JP5380675B2 - Actuator and jumping apparatus using the actuator - Google Patents

Description

  The present invention relates to an actuator having both spring and air properties, and a jumping apparatus using the actuator.

  Many of the conventional jumping devices use a compressed air or a spring to accumulate mechanical energy, and release the accumulated mechanical energy to realize jumping.

  For example, in Patent Document 1 below, a piston-like rod is housed in one end of a cylinder so as to be able to project and retract, a spring for urging the piston-like rod in a protruding direction is housed in the cylinder, and a shaft is placed in the other end of the cylinder. A jumping device (hopping) is disclosed in which a T-shaped handle shaft extending in the direction is provided, and a step for stepping on the outer periphery on one end side of the cylinder is provided in the radial direction. According to this hopping, a force can be applied to the apparatus to compress the air, and the human body can be jumped by the reaction force of the compressed air.

  Further, for example, Patent Document 2 listed below discloses a capsule composed of a rotating structure constituting an outer shell, a jumping device (a jumping / rotating moving body) provided with jumping means and rotation means mounted in the capsule. Yes. The jumping means comprises a cylinder provided so as to be rotatable with respect to the capsule. The rotating means includes an X-axis motor and a Y-axis motor that rotate the cylinder around the X axis and the Y axis perpendicular to the axis. According to the jumping / rotating moving body, the jumping is realized by accumulating the compressed air in the pneumatic tank and applying the compressed air to the pneumatic actuator at a stroke.

JP 2003-135625 A JP 2004-9167 A

  However, among the above-described conventional jumping devices, the jumping device (hopping) disclosed in Patent Document 1 handles air like a spring, so that a large reaction force is generated, which is about the weight of a person. Although it is possible to jump a heavy object, the reaction force (particularly timing) cannot be controlled, and therefore, the jump can be performed only at the timing when the reaction force is generated.

  Further, the jumping device (jumping / rotating moving body) disclosed in Patent Document 2 can control the jumping timing, jumping height, etc., but the flow rate of compressed air that can flow into the pneumatic actuator as a drive source In addition, since there is a limit to the force that can be generated by the pneumatic actuator, at the present time, a heavy object having a weight of several tens of kg has not been jumped.

  Therefore, the present invention has been made in view of the above situation, and has an actuator that jumps a heavy object and has properties of a spring capable of controlling the jump timing and air properties capable of controlling a jump height and direction. It is another object of the present invention to provide a jumping apparatus that can jump a heavy object using this actuator and can control the jump timing, jump height, and direction.

Next, means for solving the above problems will be described with reference to the drawings corresponding to the embodiments.
In the actuator according to the first aspect of the present invention, the hollow rubber material 3 having fibers is disposed between the two support ends 2, 2, and when compressed air flows into the hollow rubber material 3, The diameter of the hollow rubber material 3 expands to shorten its length, and when the compressed air of the hollow rubber material 3 flows out, the diameter of the hollow rubber material 3 contracts and expands to the original length. Rubber artificial muscle 1 (1a) ,
The hollow rubber material 3 is stretched by applying an external force in the length direction of the hollow rubber material 3 while injecting compressed air into the hollow rubber material 3 or while flowing, and the stretched state. An external force applying or releasing means for obtaining an instantaneous force by removing the tension by releasing the external force from ,
It is characterized by having .

  Until now, the pneumatic rubber artificial muscle 1 has been mainly used in a device for assisting flexor muscles such as a human arm by utilizing a force obtained by shortening the hollow rubber material 3. However, in this case, the compressed air is introduced into the hollow rubber material 3 or while the compressed air is introduced, the hollow rubber material 3 is stretched by applying tension in the length direction thereof, and is added from the stretched state. By removing the tension, an instantaneous force such as a spring is generated at a desired timing.

The jumping device according to claim 2 is a jumping device using the actuator according to claim 1,
Pneumatic rubber artificial muscle 1a serving as the actuator, another pneumatic rubber artificial muscle 1b, an upper leg member 13 having one end thereof rotatably provided, and one end at the other end of the upper leg member 13 A crus member 16 having a part rotatably connected thereto, and a foot part 18 having one end part rotatably connected to the other end of the crus member 16;
The pneumatic rubber artificial muscle 1a serving as the actuator is disposed on the front side of the upper thigh member 13, and constitutes the upper thigh portion 12 together with the upper thigh member 13, and the one support end 2 is the upper thigh member. And the other support end 2 is connected to the crus member 16 on the front side of the rotational connection part 17 of the crus member 13 and the crus member 16,
The other pneumatic rubber artificial muscle 1b is arranged on the rear side of the crus member 16 and constitutes a crus part 15 together with the crus member 16, and one end of the crus member 13 and the crus member 16 is rotated. It is connected to the upper leg member 13 on the rear side of the connecting part 17 and the other end is connected to the foot part 18 on the rear side of the rotating connecting part 19 of the lower leg member 16 and the foot part 18. Connected ,
The joint part 17 of the upper leg member 13 and the lower leg member 16 and the lower leg member 16 by applying external force by the external force applying or releasing means after flowing compressed air into the pneumatic rubber artificial muscle 1a. When the connecting portion 19 of the foot 18 is rotated by a predetermined angle, the angle between the upper leg member 13 and the lower leg member 16 is narrowed and the angle between the lower leg member 16 and the foot 18 is narrowed. , A jumping ready posture with the pneumatic rubber artificial muscle 1a extended,
When the external force is released by the external force imparting or releasing means, an instantaneous force is generated in the pneumatic rubber artificial muscle 1a to connect the crus member 13 to the crus member 16 and the crus member 16 to the foot 18. Each of the portions 19 rotates by a predetermined angle, and the angle formed by the upper leg member 13 and the lower leg member 16 is widened, and the angle formed by the lower leg member 16 and the foot part 18 is increased to jump. Yes.

  That is, the pneumatic rubber artificial muscle 1a serving as an actuator corresponds to the quadriceps femoris muscle, and the other pneumatic rubber artificial muscle 1b corresponds to the gastrocnemius muscle, so that a jumping device simulating the structure of a human leg as a whole is obtained.

  When compressed air flows into the hollow rubber material 3 of the pneumatic rubber artificial muscle 1a serving as an actuator, the hollow rubber material 3 is shortened. At this time, the internal pressure of the hollow rubber material 3 increases. Tension is applied to the hollow rubber material 3 to be shortened so that the hollow rubber material 3 is extended while maintaining a high internal pressure. At this time, the jumping device 10 is in a posture in which a leg is bent so as to jump. When the tension applied to the hollow rubber material 3 of the pneumatic rubber artificial muscle 1a serving as an actuator is removed, the jumping device 10 jumps in such a manner that a person jumps.

  Further, the tension applied to the hollow rubber material 3 can be removed at a timing desired by the user.

The jumping device according to claim 3 is the jumping device according to claim 2,
The pneumatic rubber artificial muscle 1a serving as the actuator is provided with controllable pressure and flow rate of compressed air flowing into the hollow rubber material 3.

  The jump height can be controlled by controlling the pressure and flow rate of the compressed air flowing into the hollow rubber material 3 of the pneumatic rubber artificial muscle 1a serving as an actuator corresponding to the quadriceps femoris.

The jumping device according to claim 4 is the jumping device according to claim 2 or 3,
The pressure and flow rate of the compressed air flowing into the hollow rubber material 3 constituting the other pneumatic rubber artificial muscle 1b is provided so as to be controllable.

  By controlling the pressure and flow rate of the compressed air flowing into the hollow rubber material 3 of the other pneumatic rubber artificial muscle 1b, which corresponds to the gastrocnemius, the jump direction (front and back) can be controlled.

The jumping device according to claim 5 is the jumping device according to claim 2 or 3,
Instead of the other pneumatic rubber artificial muscle 1b, another elastic body having elasticity is provided.

  In place of other pneumatic rubber artificial muscles 1b, other elastic bodies having elasticity can function like human gastrocnemius muscles as in the case of the pneumatic rubber artificial muscles 1b.

  According to the actuator according to the present invention, the compressed air is introduced into the hollow rubber material of the pneumatic rubber artificial muscle, or while the compressed air is introduced into the hollow rubber material, the hollow rubber material is stretched by applying a tension in the length direction thereof. By removing the applied tension from the applied state, an instantaneous force such as a spring is generated. Thus, the pneumatic rubber artificial muscle becomes an actuator having the nature of a spring capable of jumping a heavy object and controlling the jump timing and the nature of air capable of controlling the internal pressure of the hollow rubber material.

  Further, in the jumping device according to the present invention, the pneumatic rubber artificial muscle serving as the actuator corresponds to the quadriceps muscle, and the other pneumatic rubber artificial muscle corresponds to the gastrocnemius muscle, and imitated the structure of a human leg as a whole. It becomes a jumping device. Therefore, according to the jumping device according to the present invention, the pneumatic rubber artificial muscle serving as the actuator corresponding to the quadriceps muscle jumps the heavy object and the spring property capable of controlling the jump timing as described above. Since the jumping height and direction have the property of air that can be controlled, the heavy object can be jumped, and the jumping timing, jumping height, and direction can be controlled.

  Furthermore, the jump height can be controlled by controlling the pressure and flow rate of the compressed air that flows into the hollow rubber material of the pneumatic artificial rubber muscle serving as the actuator corresponding to the quadriceps femoris.

  Further, by controlling the pressure and flow rate of compressed air flowing into the hollow rubber material of another pneumatic rubber artificial muscle corresponding to the gastrocnemius muscle, the jumping direction (front and back) can be controlled.

  Furthermore, in place of other pneumatic rubber artificial muscles, other elastic bodies having elasticity such as springs and wires, like the pneumatic rubber artificial muscles, this elastic body functions like a human gastrocnemius muscle, Jumping device can be jumped.

(A), (b) It is explanatory drawing of a pneumatic rubber artificial muscle. (A), (b), (c) It is explanatory drawing of the pneumatic rubber artificial muscle used as the actuator which concerns on this invention. It is a figure (graph) which compares the generation | occurrence | production timing of the pneumatic rubber artificial muscle used as an actuator with the pneumatic rubber artificial muscle of a normal use. It is a figure (side view) which shows embodiment of the jumping apparatus which concerns on this invention. It is a functional block diagram of the embodiment. (A), (b), (c) It is a figure which shows the jumping operation | movement of the same embodiment. It is a figure which shows the height and direction of the jump of the embodiment.

"Actuator"
First, an actuator according to the present invention will be described with reference to FIGS. A pneumatic rubber artificial muscle 1 is used for this actuator.

  As shown in FIG. 1, the pneumatic rubber artificial muscle 1 is formed by disposing a hollow rubber material 3 having a fiber such as nylon between two support ends 2 and 2. In this example, the nylon fibers are disposed inside the hollow rubber material 3, but the fibers may be disposed outside the hollow rubber material 3, for example, like a McKibben artificial muscle. One of the support ends 2 of the pneumatic rubber artificial muscle 1 is connected to the air supply source 26 via the tube 4 (see FIG. 5). In particular, as shown in FIG. 1B, when compressed air flows from the air supply source 26 into the hollow rubber member 3, the diameter of the hollow rubber member 3 expands and its length decreases. Further, when an external force (tension) is applied in the length direction of the hollow rubber material 3, there is a characteristic that the diameter of the hollow rubber material 3 is contracted and extended to the original length. Usually, the pneumatic rubber artificial muscle 1 is mainly used for a device for assisting a flexor muscle such as a human arm by using a force obtained by shortening the hollow rubber material 3.

  As shown in FIGS. 2A and 2B, in the pneumatic rubber artificial muscle 1, the internal pressure of the hollow rubber material 3 is 1 atm in a state where compressed air is not flowing into the hollow rubber material 3. When compressed air flows into the hollow rubber material 3, the internal pressure of the hollow rubber material 3 increases. In the illustrated example, the internal pressure of the hollow rubber material 3 rises to 6 atm. As shown in FIG. 2C, when the pneumatic rubber artificial muscle 1 applies tension in the length direction to the hollow rubber material 3 to be shortened, the pneumatic rubber material 3 holds the hollow rubber material 3 while maintaining a high internal pressure of 6 atm. Can be stretched. At this time, the hollow rubber material 3 is in a state where mechanical energy is accumulated. When the tension applied from the stretched state of the hollow rubber material 3 is removed, the hollow rubber material 3 is instantaneously shortened. Thereby, the mechanical energy accumulated in the hollow rubber material 3 is released, and an instantaneous force such as a spring can be generated from the hollow rubber material 3. Thus, by using the pneumatic rubber artificial muscle 1 by a method different from usual, the pneumatic rubber artificial muscle 1 becomes an actuator that generates instantaneous force.

  As shown by a solid line in FIG. 3, the pneumatic rubber artificial muscle 1 serving as an actuator can instantaneously obtain a high pressure at timing t <b> 1 when the tension is removed from the state in which the hollow rubber material 3 is extended. That is, the pneumatic rubber artificial muscle 1 serving as an actuator has both spring and air properties. In addition, although the dashed-dotted line in a figure is a case where it is going to obtain instantaneous force using the pneumatic rubber artificial muscle 1 by the normal method mentioned above as a comparative example, in this case, it is compressed air to the hollow rubber material 3 It can be seen that it takes time to reach the desired pressure after flowing in, and the desired instantaneous force cannot be obtained.

  According to the actuator described above, the compressed air is introduced into the hollow rubber material 3 of the pneumatic rubber artificial muscle 1 or while inflow, the hollow rubber material 3 is stretched by applying tension in its length direction, By removing the applied tension from the extended state, an instantaneous force such as a spring is generated at a desired timing. Thus, the pneumatic rubber artificial muscle 1 becomes an actuator that jumps a heavy object and has a spring property capable of controlling the jump timing and an air property capable of controlling the internal pressure of the hollow rubber material 3.

  Further, the mechanical energy accumulated in the hollow rubber material 3 of the pneumatic rubber artificial muscle 1 is the sum of the pressure energy by compressed air and the elastic energy by the spring. Since energy is used simultaneously, the actuator is suitable for jumping heavy objects.

"Jumping device"
Next, a jumping apparatus according to the present invention will be described with reference to FIGS. This jumping device 10 uses the pneumatic rubber artificial muscle 1 serving as the actuator described above as its actuator.

  As shown in FIG. 4, the jumping device 10 includes a pneumatic rubber artificial muscle 1 (1a), another pneumatic rubber artificial muscle 1 (1b), an upper leg part 12, a lower leg part 15, As a whole, a device that imitates the structure of a human leg is provided.

  In addition, a trunk portion 11 is provided on the top of the jumping device 10. The torso 11 is connected to the upper thigh 12, and becomes the torso of the robot when the jumping device 10 is applied to a leg of a biped robot, for example.

  The upper thigh 12 includes a pneumatic rubber artificial muscle 1 a that serves as an actuator, and an upper thigh member 13. The upper thigh member 13 is formed of a substantially rectangular long body, and one end portion of the upper thigh member 13 is rotatably connected to the trunk portion 11 via the rotary joint 14. The rotary joint 14 serves as a rotating part of the upper leg member 13. A crus member 16 of the crus 15 is connected to the other end. The pneumatic rubber artificial muscle 1a serving as an actuator is disposed on the front side of the upper leg member 13 between the trunk 11 and the lower leg member 16 so as to correspond to the quadriceps muscle in the human body. One support end 2 of the pneumatic rubber artificial muscle 1 a serving as an actuator is connected to a rotating portion of the upper leg member 13. Further, the other support end 2 is connected to the crus member 15 on the front side of the rotational connection portion of the crus member 13 and the crus member 15.

  The lower leg 15 includes another pneumatic rubber artificial muscle 1 b and a lower leg member 16. The crus member 16 is formed of a substantially rectangular long body, and one end of the crus member 16 is rotatably connected to the crus member 13 via a rotary joint 17. The rotary joint 17 serves as a rotational connection portion between the upper leg member 13 and the lower leg member 16. A foot 18 is connected to the other end. The other pneumatic rubber artificial muscle 1b is arranged on the rear side of the lower leg member 16 between the upper leg member 13 and the foot 18 so as to correspond to the gastrocnemius muscle in the human body. The other pneumatic rubber artificial muscle 1b is connected to the upper thigh member 13 at one end thereof, that is, one support end 2 on the rear side of the rotational connecting portion of the upper thigh member 13 and the lower thigh member 16. ing. Further, the other end, that is, the other support end 2 is connected to the foot 18 on the rear side of the rotational connection portion of the crus member 16 and the foot 18.

  The foot 18 is provided with a substantially rectangular long member, and one end corresponding to the ankle in the human body is rotatably connected to the other end of the crus member 16 via the rotary joint 19. The rotary joint 19 serves as a rotational connection portion between the crus member 16 and the foot 16. Moreover, the other end part of the foot part 18 is arrange | positioned facing the front side so that it may correspond to a toe.

  In addition, the trunk | drum 11 (torso member), the upper leg member 13, the lower leg member 16, and the foot | leg part 18 (foot member) are formed using light metals, such as an aluminum alloy, as a material.

  As shown in FIGS. 4 and 5, a first drive unit 20 is provided at a rotational connection portion of the upper leg member 13 and the lower leg member 16 corresponding to a knee in a human body. The first drive unit 20 includes a motor 21 and a clutch 22, and is configured such that the power of the motor 21 is transmitted to the rotary joint 17 via the clutch 22.

  In addition, a second drive unit 23 is provided at a rotational connection portion between the crus member 16 and the foot 18 corresponding to the ankle in the human body. Similar to the first drive unit 20, the second drive unit 23 includes a motor 24 and a clutch 25, and is configured such that the power of the motor 24 is transmitted to the rotary joint 19 via the clutch 25.

  As shown in FIGS. 4 and 5, the pneumatic rubber artificial muscle 1 a serving as an actuator is connected to the air supply unit 26 via the tube 4. Similarly, the other pneumatic rubber artificial muscle 1 b is connected to the air supply unit 26 via the tube 4. Two air supply units 26 may be provided and assigned to each of the pneumatic rubber artificial muscle 1a and the other pneumatic rubber artificial muscle 1b serving as an actuator, or only one air supply unit 26 may be provided. The pneumatic rubber artificial muscle 1a and the other pneumatic rubber artificial muscle 1b may be integrated together.

  As shown in FIGS. 4 and 5, the jumping device 10 includes a control unit 27 that controls the first drive unit 20, the second drive unit 23, and the air supply units 26 and 26 described above. The control unit 27 controls the pressure and flow rate of the compressed air flowing into the hollow rubber material 3 of the pneumatic rubber artificial muscle 1a and the other pneumatic rubber artificial muscle 1b serving as actuators. Furthermore, the control unit 27 controls the motors 21 and 24 and the clutches 22 and 25 of the first drive unit 20 and the second drive unit 23, and as an external force applying unit, the pneumatic rubber artificial muscle 1a serving as an actuator and other Control is performed to apply an external force (tension) to each of the hollow rubber materials 3 and 3 of the pneumatic rubber artificial muscle 1b, and control to remove the external force (tension) from the hollow rubber materials 3 and 3 is performed as an external force release means. .

  From here, the jumping operation of the jumping apparatus 10 will be described with reference to FIGS. As shown in FIG. 6A, in the initial state, the jumping device 10 is in a standby posture, but a predetermined amount of compressed air flows into the hollow rubber material 3 of the pneumatic rubber artificial muscle 1a serving as an actuator by the control unit 27. Thus, the hollow rubber material 3 is shortened. At this time, the internal pressure of the hollow rubber material 3 increases from about 1 atm to about 6 atm.

  As shown in FIG.6 (b), the control part 27 performs drive control of the 1st drive part 20 and the 2nd drive part 23, the connection part of the upper leg member 13 and the lower leg member 16, and the lower leg member 16 and the foot part. Each of the 18 connecting portions is rotated by a predetermined angle, the angle between the upper leg member 13 and the lower leg member 16 is narrowed, and the angle between the lower leg member 16 and the foot part 18 is narrowed so that a person bends the leg to jump. Posture (jumping ready posture). At this time, tension is applied to the hollow rubber material 3 shortened by the pneumatic artificial rubber muscle 1a serving as an actuator by the first driving unit 20 (external force is applied), and the hollow rubber material 3 maintains a high internal pressure of about 6 atm. It is stretched as it is. Moreover, the control part 27 performs inflow control of the compressed air, and a predetermined amount of compressed air flows into the hollow rubber material 3 of the other pneumatic rubber artificial muscle 1b.

  With respect to the jumping device 10 which has taken the jump ready posture, the control unit 27 controls the first drive unit 20 (the motor 21 and the clutch 22) at a desired jump timing, and the hollow rubber of the pneumatic rubber artificial muscle 1a serving as an actuator When the tension applied to the material 3 is removed (release of external force), the hollow rubber material 3 is instantaneously shortened to generate an instantaneous force such as a spring. As shown in FIG. 6C, when the hollow rubber material 3 of the pneumatic rubber artificial muscle 1a serving as the actuator generates an instantaneous force, the rotary joint 17 of the upper leg member 13 and the lower leg member 16, and the lower leg member 16 and the foot. The rotation joints 19 of the part 18 are respectively rotated so that the angle formed by the upper leg member 13 and the lower leg member 16 is widened, and the angle formed by the lower leg member 16 and the foot part 18 is widened so that the foot part 18 kicks the ground. While operating, the upper leg member 13 and the lower leg member 16 operate so as to extend their legs. That is, the jumping device 10 jumps with an operation that causes a person to jump.

  Furthermore, the other pneumatic rubber artificial muscle 1b is also a biarticular muscle that mechanically limits the distance between the upper leg member 13 and the foot 18 and has a function of making the movement of the center of gravity of the jumping device 10 close to a straight line. Have.

  As shown in FIG. 7, the internal pressure of the hollow rubber material 3 can be controlled by controlling the pressure and flow rate of the compressed air flowing into the hollow rubber material 3 of the pneumatic rubber artificial muscle 1a serving as an actuator. Thereby, the jump height H of the jump device 10 can be controlled.

  Further, as shown in FIG. 7, the internal pressure of the hollow rubber material 3 can be controlled by controlling the pressure and flow rate of the compressed air flowing into the hollow rubber material 3 of another pneumatic rubber artificial muscle 1b. . Thereby, the jump direction before and behind the jumping apparatus 10 can be controlled. The jumping device 10 jumps forward if the other pneumatic rubber artificial muscle 1b is soft, and backward if it is hard.

  According to the jumping device 10 described above, the pneumatic rubber artificial muscle 1a serving as an actuator, corresponding to the quadriceps femoris, has both spring and air properties, so that it is possible to jump heavy objects, and jump timing Can also be controlled.

  In addition, in the jumping apparatus 10 mentioned above, it is set as the structure which has arrange | positioned the other pneumatic rubber artificial muscle 1b so that it may correspond to a gastrocnemius muscle, However, It replaces with the other pneumatic rubber artificial muscle 1b, and has elasticity, such as a spring and a wire. Other elastic bodies may be used. As another elastic body, as in the case of the pneumatic rubber artificial muscle 1b, this elastic body functions like a human gastrocnemius muscle and can jump the jumping device 10. When another elastic body is used, air is not introduced like the pneumatic rubber artificial muscle 1b. Therefore, the length and elastic force cannot be controlled, but there is an advantage that it can be obtained at a low cost.

  In addition, if the jumping device 10 described above is applied to a bipedal walking robot or the like, the robot can be run by controlling the jumping height and jumping timing more precisely. Furthermore, this robot needs to move over terrain where there are many obstacles, such as when moving a house that has been destroyed by a disaster such as an earthquake, or when moving a steep step such as a cliff. In this case, it is possible to quickly advance and retreat while overcoming obstacles by making full use of jumping and running.

DESCRIPTION OF SYMBOLS 1 ... Pneumatic rubber artificial muscle 1a ... Pneumatic rubber artificial muscle used as actuator 1b ... Other pneumatic rubber artificial muscles 2 ... Support end 3 ... Hollow rubber material 10 ... Jumping device 11 ... Trunk part 12 ... Upper thigh part 13 ... Upper thigh part Material 14: Rotating joint as a rotating part 15 ... Lower leg part 16 ... Lower leg member 17 ... Rotating joint as a rotating connecting part 18 ... Foot part 19 ... Rotating joint as a rotating connecting part

Claims (5)

A hollow rubber material having a fiber is disposed between two support ends, and when compressed air flows into the hollow rubber material, the diameter of the hollow rubber material expands and its length decreases, When the compressed air of the hollow rubber material flows out, the diameter of the hollow rubber material contracts and the pneumatic rubber artificial muscle extends to the original length ;
While or flows from the inlet compressed air into the hollow rubber material, a state of being stretched under tension by applying an external force to the hollow rubber material in the longitudinal direction, the external force from the state of being該伸length An external force applying or releasing means for obtaining an instantaneous force by removing the tension by releasing
An actuator comprising: A jumping device using the actuator according to claim 1,
Pneumatic rubber artificial muscle that serves as the actuator, another pneumatic rubber artificial muscle, an upper leg member that is rotatably provided at one end thereof, and one end that is pivoted at the other end of the upper leg member A crus member that is freely connected, and a foot part having one end part rotatably connected to the other end part of the crus member,
A pneumatic rubber artificial muscle serving as the actuator is disposed on the front side of the upper thigh member, and forms an upper thigh with the upper thigh member. And the other support end is connected to the crus member on the front side of the rotational connection part of the crus member and the crus member,
The other pneumatic rubber artificial muscle is disposed on the rear side of the crus member and constitutes a crus part together with the crus member, and one end is posterior to the rotational connecting part of the crus member and the crus member Is connected to the upper leg member, and the other end is connected to the foot part on the rear side of the rotational connection part of the lower leg member and the foot part ,
Connection of the upper leg member and the lower leg member and connection of the lower leg member and the foot part by applying external force by the external force applying or releasing means after or after flowing compressed air into the pneumatic rubber artificial muscle The pneumatic rubber artificial muscle is stretched by rotating the respective parts by a predetermined angle so that the angle between the upper leg member and the lower leg member is narrowed and the angle between the lower leg member and the foot part is narrowed. And jumping ready posture
An instantaneous force is generated in the pneumatic rubber artificial muscle by applying an external force by the external force applying or releasing means, and the connecting part of the upper leg member and the lower leg member and the connecting part of the lower leg member and the foot part are respectively rotated by a predetermined angle. The jumping apparatus is characterized in that the jumping device moves and jumps when an angle formed by the upper leg member and the lower leg member is widened and an angle formed by the lower leg member and the foot part is widened . The jumping device according to claim 2,
A jumping device characterized in that the pressure and flow rate of compressed air flowing into the hollow rubber material of the pneumatic rubber artificial muscle serving as the actuator can be controlled. The jumping device according to claim 2 or 3,
A jumping device characterized in that the pressure and flow rate of compressed air flowing into a hollow rubber material constituting the other pneumatic rubber artificial muscle can be controlled. In the jumping device according to claim 2 or 3,
A jumping device comprising another elastic body having elasticity instead of the other pneumatic rubber artificial muscle.

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