The invention belongs to the technical field of engineering bionics, and relates to a bionic bouncing leg type mechanism for releasing from a lunar surface wheel, which takes posterior limbs of a diving mouse as bionic elements and is designed to be capable of releasing from a lunar surface environment. The robot is a bionic mechanism composed of wheels, bionic thighs, shanks and feet. When no difficulty exists, the bionic mechanism rolls and runs on the lunar surface in a wheel form; when the wheels are stuck, the leg structures release the stored elastic potential energy, the foot end impacts the lunar surface to step on the ground, and the feet step off the ground under the low-gravity condition to complete escape; the length of each part of the leg type mechanism simulates the proportion of anatomical bones of the mouse, the shank is connected with the end of the foot through an elastic rope, and the foot rotates around a hinge point to store and release elastic potential energy. The shanks and the thighs as well as the thighs and the wheels are fixedly connected through bolts; a ratchet wheel of an ankle joint is connected with a foot cross shaft, and a motor controls a pawl to store and release elastic potential energy; the shank is divided into two parts, the middle of the shank can slide, a pressed spring is arranged in an inner cavity, and the jumping behavior can be adjusted to a certain degree.
一种月面车轮脱困仿生腿式机构属工程仿生技术领域,本发明以跳鼠后肢为仿生要素,设计在月面环境能脱困的仿生弹跳腿式机构;本发明为车轮、仿生大腿、小腿和足组成的仿生机构。当无困境时,仿生机构以车轮形式在月面滚动行驶;当车轮陷入卡滞时,腿结构释放存储的弹性势能,足端冲击月面蹬地,在低重力条件下蹬离地面,完成脱困;腿式机构各部分长度模仿跳鼠解剖骨骼比例,小腿与足端部由弹性绳连接,足绕铰接点旋转,进行弹性势能的储存与释放。小腿与大腿,大腿与车轮,通过螺栓固接;踝关节的棘轮与足十字轴连接,电机控制棘爪实现储存和释放弹性势能;小腿分为两部分,中间可滑动,内部空腔中有受压弹簧,可在一定程度上调节跳跃行为。
Lunar surface wheel escape bionic leg type mechanism
一种月面车轮脱困仿生腿式机构
2023-06-06
Patent
Elektronische Ressource
Chinesisch
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