feature recognition method, the human auditory system features and the traditional vocal print recognition method are combined, the problem that the vocal print recognition ratio under noise is low is solved from the point of bionics, and the vocal print feature recognition accuracy and system robustness under the noise environment are effectively promoted.

A bionic robot under-driven flexible hand device belongs to the technical field of anthropomorphic robot, and mainly comprises a thumb, a forefinger, a middle finger, a ring finger, a little finger and a palm. The device is provided with five independently controller fingers and fifteen joint freedoms, and is controlled by ten motors. The structures of four fingers (the forefinger, the middle finger, the ring finger and the little finger) are same. The variable initial configuration of finger and special effect of partial-coupling self-adapting grasping are realized through double motors, a transmission mechanism, a flexible component and reed component. The four fingers bend the second middle finger segment before grasping an object and the bottom finger segment bends for obtaining an excellent grasping preparing gesture. The robot hand is closer to man hand. The device of the invention has the advantages of compact structure, high integrity, external appearance, dimension and shape closer to man hand, capability for stably grasping and automatically adopting for objects with different shapes and dimensions. The device of the invention is used for anthropomorphic robot.

The invention discloses a six-freedom-degree bionic mechanical arm based on pneumatic muscle. The six-freedom-degree bionic mechanical arm comprises a frame, a shoulder joint, an elbow joint, a wrist joint and a mechanical palm. The shoulder joint, the elbow joint, the wrist joint and the mechanical palm are sequentially connected and fixed to the frame. Moreover, the pneumatic muscle serves as a driver. Pulley components are used for achieving swinging and rotation of the joints. The six-freedom-degree bionic mechanical arm is small in size, high in flexibility and high in bionic degree.

The invention belongs to the technical field of mechanical-electrical integration and particularly relates to a bionic crab robot. The invention mainly solves the problems of complicated structure, longer drive chain and bad system rigidity of an existing crab robot. The bionic crab robot is composed of a foot motion system, a pincers system, a connecting system and a control system, wherein the foot motion system comprises a bottom plate, and two sets of four-foot motion mechanisms which are respectively mounted at symmetrical positions at the front part and the rear part of the bottom plate; the pincers system comprises a rack, two pincers main bodies are respectively mounted at symmetrical positions on the left side and the right side of the rack, and each pincers main body is composed of a fixing frame, a motor frame, a swinging steering engine, two connecting buckles, a tray, a grabbing steering engine, two key-shaped rack bars, two claw bars and two connecting bars; the control system is composed of a top plate, a main controller, a power supply voltage stabilizing chip, an infrared receiving module, a stepper motor driving module, a steering engine driving module, an eye lamp and an infrared remote controller.

The invention provides a bionic micro / nano structure preparing method by combining top-down and bottom-up modes, which comprises the following steps of: firstly, preparing a microscale structure serving as a substrate by the top-down method which mainly comprises film growing, photoetching, dry etching and the like; secondly, selectively performing evaporative deposition on seeds for growing a nano structure on the top or the side wall of the microscale substrate; thirdly, growing the direction controllable nano structure from the seeds by the bottom-up method; and finally, preparing the hierarchical layering period / standard period bionic micro / nano structure with excellent characteristics, such as gecko seta-simulated micro / nano structure, morpho lepidoptera-simulated micro / nano structure and the like. The method is an integrated preparation method by combining the top-down and bottom-up preparation processes, has the characteristics of high efficiency and low cost, is suitable for massive large-area production and is a new effective way for massive preparation and application of the bionic micro / nano structure.

The invention discloses a four-foot bionic robot with a planar four-bar metamorphic mechanism used on the waist. The four-foot bionic robot comprises a closed chain and four open chains. The closed chain is a planar four-bar metamorphic bar mechanism composed of a first bar, a second bar, a third bar and a fourth bar with the same length. The open chains are of the same structure. Each open chain is a 2R serial mechanism and connected with one bar in the closed chain through a rotating hinge. Bars in each open chain are located in the same plane. The planar four-bar metamorphic mechanism is applied to the waist of the four-foot bionic robot; by means of the characteristic of variable structure stages and variable degrees of freedom of the metamorphic mechanism, waist deformation of the four-foot bionic robot is achieved, so that the waist structure of a four-foot animal is better simulated, simulation of various kinds of animals is achieved, the advantages of various kinds of animals are integrated, and flexibility and adaptive capacity of the four-foot bionic robot for different terrain environments are improved.

The invention discloses a robot bionic finger. The robot bionic finger comprises a holding frame and an air bag, the air bag is a long-strip cylindrical structure, the holding frame is a long-strip sheet-shaped structure and made of elastic materials, the holding frame is in a bending shape in a natural state, and the holding frame is attached to an air bag wall of the air bag in the axial direction so that the air bag is in a bending shape in the natural state. According to the robot bionic finger, single-air-bag driving is employed, the structure is simple, the control is easy, the air bag is attached to the holding frame, a certain rigidity can be maintained when the air pressure of the air bag is small, the wall thickness of one side of the air bag with small section curvature is greater than the other side so that when the pressure is increased, the expansion amount of the thin wall side is larger than the expansion amount of the thick wall side, the finger can be driven to keep straight, spring wires are embedded into the air bag so that radial deformation of the air bag in the expansion process is reduced, the air bag can be recovered during pressure reduction, the air bag can still maintain the initial shape during negative pressure, and the outside of the air bag is provided with a plurality of protruding points capable of increasing the friction of the air bag so that the grabbing of articles is facilitated.

The invention relates to the field of bionic layered composite materials, in particular to a micron and nano material-enhancing high-impact-resistance bionic layered composite material and a manufacturing method thereof. The material provided by the invention is formed in a manner that toughening structural material layers and enhancing material layers are composited at intervals layer by layer, and the outer layers on both faces of the bionic layered composite material are the enhancing material layers; and the toughening structural material layers are continuous fiber structural bodies formed through interweaving continuous fibers, or non-interweaved continuous fiber structural bodies formed by the continuous fibers, and the enhancing material layers are micron and nano inorganic material granular layers obtained in a manner that a mixture formed by mixing micron and nano inorganic material granules with thermoplastic macromolecular resin is coated on the toughening structural material layers. The material provided by the invention is a more-effective lightweight protective material, and some defects, such as low interlayer strength and too large load, caused by too thick composite layers, infirmness of interlayer bonding, and the like, in the prior art are overcome.

The invention discloses an asymmetrical gear six-rod bionic bouncing mechanism. The asymmetrical gear six-rod mechanism with unequal connecting rod length and different gear parameters is developed according to the bionics principle. The mechanism comprises a foot plate, a leg mechanism, a fuselage and an energy storage and release device, wherein the length of each connecting rod of the leg mechanism conforms to the reasonable jumping lime structural ratio of a kangaroo. The parameters of two pairs of gears are selected according to the jumping attitude and the jumping force mechanism of the kangaroo, the whole mechanism is a closed-loop parallel mechanism, and the simulation of the smooth takeoff process of the kangaroo with feet together can be well realized with only one degree of freedom. The mechanism has the characteristics of simple structure and control and free movement, can be applicable to complex geographic and geomorphic conditions and is especially applicable to cruise exploration in small gravity environment on the surface of a planet, particularly a minor planet.