Pneumatic muscle driven frog-imitation bouncing leg having perceptivity

A technology of pneumatic muscle and perception ability, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of complicated and bulky mechanism, limited jumping ability, lack of sensing system, etc., and achieve the effect of avoiding gear mechanism, efficient jumping, and simplified mechanism

Active Publication Date: 2015-06-17
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the bouncing mechanism of the existing jumping robot adopts power transmission mechanisms such as gears. The mechanism is too complicated and heavy, and the jumping ability is very limited. jumping, providing a sentient pneumatic muscle-actuated frog-like bouncing leg

Method used

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  • Pneumatic muscle driven frog-imitation bouncing leg having perceptivity

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Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0010] Specific implementation mode one: combine figure 1 Describe this embodiment. A pneumatic muscle-driven imitation frog jumping leg of this embodiment includes a trunk body 1, a thigh body 2, a calf body 3, a foot 4, a hip joint 5, a knee joint 6, and an ankle joint 7 , hip joint force sensor 8, hip joint angle sensor 9, knee joint angle sensor 10, knee joint force sensor 11, ankle joint angle sensor 12 and ankle joint force sensor 13, trunk body 1, thigh body 2, calf body 3 and foot The parts 4 are rotatably connected through the hip joint 5, the knee joint 6 and the ankle joint 7 in turn. The hip joint force sensor 8 is set on the trunk body 1, the hip joint angle sensor 9 is set on the hip joint 5, and the knee joint angle sensor 10 Set on the knee joint 6, the knee joint force sensor 11 is set on the thigh body 2, the ankle joint angle sensor 12 is set on the ankle joint 7, the ankle joint force sensor 13 is set on the calf body 3, the trunk body 1, thigh The main bo...

specific Embodiment approach 2

[0011] Specific implementation mode two: combination figure 1 Describe this embodiment, the torso body 1 of this embodiment includes a muscle fixing part 14, a muscle fixing end shaft 15, a muscle fixing end connecting part 16, a force sensor connecting part 17, a muscle connecting part 18, a pneumatic muscle body 19 and a support frame 20 , the muscle fixing part 14 is arranged on the head end of the support frame 20, the muscle fixing end connecting part 16 is rotatably connected with the muscle fixing part 14 through the muscle fixing end rotating shaft 15, the force sensor connecting part 17 is connected with the muscle fixing part 14, and the force sensor is connected A hip joint force sensor 8 , a knee joint force sensor 11 or an ankle joint force sensor 13 is arranged between the component 17 and the muscle connector 18 , and the pneumatic muscle body 19 is connected to the muscle connector 18 . In this way, when jumping, the pneumatic muscle body 19 contracts due to in...

specific Embodiment approach 3

[0012] Specific implementation mode three: combination figure 1 Describe this embodiment, the pneumatic muscle body 19 of this embodiment is a stretchable pneumatic muscle body. Set up like this, it provides strong power for jumping. Other compositions and connections are the same as those in the second embodiment.

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Abstract

The invention discloses a pneumatic muscle driven frog-imitation bouncing leg having perceptivity, and relates to a pneumatic muscle driven frog-imitation bouncing leg. The pneumatic muscle driven frog-imitation bouncing leg aims at solving the problems that the available bouncing mechanism adopts a gear power transmission mechanism and the like, is too complicated and heavy, has a limited bouncing ability, is not provided with a sensing system, cannot acquire relevant information in real time, and cannot achieve accurate bouncing. A trunk body, a thigh body, a crus body and a foot part of the bouncing leg are sequentially and rotationally connected by a hip joint, a knee joint and an ankle joint; a hip joint force sensor is arranged at the head end of the trunk body; a hip joint angle sensor is arranged on the hip joint; a knee joint angle sensor is arranged on the knee joint; a knee joint force sensor is arranged at the head end of the thigh body; an ankle joint angle sensor is arranged on the ankle joint; and an ankle joint force sensor is arranged at the head end of the crus body. The pneumatic muscle driven frog-imitation bouncing leg is applied in the frog-imitation bouncing mechanism of a bouncing robot.

Description

technical field [0001] The invention relates to a pneumatic muscle-driven imitation frog bouncing leg, in particular to a pneumatic muscle-driven imitation frog bouncing leg with perception capability. Background technique [0002] With the continuous development of robot technology, jumping robots can exert a powerful jumping ability that wheeled robots do not have when facing complex terrain. In the process, the researchers designed a large number of bouncing mechanisms. Southeast University has designed a gear driven by a motor, stored energy with the help of a spring, and jumps at the moment the spring releases energy. The bouncing mechanism includes a body and two jumping feet, and the bouncing device is connected between the jumping feet and the body. The bouncing device includes a guide rail, a base, a motor, a pulley, a cable, an elastic trigger holder, an eccentric wheel and a torsion spring. Although this mechanism can achieve a certain jumping action, because th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 赵杰樊继壮高永生仲军
Owner HARBIN INST OF TECH
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