Mechanical leg imitating ostrich hind limb

A technology of mechanical legs and hind limbs, applied in the field of bionic robots, can solve problems such as low energy utilization, failure to operate normally, damage to machine parts, etc., and achieve the effects of improving energy utilization, improving energy utilization efficiency, and reducing mass

CN106184461AInactive Publication Date: 2016-12-07JILIN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2016-12-07
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a bionic mechanical leg imitating the motion function characteristic of an ostrich hind limb. The mechanical leg comprises a body, a hip joint motion mechanism, a knee joint motion mechanism and an ankle joint motion mechanism. The hip joint motion mechanism is composed of a motor and a crank-rocker mechanism, wherein the crank-rocker mechanism comprises a crank, a femur and a connecting rod. The knee joint motion mechanism comprises the femur, a first spring, a tibia, a metatarsus, a brake cable, a lower fibula, a second spring, an air cylinder and an upper fibula. The ankle joint motion mechanism comprises the metatarsus, a first apotelus bone, a second apotelus bone, a third apotelus bone, a third torsional spring, a second torsional spring and a first torsional spring. The ostrich hind limb capable of efficiently moving serves as the bionic prototype, through combination of testing on hind limb motion parameters during running of an ostrich and biological anatomic analysis, the mechanical leg imitating the ostrich hind limb is obtained through optimization design according to the tendon-bone and muscle-tendon interaction mechanism of the ostrich, and the mechanical leg is simple in structure, safe, reliable, low in vibration, and capable of efficiently saving energy.
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Description

technical field

[0001] The invention belongs to the field of bionic robots, and more specifically relates to a mechanical leg imitating an ostrich hindlimb. Background technique

[0002] The ostrich's hind legs are strong and powerful, and it has the ability to run steadily, persistently and at high speed. The continuous running speed of an ostrich is about 60km / h, and the sprint speed exceeds 70km / h, and can last for about 30 minutes without feeling tired. It is the fastest two-legged animal on land. Based on the energy-saving and high-speed characteristics of ostrich movement, ostriches are superior to other bipeds in terms of speed and energy conservation. The robot leg is an important part of the robot and plays a very important role in the movement of the legged robot. According to the principle of engineering bionics, the superior performance of the ostrich can be applied to the design of the leg structure of the biped robot. Since 2000, a large number of bionic leg...

Examples

Embodiment Construction

[0019] see figure 1 , figure 2 , image 3 and Figure 4 As shown, the present invention includes a fuselage 1, a hip joint kinematic mechanism, a knee joint kinematic mechanism and an ankle joint kinematic mechanism;

[0020] The hip joint kinematic mechanism is fixed on the fuselage 1, the hip joint kinematic mechanism drives the knee joint kinematic mechanism to move, the knee joint kinematic mechanism drives the ankle joint kinematic mechanism to move; the hip joint kinematic mechanism is composed of a motor 17 and a crank rocker mechanism, wherein The crank-rocker mechanism includes a crank 18, a femur 2 and a connecting rod 19; a motor 17 is mounted on the body 1, and the motor 17 drives the crank 18 to rotate clockwise, and the motor 17 converts the rotation of the crank 18 into the femur 2 through the crank-rocker mechanism. Continuous swing;

[0021] Described knee joint motion mechanism comprises femur 2, first spring 3, tibia 4, metatarsal bone 5, brake wire 12,...