CN108748129A - It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism - Google Patents
It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism Download PDFInfo
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- CN108748129A CN108748129A CN201810623660.3A CN201810623660A CN108748129A CN 108748129 A CN108748129 A CN 108748129A CN 201810623660 A CN201810623660 A CN 201810623660A CN 108748129 A CN108748129 A CN 108748129A
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- shank
- pneumatic muscles
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- springs
- wire rope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism, it is related to a kind of imitative frog travelling leg, to solve the problems, such as that the imitative frog travel robot leg structure complexity of existing pneumatic muscles driving is various, movement is dumb, driving unit is excessive, control is complicated and air consumption is big, it includes thigh and shank；The thigh includes pneumatic muscles one, pneumatic muscles two, thigh support frame, hip joint axis, knee axis, groups of springs one and groups of springs two；Pneumatic muscles one, pneumatic muscles two, groups of springs one, groups of springs two, hip joint axis and knee axis are mounted on thigh support frame；The end-fitting end of pneumatic muscles one is connect with steel wire rope group one；Thigh is rotatablely connected by one end of knee axis and shank, and thigh is rotatablely connected by the hip joint of hip joint axis and imitative frog robot, and the other end of shank is additionally provided with the ankle-joint axis for connecting imitative frog robot foot section.The invention belongs to robotic technology fields.
Description
Technical field
It moves about leg present invention relates particularly to a kind of imitative frog, and in particular to a kind of using wire rope gearing and spring reset
Frog travelling leg mechanism is imitated in pneumatic muscles driving, belongs to robot field.
Background technology
As the exploration to water environments such as ocean, lakes is deep, different nature bred turtle robots are as important research object
Using different propulsion modes, there is the bionical underwater propulsion for imitating hydrofoil and fin fluctuation, imitates the biologies such as octopus or jellyfish and pass through
It shrinks itself vessel water spray and realizes propulsion, and imitate the hydrofoils such as underwater propulsion mode and penguin green turtle of frog robot leg formula structure
Flapping locomotion is different, and the pectoral fin for being different from general fish is swung and the propulsion modes such as tail fin fluctuation.
A kind of existing more pneumatic muscles concentrate on the imitative frog travel robot of trunk main body.In order to mitigate imitative frog machine
The weight of people's hind leg focuses on driving hip joint and kneed pneumatic muscles on main body trunk, by being placed at knee joint
Pneumatic muscles in trunk main body move wire rope gearing.Ankle-joint pneumatic muscles use doublejointed mounting means, are closed by knee
The driving for saving pneumatic muscles improves the practical driving trip of ankle-joint pneumatic muscles.But the structure passes through the resetting spring in each joint
Ensureing joint angles causes to move unstable, pulls knee joint rotation over long distances by single wire rope, hip joint passes through slide bar
Holder pivots are driven, complicated, movement is dumb, leads to practical driving energy force difference.
The imitative frog travel robot of current pneumatic muscles antagonism formula driving.The leg knot of pneumatic muscles antagonism formula driving
Structure, simple joint use double pneumatic muscles to be installed to pull-shaped formula, and joint positive and negative rotation is controlled by pneumatic muscles, are adjusting joint angles
While control joint stiffness, but the formation joint needs pneumatic muscles number more, complicated.Antagonism formula drives joint initial
When position, two muscle can adjust initial stiffness by pouring certain air pressure, then a muscle continue inflation and it is another
Muscle deflates to realize articulation.But under the conditions of air source is limited, this working method needs larger air consumption, together
When increase control complexity.
Invention content
The present invention is that the imitative frog travel robot leg structure complexity of existing pneumatic muscles driving is various, moves to solve
Problem dumb, driving unit is excessive, control is complicated and air consumption is big, and then propose a kind of using wire rope gearing and spring
Frog travelling leg mechanism is imitated in the pneumatic muscles driving of reset.
The technical scheme is that：It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg
Mechanism, it includes thigh and shank；The thigh includes pneumatic muscles one, pneumatic muscles two, thigh support frame, hip joint axis, knee
Joint shaft, groups of springs one and groups of springs two；Pneumatic muscles one, pneumatic muscles two, groups of springs one, groups of springs two, hip joint axis and
Knee axis is mounted on thigh support frame；Hip joint axis and knee axis are respectively the joint shaft with race, and hip joint axis is adjacent
The pneumatic joint end setting of nearly pneumatic muscles one is simultaneously rotated relative to thigh support frame, and knee axis connects adjacent to the end of pneumatic muscles one
Head end setting is simultaneously rotated relative to thigh support frame；The end-fitting end of pneumatic muscles one is connect with steel wire rope group one, steel wire rope group one
It is connect with groups of springs one after the race of knee axis, the end-fitting end of pneumatic muscles two is connect with steel wire rope group two, steel
Cord group two is connect after the race of hip joint axis with groups of springs two；Thigh is rotated by one end of knee axis and shank to be connected
It connects, thigh is rotatablely connected by the hip joint of hip joint axis and imitative frog robot, and the other end of shank is additionally provided with for connecting
Connect the ankle-joint axis of imitative frog robot foot section.
Further, shank includes shank pneumatic muscles, small leg support, ankle-joint axis and shank groups of springs；Shank is pneumatic
Muscle, ankle-joint axis and shank groups of springs are separately mounted in small leg support；Ankle-joint axis is adjacent to the end of shank pneumatic muscles
Tip side is arranged, and ankle-joint axis is the joint shaft with race and can be rotated relative to small leg support that small leg support is fixed in knee pass
On nodal axisn, the end-fitting end of shank pneumatic muscles is connect with shank steel wire rope, the race of shank steel wire penetrating ankle-joint axis
And it is connect with shank groups of springs.
Further, groups of springs one includes two springs being set up in parallel, which connect with steel wire rope, should
The other end of two springs is fixed on spring fixed column, and spring fixed column is mounted on thigh support frame.
Further, groups of springs two includes two springs being set up in parallel, which connect with steel wire rope, should
The other end of two springs is fixed on spring fixed column, and spring fixed column is mounted on thigh support frame.
Further, shank groups of springs includes two shank springs being set up in parallel, two shank spring one ends and steel
Cord connects, and the other end of two shank springs is fixed on shank spring fixed column, and shank spring fixed column is mounted on small
On leg support.
Further, static sealing ring, dynamic seal ring and compression are provided between bone plate under bone plate and shank on thigh
Spring；Static sealing ring, dynamic seal ring and compressed spring are sleeved on knee axis from the bottom to top, and static sealing ring is fixed in bone on thigh
On bone plate, compressed spring acts against under dynamic seal ring and shank on bone plate.
The advantageous effect of the present invention compared with prior art is：
1, a kind of driven using the pneumatic muscles of wire rope gearing and spring reset proposed by the present invention imitates frog travelling leg
Driving muscle is no longer placed in main body trunk, is completely disposed at leg structure, driver is detached with trunk main body, facilitates machine by mechanism
The arrangement of each system of device people, more can mimic biology frog myoarchitecture distribution and joint motions, more meet bionic principle.
2, body construction of the present invention is using the driving structure and more reasonably configuration mode of innovation, hip, SCID Mice driving
Identical, the double pneumatic muscles of thigh are symmetrical, and structure is compacter, modularization.Air source in robot system is to pass through
What self-contained micro air pump provided, driving muscle less so that air consumption is less, which is more suitable for independent underwater machine
Device people's system.
3, the present invention is dynamic using rope belt movable joint shaft rotation, simple in structure, and it is constant to generate torque radial location so that reason
It is simpler accurate by modeling analysis.The righting moment that the contraction of hip, SCID Mice needs is completed by resetting spring, by driving
The large driving force of muscle and diastole reset so that pneumatic muscles driving output is more fully utilized.
4, thigh of the present invention is connect with the knee axis of the hip joint shaft connection place of imitative frog main body trunk, thigh and shank
The ankle-joint shaft connection place at place, shank and foot uses mechanical seal, is sealed using standardized mechanical seal ring, effectively
It ensure that joint shaft connection place leakproofness, prevent liquid from revealing.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is thigh support frame of the present invention, small leg support and shell mechanism schematic diagram；
Fig. 3 is thigh structural schematic diagram of the present invention；
Fig. 4 is that thigh of the present invention removes the structural schematic diagram on thigh after bone plate；
Fig. 5 is that shank of the present invention removes the structural schematic diagram on shank after bone plate；
Fig. 6 is knee axis sectional view of the present invention；
Fig. 7 is installation site figure of the present invention travelling leg mechanism in imitative frog robot.
Specific implementation mode
Technical scheme of the present invention is further described with reference to the accompanying drawings and examples.
Shown in Fig. 1-Fig. 4, being driven using the pneumatic muscles of wire rope gearing and spring reset for present embodiment is imitative
Frog travelling leg mechanism, it includes thigh 1 and shank 2；The thigh 1 includes one 1-1 of pneumatic muscles, two 1-2 of pneumatic muscles, big
Leg support 1-3, hip joint axis 1-11, two 1-10 of knee axis 1-12, one 1-9 of groups of springs and groups of springs；One 1-1 of pneumatic muscles,
Two 1-2 of pneumatic muscles, one 1-9 of groups of springs, two 1-10 of groups of springs, hip joint axis 1-11 and knee axis 1-12 are mounted on thigh branch
On frame 1-3；Hip joint axis 1-11 and knee axis 1-12 is respectively the joint shaft with race, and hip joint axis 1-11 is neighbouring pneumatic
The pneumatic joint end setting of one 1-1 of muscle is simultaneously rotated relative to thigh support frame 1-3, and knee axis 1-12 is adjacent to one 1-1 of pneumatic muscles
The setting of end-fitting end and opposite thigh support frame 1-3 rotations；
The end-fitting end of one 1-1 of pneumatic muscles is connect with steel wire rope group one, and steel wire rope group one passes through knee axis 1-12
Race after connect with one 1-9 of groups of springs, the end-fitting end of two 1-2 of pneumatic muscles is connect with steel wire rope group two, steel wire rope group
Two connect after the race of hip joint axis 1-11 with two 1-10 of groups of springs；
Thigh 1 is rotatablely connected by one end of knee axis 1-12 and shank 2, and thigh 1 is by hip joint axis 1-11 and imitates
The hip joint of frog robot is rotatablely connected, and the other end of shank 2 is additionally provided with the ankle for connecting imitative frog robot foot section
Joint shaft 5.
The hip joint axis 1-11, knee axis 1-12 are two shafts at thigh both ends, the ankle-joint axis 2-3 respectively
It is the shaft of shank one end, thigh 1 can be mounted on by hip joint axis 1-11 on imitative frog robot body's trunk, and shank 2 is logical
The knee axis 1-12 crossed on thigh 1 is installed together at an angle with thigh 1, the ankle-joint axis 2-3 on shank 2
Imitative frog robot foot section flippers structure can be installed.
Hip joint, knee joint, ankle-joint only use a pneumatic muscles as driving respectively, and the thigh is pneumatic by two
Muscle is symmetrical to realize that hip joint and knee joint rotation, one 1-1 of pneumatic muscles inflations and exhaust realize knee axis 1- respectively
12 rotations, and then shank 2 is driven to rotate, the 1-11 rotations of hip joint axis, Jin Ershi are realized in the inflation and exhaust of two 1-2 of pneumatic muscles
1 rotation of itself of existing thigh, the shank is realized by a shank pneumatic muscles drives ankle-joint axis 2-3 to rotate, and realizes band
Action spot portion rotates.Spring is Hookean spring, and spring pre-tightens steel wire rope, ensures that thigh and shank restore initial bit after stretching, extension
It sets, realizes and receive leg action.For present embodiment by pneumatic muscles similar to the contraction feature of biological muscles, i.e. convergent force is big, shrinks
Speed is fast, by pouring high pressure gas to pneumatic muscles, drives each joint shaft to rotate, realizes leg extension.
It is shown in Figure 5, in order to realize that travelling leg control is easy, the shank of pneumatic muscles driving, shank 2 are devised thus
Including shank pneumatic muscles 2-1, small leg support 2-2, ankle-joint axis 2-3 and shank groups of springs 2-4；Shank pneumatic muscles 2-1, ankle
Joint shaft 2-3 and shank groups of springs 2-4 are separately mounted on small leg support 2-2；Ankle-joint axis 2-3 is adjacent to shank pneumatic muscles 2-
1 end-fitting end setting, ankle-joint axis 2-3 are the joint shaft with race and can be rotated relative to small leg support 2-2, shank branch
Frame 2-2 is fixed on knee axis 1-12, and the end-fitting end of shank pneumatic muscles 2-1 is connect with shank steel wire rope, shank steel
Cord passes through the race of ankle-joint axis 2-3 and is connect with shank groups of springs 2-4.The relative position of knee axis 1-12 and shank 2
It is fixed by the key 1-13 on joint shaft.
The movement of the thigh, shank moves Steel rope drive by pneumatic muscles, and wirerope-winding is in hip joint axis, knee
On joint shaft, ankle-joint axis, steel wire rope realizes static friction with above-mentioned joint shaft, is driven by the flexible drawing steel wire rope of pneumatic muscles
Joint shaft rotates.The hip joint, knee joint, the driving structure of ankle-joint are identical, and pneumatic muscles one end is mounted on size
On the holder of leg, the pneumatic muscles other end is connect with steel wire rope, steel wire rope be tightly wound around hip, SCID Mice axis it is big
On the race of diameter disk, the steel wire rope other end is connected on spring fastenings 1-6, the spring one end and spring fastenings 1-
6 connections, the other end are connect with spring fixed column 1-5 or shank spring fixed column 2-5, and the homing action is arrived by spring reset
Initial joint position.For pretightning force firmly by steel wire rope tightly around on joint shaft, steel wire rope pulls joint shaft by stiction
Rotation, to drive leg structure to move.
Shown in Fig. 4 and Fig. 5, in order to control rigidity, one 1-9 of groups of springs includes two springs being set up in parallel, this two
Root spring one end is connect with steel wire rope, and the other end of two springs is fixed on spring fixed column 1-5, spring fixed column 1-5
On thigh support frame 1-3.Steel wire rope group one and steel wire rope group two respectively include two steel wire ropes.
Two 1-10 of groups of springs includes two springs being set up in parallel, which connect with steel wire rope, this two
The other end of spring is fixed on spring fixed column 1-5, and spring fixed column 1-5 is mounted on thigh support frame 1-3.Shank groups of springs
2-4 includes two shank springs being set up in parallel, which connect with steel wire rope, two shank springs
The other end is fixed on shank spring fixed column 2-5, and shank spring fixed column 2-5 is mounted on small leg support 2-2.Groups of springs one
1-9 and two 1-10 of groups of springs are arranged in parallel.Leg groups of springs 2-4 includes two steel wire ropes.
Illustrate referring to Fig. 1 and Fig. 4, in order to ensure to move about, leg is simple in structure, and easy to use, thigh support frame 1-3 includes thigh
Bone plate 1-3-2 under upper bone plate 1-3-1 and thigh；Bone plate 1-3-1 and bone plate 1-3-2 spacing parallel arrangings under thigh on thigh
Be arranged and link together, be equipped between bone plate 1-3-2 under bone plate 1-3-1 and thigh on thigh connect with the two it is pneumatic
One 1-1 of muscle, two 1-2 of pneumatic muscles, one 1-9 of groups of springs, two 1-10 of groups of springs, hip joint axis 1-11 and knee axis 1-12.
Shown in Fig. 1 and Fig. 5, small leg support 2-2 includes bone plate 2-2-2 under bone plate 2-2-1 and shank on shank；
Bone plate 2-2-2 spacing parallel arrangings are arranged and link together under bone plate 2-2-1 and shank on shank, bone plate 2-2- on shank
1 and shank under one 2-1 of shank pneumatic muscles connect with the two and shank groups of springs 2-4, knee pass are equipped between bone plate 2-2-2
Nodal axisn 1-12 and bone plate 2-2-1 on shank are affixed.So set, compact-sized, part is unified simple.Each joint shaft only by
Lineoutofservice signal pull acts on, and the structure torque radius remains unchanged, and is analyzed convenient for theoretical modeling.Hip joint axis 1-11 and knee close
Nodal axisn 1-12 is installed together realization rotation, gas by bone plate 1-3-2 under bone plate 1-3-1, thigh on bearing 1-8 and thigh
Dynamic muscle one is fastened on the fixation cutting ferrule 1-7 being installed on thigh support frame 1-3.Fixed cutting ferrule 1-7 is fixed on bone under thigh
On plate 1-3-2, other same fixations of pneumatic muscles.
Shown in Figure 6, the hip joint axis, is reserved with the position for placing mechanical seal ring on ankle-joint axis at knee axis
Set, thigh and the hip joint shaft connection place of main body trunk, the knee axis junction of thigh and shank, shank and foot ankle
Joint shaft connection place puts on mechanical seal.The mechanically-sealing apparatus is divided into two parts, and static sealing ring is tightly secured in thigh support frame
On, dynamic seal ring is tightly placed on joint shaft, and it is that minute surface contacts that static and dynamic sealing circle, which has a common boundary, is pressed by compressed spring, to
Ensure to realize sealing while joint shaft rotation.Specifically by taking knee axis as an example：Bone under bone plate 1-3-1 and shank on thigh
Static sealing ring 3-1, dynamic seal ring 3-2 and compressed spring 3-3 are provided between plate 2-2-2；Static sealing ring 3-1, dynamic seal ring 3-2
It being sleeved on from the bottom to top on knee axis 1-12 with compressed spring 3-3, static sealing ring 3-1 is fixed on thigh on bone plate 1-3-1,
Compressed spring 3-3 is acted against under dynamic seal ring 3-2 and shank on bone plate 2-2-2.In addition, shown in Figure 5, thigh 1 and small
Leg 2 is wrapped up by two parts above and below sealing shell, by the way that two layers of semicircle groove is respectively set in two housings junction, is then injected into
Hot melt adhesive realizes water-stop.
The course of work
Shown in Fig. 1-Fig. 7.It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg machine
Installation site figure of the structure in imitative frog robot, in Fig. 7 shown in dashed region, the hip joint axis 1-11, knee axis 1-
12 be two shafts at thigh both ends respectively, and the ankle-joint axis 2-3 is the shaft of shank one end, and thigh 1 passes through hip joint axis
1-11 can be mounted on robot body's trunk, and shank 2 is by the knee axis 1-12 on thigh 1 with thigh 1 in one
Determine angle to be installed together, the ankle-joint axis 2-3 on shank 2 can install imitative frog robot foot section flippers structure.
Hip joint, knee joint, ankle-joint only use a pneumatic muscles as driving respectively, and the thigh 1 passes through two gas
Dynamic muscle is symmetrical to realize that hip joint and knee joint rotation, one 1-1 of pneumatic muscles inflations and exhaust realize knee axis respectively
1-12 is rotated, and then shank 2 is driven to rotate, and the 1-11 rotations of hip joint axis are realized in the inflation and exhaust of two 1-2 of pneumatic muscles, in turn
Realize the rotation of itself of thigh 1, the shank is realized by a shank pneumatic muscles 2-1 drives ankle-joint axis 2-3 to rotate, real
Now drive foot rotation.Spring is Hookean spring, and spring pre-tightens steel wire rope, ensures that thigh and shank restore initial after stretching, extension
Position is realized and receives leg action.By pneumatic muscles similar to the contraction feature of biological muscles, i.e. convergent force is big, and contraction speed is fast, leads to
It crosses and high pressure gas is poured to pneumatic muscles, each joint shaft is driven to rotate, realize leg extension.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (8)
1. imitating frog travelling leg mechanism using the driving of the pneumatic muscles of wire rope gearing and spring reset, it is characterised in that：It is wrapped
Include thigh (1) and shank (2)；The thigh (1) includes pneumatic muscles one (1-1), pneumatic muscles two (1-2), thigh support frame (1-
3), hip joint axis (1-11), knee axis (1-12), groups of springs one (1-9) and groups of springs two (1-10)；One (1- of pneumatic muscles
1), pneumatic muscles two (1-2), groups of springs one (1-9), groups of springs two (1-10), hip joint axis (1-11) and knee axis (1-
12) it is mounted on thigh support frame (1-3)；Hip joint axis (1-11) and knee axis (1-12) are respectively the joint with race
Axis, the pneumatic joint end setting of the neighbouring pneumatic muscles one (1-1) of hip joint axis (1-11) are simultaneously rotated relative to thigh support frame (1-3),
The end-fitting end setting of the neighbouring pneumatic muscles one (1-1) of knee axis (1-12) is simultaneously rotated relative to thigh support frame (1-3)；
The end-fitting end of pneumatic muscles one (1-1) is connect with steel wire rope group one, and steel wire rope group one passes through knee axis (1-12)
Race after connect with groups of springs one (1-9), the end-fitting end of pneumatic muscles two (1-2) is connect with steel wire rope group two, steel wire
Rope group two is connect after the race of hip joint axis (1-11) with groups of springs two (1-10)；
Thigh (1) is rotatablely connected by one end of knee axis (1-12) and shank (2), and thigh (1) passes through hip joint axis (1-
11) it is rotatablely connected with the hip joint of imitative frog robot, the other end of shank (2) is additionally provided with for connecting imitative frog robot
The ankle-joint axis (5) of foot.
2. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 1
Structure, it is characterised in that：The shank (2) include shank pneumatic muscles (2-1), small leg support (2-2), ankle-joint axis (2-3) and
Shank groups of springs (2-4)；Shank pneumatic muscles (2-1), ankle-joint axis (2-3) and shank groups of springs (2-4) are separately mounted to small
On leg support (2-2)；The end-fitting end of the neighbouring shank pneumatic muscles (2-1) of ankle-joint axis (2-3) is arranged, ankle-joint axis (2-
3) it is the joint shaft with race and can be rotated relative to small leg support (2-2), small leg support (2-2) is fixed in knee axis (1-
12) on, the end-fitting end of shank pneumatic muscles (2-1) is connect with shank steel wire rope, shank steel wire penetrating ankle-joint axis (2-
3) race is simultaneously connect with shank groups of springs (2-4).
3. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 2
Structure, it is characterised in that：Groups of springs one (1-9) includes two springs being set up in parallel, which connect with steel wire rope,
The other end of two springs is fixed on spring fixed column (1-5), and spring fixed column (1-5) is mounted on thigh support frame (1-3)
On.
4. imitating frog travelling leg according to the driving of the pneumatic muscles of wire rope gearing and spring reset is used described in Claims 2 or 3
Mechanism, it is characterised in that：Groups of springs two (1-10) includes two springs being set up in parallel, which connects with steel wire rope
It connects, the other end of two springs is fixed on spring fixed column (1-5), and spring fixed column (1-5) is mounted on thigh support frame (1-
3) on.
5. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 4
Structure, it is characterised in that：Shank groups of springs (2-4) includes two shank springs being set up in parallel, two shank spring one ends with
Steel wire rope connects, and the other end of two shank springs is fixed on shank spring fixed column (2-5), shank spring fixed column
(2-5) is mounted in small leg support (2-2).
6. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 5
Structure, it is characterised in that：Thigh support frame (1-3) includes bone plate (1-3-2) under bone plate (1-3-1) and thigh on thigh；Thigh
Upper bone plate (1-3-1) is arranged and links together with bone plate (1-3-2) spacing parallel arranging under thigh, bone plate (1- on thigh
3-1) between bone plate (1-3-2) under thigh be equipped with connect with the two pneumatic muscles one (1-1), pneumatic muscles two (1-2),
Groups of springs one (1-9), groups of springs two (1-10), hip joint axis (1-11) and knee axis (1-12).
7. imitating frog travelling leg according to described driven using the pneumatic muscles of wire rope gearing and spring reset of claim 5 or 6
Mechanism, it is characterised in that：Small leg support (2-2) includes bone plate (2-2-2) under bone plate (2-2-1) and shank on shank；It is small
Bone plate (2-2-2) spacing parallel arranging is arranged and links together under bone plate (2-2-1) and shank on leg, bone plate on shank
The shank pneumatic muscles one (2-1) being connect with the two and shank spring are equipped between (2-2-1) and bone plate (2-2-2) under shank
Group (2-4), knee axis (1-12) and bone plate (2-2-1) on shank are affixed.
8. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 7
Structure, it is characterised in that：On thigh static sealing ring (3- is provided between bone plate (2-2-2) under bone plate (1-3-1) and shank
1), dynamic seal ring (3-2) and compressed spring (3-3)；Static sealing ring (3-1), dynamic seal ring (3-2) and compressed spring (3-3) by
Under it is supreme be sleeved on knee axis (1-12), static sealing ring (3-1) is fixed on thigh on bone plate (1-3-1), compressed spring
(3-3) is acted against under dynamic seal ring (3-2) and shank on bone plate (2-2-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810623660.3A CN108748129A (en) | 2018-06-15 | 2018-06-15 | It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810623660.3A CN108748129A (en) | 2018-06-15 | 2018-06-15 | It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN108748129A true CN108748129A (en) | 2018-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810623660.3A Pending CN108748129A (en) | 2018-06-15 | 2018-06-15 | It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism |
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