Bionic joint type pneumatic bouncing leg

Abstract

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.

Description

technical field [0001] The invention relates to the technical field of bionic jumping robots, in particular to a sagittal plane jumping bionic joint type pneumatic jumping leg which uses a servo cylinder to imitate animal leg muscles and ligaments. Background technique [0002] The discrete location of the jumping movement and the explosiveness of the force make it have a strong ability to overcome obstacles and adapt to the terrain, and can meet the needs of such as interstellar exploration, military reconnaissance, and disaster relief that must reach areas with harsh terrain. Imitating animals in nature to use jumping movements to avoid predators and efficiently prey, the bionic jumping robot has become an ideal vehicle for reaching harsh terrain areas. With the help of biologists' inspiration from the jumping mechanism of fleas and the jumping mechanism of vertebrates, bionic jumping robots that combine animal jumping motion patterns with robotics have become a research h...

AI Technical Summary

Problems solved by technology

In view of the insurmountable dynamic parameters of the pneumatic system, the controllability of the dynamic parameters is poor, and the existing single power source articulated jumping legs all use electric motors or hydraulic pressure with the aid of multiple elastic elements to improve the jumping explosive power, but they have not been able to achieve large animals due to insufficient controllable explosive power. horizontal jumping motion

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