CN108042316A - A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot - Google Patents
A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot Download PDFInfo
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- CN108042316A CN108042316A CN201710979447.1A CN201710979447A CN108042316A CN 108042316 A CN108042316 A CN 108042316A CN 201710979447 A CN201710979447 A CN 201710979447A CN 108042316 A CN108042316 A CN 108042316A
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- China
- Prior art keywords
- knee joint
- bionical
- bevel gear
- exoskeleton robot
- spiral bevel
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
Abstract
The invention discloses a kind of bionical variation rigidity flexibility knee joints of exoskeleton robot, including the elastic piece being arranged at knee joint, are arranged on the brshless DC motor that power is provided on shank inner panel and inner opposite end and the fixed knee joint shaft of thick link；Elastic piece includes outer ring and inner ring, S type elastomers is connected between outer ring and inner ring, outer ring is fixedly connected with thick link；Brshless DC motor one end is equipped with small spiral bevel gear, and small spiral bevel gear is engaged with the big spiral bevel gear being sleeved in knee joint shaft, and big spiral bevel gear is connected together with inner ring；Shank inner panel is equipped with pawl module, and knee joint shaft lateral ends are fixed with cam turntable, and tension spring one end is fixed on by steel wire rope on cam turntable, and the other end is fixed on the ratcheting rotary table of pawl module.The present invention slows down the impact force that foot landing instant ground is brought, protection human body knee joint preserves from, and makes walking process more comfortable using flexible drive.
Description
Technical field
The present invention relates to ectoskeleton field of mechanical technique, are specially that a kind of bionical variation rigidity flexibility knee of exoskeleton robot closes
Section.
Background technology
Exoskeleton robot be it is a kind of integrate ergonomics, the mechanical device of bionics, be integrated with sensing, control
The robot technology such as system, information coupling, mobile computing, it is the effects that support, protection, power-assisted can be provided for human body, primary
In the fields such as rehabilitation medical and military affairs.Exoskeleton robot is a kind of system of human-computer interaction, security, stability with it is comfortable
Property is even more important.And it is current, the mechanical structure of exoskeleton robot is mostly rigid connection, exists and moves not submissive enough, the mankind
When dressing its walking sole and the impact force on ground it is excessive and movement when system energy consumption it is big the shortcomings of.Lower limb and ground rush
Power can be transferred to each position of machine by structure, cause the vibration between parts, reduce mechanical stability against short circuit and precision, simultaneously
Stiff gait can be greatly lowered the comfort of user experience.Therefore, the degree of flexibility of machine joint of lower extremity is improved, utilizes flexibility
Structure carries out the storage and release of energy, reduces its system energy consumption etc., all to improving exoskeleton robot reliability and comfort
Play the role of particularly important.
At present, realize that the method for ectoskeleton Flexible Transmission has pneumatic muscles and SEA (series elastic driver), pneumatic muscles
Though the bionical performance of ectoskeleton can be improved, it is difficult to control, noise is big and shrinking percentage is small.SEA is used in terms of flexible joint
It must compare more, but the rigidity of SEA does not change, is many times different only to the initial of spring because of external loading
Phase is adjusted, and can not accomplish in the motion process for shrinking diastole at the time of realization rigidity to change as biological muscles
Become, reduce its adaptability.The patent of publication number CN103522302 B describes a kind of big output machine based on gravity energy-storage
People's flexibility energy storage joint, gravitional force in bionic design and articulation based on biological muscles Research on Mechanical Properties
Variation, by adding in the series connection elastomer of torsional spring and designed, designed in conventional machines person joint, when realizing articulation, machine
The storage of people's gravitional force and the release of large torque so as to reach big output effect, have damping accumulation of energy effect.But the design's
Rigidity is non-adjustable, and without position-limit mechanism, security deficiency.If the patent of 104385294 B of Publication No. CN describes one
Kind, will by using the series elastic driver form of spring-bevel gear commutator for the flexible joint of revolute robot
Output shaft one end of bevel gear commutator is connected with flexible output terminal so that it can realize flexible output during joint motions,
And storage and the characteristic that releases energy using flexure spring structure, improve energy ecology, and energy consumption is relatively low.But the flexibility
Joint solves only the problem of energy consumption, and rigidity is non-adjustable so that it is difficult in adapt to different external environment and work requirements.It is public
The number of opening is that the patent of 105397837 A of CN describes a kind of unidirectional series elastic driver, by pacifying between motor and load
Unidirectional elastic driving mechanism of the torsional spring as elastic element is filled with, increases the flexibility in joint, but there is no the energy of the system of reduction
Consumption, and rigidity is also immutable.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide one kind can slow down people in wearing exoskeleton robot walking
During the impact force that brings of foot landing instant ground, and play the role of foot landing and buffering, protection human body knee joint from
Injury, makes the bionical variation rigidity flexibility knee joint of the more comfortable exoskeleton robot of walking process.Technical solution is as follows：
A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot, including the elastic piece being arranged at knee joint, is arranged on small
The brshless DC motor of offer power and inner opposite end and the fixed knee joint shaft of thick link on leg inner panel；Elastic piece bag
Outer ring and inner ring are included, S type elastomers are connected between outer ring and inner ring, outer ring is fixedly connected with thick link；Brushless dc
Machine one end is equipped with small spiral bevel gear, and small spiral bevel gear is engaged with the big spiral bevel gear being sleeved in knee joint shaft, greatly
Spiral bevel gear is connected together with inner ring.
Further, tension spring is further included, pawl module, knee joint shaft outside one are additionally provided on the shank inner panel
End is fixed with cam turntable, and tension spring one end is fixed on by steel wire rope on cam turntable, and the other end is fixed on pawl module
Ratcheting rotary table on.
Further, the pawl module is equipped with adjusting knob, and rotation axis and the ratchet rotating shaft of adjusting knob assemble
It is fixed；Pawl applies elastic force by the ratchet spring of tail end, is resisted against between ratchet, and the ratchet spring other end is connected with for by spine
Pawl pulls out the pulling-on piece of ratchet.
Further, it is equipped with positive stop lug boss on the inside of the outer ring, outside is equipped with and /V at the knee joint of shank inner panel
Boss coordinates, and plays the arc metal plate of rotary stopper.
Further, simultaneously equipped with outer connecting for what is be fixedly connected with outer ring at the knee joint of the thick link lower end
Connect hole and the interconnecting hole for being fixedly connected with inner ring.
Further, the inner opposite end of the knee joint shaft is star shaft end, is consolidated by bolt and thick link
Fixed connection.
Further, the shank inner panel upper end is equipped with shank upper end cover, and shank upper end cover is equipped with to detect knee
The encoder of the rotational angle in joint.
The beneficial effects of the invention are as follows：
1）The present invention slows down people foot landing instant ground during wearing exoskeleton robot walking using flexible drive
The impact force brought plays the role of foot landing and buffering, and protection human body knee joint preserves from, and makes walking process more comfortable；
2）Present invention reduces the rate of changes of reciprocal force between man-machine, alleviate the extruding to tissue, make walking process
It is more natural, comfortable；
3）The present invention realizes successional stiffness variation in knee joint rotation process, and the process of flexible drive is made to be more in line with people
The mechanism of body musculature, achievees the purpose that bionical, and people is allowed to feel comfortable；
4）The present invention realizes the adjustable of initial stiffness, and the wearer or different bear a heavy burden for different weight adjust flexible drive
Link reaches most suitable initial stiffness；
5）Present invention reduces the power of driving motor, realize energy using elastomer and store；Elastic link energy storage makes motor
Power reduces, and extends cruising time；
6）The elastic piece of the present invention has position-limit mechanism, can greatly increase the security of flexible drive；
7）The combined elastic module of the present invention " original dynamic flesh " module and " antagonist " module, make flexible drive process more naturally,
People is allowed to feel comfortable, can also according to demand, free switching flexible drive/rigidity driving, " the confrontation of use/unuse variation rigidity
Flesh " module.
Description of the drawings
Fig. 1 is the flexible kneed outline structural diagram of the bionical variation rigidity of exoskeleton robot of the present invention.
Fig. 2 is scheme of installation of the elastic piece of the present invention on shank inner panel.
Fig. 3 is big spiral bevel gear structure diagram.
Fig. 4 is the structure diagram for realizing rotary limited function.
Fig. 5 is thick link inside structure schematic diagram.
Fig. 6 is the structure diagram of countermeasures simulation muscular function of the present invention.
Fig. 7 is joint pivot structure schematic diagram.
Fig. 8 is initial stiffness adjustment module structure diagram.
Fig. 9 is adjusting knob installation relation structure diagram.
Figure 10 is the flexible kneed explosive view of the bionical variation rigidity of exoskeleton robot of the present invention.
In figure：11- thick links；12- elastic pieces；13- shank upper end covers；14- encoders；15- brshless DC motors；
16- motor encoders；17- steel wire ropes；18- tension springs；19- gusset plates；110- shank bottom end covers；111- adjusting knob moulds
Block；112- pawl modules；113- shank inner panels；114- bearings；22- outer rings；23-S type elastomers；24- inner rings；25- tail ends；
The big spiral bevel gears of 31-；32- screw holes；42- arc metal plates；43- positive stop lug boss；The outer connecting holes of 52-；53- stars shaft end；54-
Interconnecting hole；62- small spiral bevel gears；63- cam turntables；66- ratcheting rotary tables；72- knee joint shafts；81- pulling-on pieces；82- spine
Latch spring；83- pawls；84- ratchets；85- adjusting knobs；86- knob endcaps, 87- pawl end caps；91- ratchet rotating shafts；92- revolves
Button axis.
Specific embodiment
The present invention is described in further details in the following with reference to the drawings and specific embodiments.
The present embodiment is directed to a kind of Bionic flexible lower limb of walk-aiding exoskeleton robot design, is mainly driven comprising flexible
Dynamic knee joint resists the variation rigidity Flexible element of form and initial stiffness adjustment module.
The knee joint of flexible drive including the elastic piece 12 being arranged at knee joint, is arranged on shank inner panel 113 and provides
The brshless DC motor 15 and inner opposite end of power and 11 fixed knee joint shaft 72 of thick link；Elastic piece 12 includes outer
Circle 22 and inner ring 24, are connected with S types elastomer 23, outer ring 22 is fixedly connected with thick link 11 between outer ring 22 and inner ring 24；
15 one end of brshless DC motor is equipped with small spiral bevel gear 62, and small spiral bevel gear 62 is big in knee joint shaft 72 with being sleeved on
Spiral bevel gear 31 engages, and big spiral bevel gear 31 is connected together with inner ring 24.
Including tension spring 18, pawl mould is additionally provided on the shank inner panel 113 for the variation rigidity Flexible element of confrontation form
Block 112,72 lateral ends of knee joint shaft are fixed with cam turntable 63, and 18 one end of tension spring is fixed on convex by steel wire rope 17
It takes turns on turntable 63, the other end is fixed on the ratcheting rotary table 66 of pawl module 112.
Initial stiffness adjustment module, pawl module 112 are equipped with adjusting knob 85, the rotation axis 92 of adjusting knob 85 and spine
The assembling of shaft 91 is taken turns to fix；Pawl 83 applies elastic force by the ratchet spring 82 of tail end, is resisted against between ratchet, and ratchet spring 82 is another
One end is connected with to pull out pawl 83 into the pulling-on piece 81 of ratchet.
Fig. 1 show the flexible kneed overall appearance of walk-aiding exoskeleton robot, mainly knee joint and lower leg portion.
Thick link 11 is connected by bolt with elastic piece 12, then is connected with big spiral bevel gear 31 by bolt, make power end with it is defeated
The connection of outlet becomes flexible from rigidity, realizes flexible drive；Encoder 14 is attached on shank upper end cover 13, is measured kneed
Rotational angle；Brshless DC motor 15 drives small spiral bevel gear 62 to rotate as power output end, and motor encoder 16 measures
The absolute corner of motor, gusset plate 19 realize the control to motor；Tension spring 18 is used as elastic element countermeasures simulation flesh；Pawl
Module 112 and adjusting knob module 111 are assemblied in as the external control terminal to ratchet on shank bottom end cover 110.
Fig. 2 is installation view of the flexible kneed key component elastic piece 12 on shank.The inner ring 24 of elastic piece 12 with
The tail end 25 of big spiral bevel gear is engaged, and bolt is by four diameter 3.2mm through holes and the big spiral bevel gears of Fig. 3 on inner ring
The screw hole 32 of M3 is engaged on the second-order end face of gear end, and torque output and special elastic piece inner ring is affixed；Elastic piece
Intermediate S-shaped elastomer 23 1 terminates outer ring 22, and a termination inner ring 24, when torque effect is with inner ring, Internal and external cycle has opposite turn
Dynamic trend, is transmitted torque to by intermediate S-shaped body on outer ring, realizes flexible drive, slows down the change in torque of motor transmission
Rate reduces human-computer interaction power；Also, it when foot lands and generates impact force, due to the S-shaped elastomer among knee joint, will produce
The effect of a raw buffering, greatly reduces impact force, protects knee joint；The special elastic piece can also possess certain storage
Can function, the compression spring energy-storage during go down on one's knees, exoergic is to reduce power of motor during stretching.Compared with as confrontation
The tension spring 18 of flesh, the elastic piece 12 are defined as former dynamic flesh, two kinds " muscle " interaction, the flexibility of realization confrontation form
Driving, achievees the purpose that bionical.
Fig. 4 is special elastomer and the inside figure of shank assembling.22 inside of outer ring of elastic piece 12 is equipped with positive stop lug boss 43,
Outside is equipped with and coordinates with positive stop lug boss 43 at the knee joint of shank inner panel 113, plays the arc metal plate 42 of rotary stopper.Limit
Position boss can only play position-limiting action in the partial turn of no sheet metal, when motor misroute or special elastic piece among
S-shaped elastomer fatigue rupture when, wearer can be protected to be blocked in certain position motionless, prevent secondary injury.
Fig. 5 is figure on the inside of thick link.Thick link 11 is connected by bolt with elastic piece 12；When using race diameter
When the outer connecting hole 52 of 4.3mm is connected with the threaded hole of special elastic piece outer ring M4, possesses flexible drive effect；When using inner ring
When the interconnecting hole 54 of diameter 4.3mm is connected with the threaded hole of special elastic piece inner ring M4, will not possess flexible drive effect, become
Into rigid connection；This just enable the mechanism according to whether flexible link and arbitrarily switch flexible knee joint and rigid knee
Joint both of which；Star shaft end 53 is bolted with thick link, another termination cam turntable 63 of the axis, generation pair
The moment of elasticity of anti-form is acted on axis, and then is acted on thick link.
Fig. 6 is the interior views that walk-aiding exoskeleton robot flexibility knee joint shank removes end cap.Big spiral bevel gear 31
And small spiral bevel gear 62 is meshed.
Fig. 7 is knee joint shaft figure, and cam turntable 63 is fixed in by axle sleeve in knee joint shaft 72, knee joint shaft 72
Inner opposite end for star shaft end 53, be fixedly connected by bolt with thick link 11.Star shaft end 53 and thick link phase
Even, star mechanism can share the transmission of a part of torque, reduce the stress on connection bolt；Lay winding wire ropes on cam turntable
17, tension spring 18 is then connected, is finally wound up on ratcheting rotary table 66, " antagonist " module is integrally formed；When knee joint turns
It is dynamic, shaft is driven to rotate, cam turntable rotates, and pulling force is generated to tension spring, since ratchet is in the direction of pull self-locking, lower end
It is motionless, spring tension to cam generate a torque, the torque to on thick link；The torque that the spring generates is not only
Play the role of cushion impact forces, while also possess energy storage, during going down on one's knees, spring elongation energy storage, leg straightening procedure
In, elastic restoring force acting reduces power of motor.The effect of module maximum is that by connecting during flexible drive
The stiffness variation of continuous property, because the distance of the outer ring of cam to spindle central is different, in rotation process, the arm of force is continuously elongated,
The torque also successional increase that power generates so that the successional slow increasing of the equivalent stiffness of special elastic piece and tension spring
Greatly, this is similar with the Rigidity Theory of muscle, has the function that bionical, the more naturally smooth flexible drive of realization.
Fig. 8 is initial stiffness adjustment module, mainly has ratchet 84 to form.When steel wire rope 17 hauls ratcheting rotary table along the figure inverse time
When pin direction rotates, ratchet self-locking under the action of pawl 83；Pawl is constantly in dieback shape due to the effect of ratchet spring 82
State can be rotated clockwise increase initial stiffness by adjusting knob 85, pulling-on piece 81 is extracted and can be revolved in a counterclockwise direction
Button is rotated to reduce initial stiffness, by changing initial rigidity to the change of initial tension of spring, to adapt to different heavy burdens
And wearer's weight, it is preferable using the rigidity of bigger for heavier people.
Adjusting knob part assembly relation such as Fig. 9, ratchet rotating shaft 91 are assembled with rotation axis 92, then with trip bolt fixing axle
And knob；Pulling-on piece 81 can prevent it from rebounding after being rotated by 90 ° after extracting, so that ratchet loses its function, can pass through
So using " antagonist " model realization variation rigidity or arbitrarily switching in pattern within two weeks without using " antagonist " module.
Wearer in use, large and small leg is connected with exoskeleton robot Bionic flexible knee joint by bondage, drive by flexibility
Dynamic knee joint rotates.It can be by extracting pawl pulling-on piece 81 and being rotated by 90 ° the pattern become without using " antagonist " module, it can be with
It is connected by thick link 11 with elastic piece outer ring 22, using flexible drive function, thick link 11 and elastic piece can be passed through
Inner ring 24 connects, and uses rigid driving function.It, can be according to own body weight and heavy burden situation, turn knob 85 when wearing starts
Adjust initial equivalent stiffness.The Bionic flexible knee joint can reduce the impact force that lands, and reduce human-computer interaction power, and protection knee closes
Section reduces power of motor, makes one to feel more comfortable when dressing exoskeleton robot walking, also improves the peace of machine in itself
Quan Xing.
Claims (7)
1. a kind of bionical variation rigidity flexibility knee joint of exoskeleton robot, which is characterized in that including the bullet being arranged at knee joint
Property piece（12）, it is arranged on shank inner panel（113）The upper brshless DC motor that power is provided（15）And inner opposite end and thick link
（11）Fixed knee joint shaft（72）；Elastic piece（12）Including outer ring（22）And inner ring（24）, outer ring（22）And inner ring（24）
Between be connected with S type elastomers（23）, outer ring（22）With thick link（11）It is fixedly connected；Brshless DC motor（15）One end is set
There is small spiral bevel gear（62）, small spiral bevel gear（62）With being sleeved on knee joint shaft（72）On big spiral bevel gear（31）
Engagement, big spiral bevel gear（31）With inner ring（24）It is connected together.
2. the bionical variation rigidity flexibility knee joint of exoskeleton robot according to claim 1, which is characterized in that further include drawing
Power spring（18）, the shank inner panel（113）On be additionally provided with pawl module（112）, knee joint shaft（72）Lateral ends are fixed
There is cam turntable（63）, tension spring（18）One end passes through steel wire rope（17）It is fixed on cam turntable（63）On, the other end is fixed
In pawl module（112）Ratcheting rotary table（66）On.
3. the bionical variation rigidity flexibility knee joint of exoskeleton robot according to claim 2, which is characterized in that the pawl
Module（112）It is equipped with adjusting knob（85）, adjusting knob（85）Rotation axis（92）With ratchet rotating shaft（91）Assembling is fixed；Spine
Pawl（83）Pass through the ratchet spring of tail end（82）Apply elastic force, be resisted against between ratchet, ratchet spring（82）Other end connection is useful
In by pawl（83）Pull out the pulling-on piece of ratchet（81）.
4. the bionical variation rigidity flexibility knee joint of exoskeleton robot according to claim 1, which is characterized in that the outer ring
（22）Inside is equipped with positive stop lug boss（43）, shank inner panel（113）Knee joint at outside be equipped with and positive stop lug boss（43）Cooperation rises
The arc metal plate of rotary stopper effect（42）.
5. the bionical variation rigidity flexibility knee joint of exoskeleton robot according to claim 1, which is characterized in that the thigh
Connecting rod（11）Simultaneously equipped with being used for and outer ring at the knee joint of lower end（22）The outer connecting hole being fixedly connected（52）And for it is interior
Circle（24）The interconnecting hole being fixedly connected（54）.
6. the bionical variation rigidity flexibility knee joint of exoskeleton robot according to claim 1, which is characterized in that the knee closes
Save shaft（72）Inner opposite end be star shaft end（53）, pass through bolt and thick link（11）It is fixedly connected.
7. the bionical variation rigidity flexibility knee joint of exoskeleton robot according to claim 1, which is characterized in that the shank
Inner panel（113）Upper end is equipped with shank upper end cover（13）, shank upper end cover（13）It is equipped with to detect kneed rotational angle
Encoder（14）.
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| CN201710979447.1A CN108042316A (en) | 2017-10-19 | 2017-10-19 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
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| CN201710979447.1A CN108042316A (en) | 2017-10-19 | 2017-10-19 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
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| CN108748129A (en) * | 2018-06-15 | 2018-11-06 | 哈尔滨工业大学 | It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism |
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