The invention discloses a bionic joint type pneumatic bouncing leg which comprises an ankle joint, a knee joint and a pneumatic shank. Each of the ankle joint and the knee joint is a four-rod mechanism which is composed of three fixed-length rod pieces and a rod piece with the length adjusted through a servo air cylinder and adopts three hinges and a fixed connection part. A jumping servo air cylinder body of the pneumatic shank is fixedly connected with a shank tibia, and the ankle joint and the pneumatic shank are connected in parallel and then connected with the knee joint in series. Accurate control over the take-off direction and the landing posture of the bouncing leg is achieved by adjusting the bending angles of the ankle joint and the knee joint, and the jumping capacity of the bouncing leg is improved by driving the jumping servo air cylinder body, the ankle joints and the knee joints to move upwards together. Controllable landing buffering and posture stabilizing of the bouncing leg are achieved by adjusting the inflating and deflating processes of the ankle joint, the knee joint and the bouncing servo air cylinder. According to the bionic joint type pneumatic bouncing leg, pneumatic power integrating explosive power, controllability and self-buffering performance is used as a single power source, and the bionic joint type pneumatic bouncing leg is higher in bouncingcapacity.

    本发明公开了一种仿生关节式气动弹跳腿,包括踝关节、膝关节和气动小腿。踝关节和膝关节均为使用三个铰链和一个固定连接的包括三根定长杆件和一根借助伺服气缸调节长度的杆件组成的四杆机构,气动小腿其跳跃伺服气缸缸体与小腿胫骨固定连接,踝关节与气动小腿并联后与膝关节成串联布局;通过调节踝关节和膝关节弯曲角度实现弹跳腿起跳方向和落地姿态的精确控制,通过驱动跳跃伺服气缸缸体、踝关节和膝关节一起向上运动提高弹跳腿的跳跃能力,通过调节踝关节、膝关节和跳跃伺服气缸充排气过程实现弹跳腿可控的落地缓冲和姿态稳定。本发明使用集爆发力、可控性和自缓冲性于一身的气压动力为单一动力源,是一种跳跃能力更强的仿生关节式气动弹跳腿。


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    Titel :

    Bionic joint type pneumatic bouncing leg


    Weitere Titelangaben:

    一种仿生关节式气动弹跳腿


    Beteiligte:
    LI ZHE (Autor:in) / GAO DESHENG (Autor:in) / LIN ANGE (Autor:in)

    Erscheinungsdatum :

    2021-01-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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