Bionic passive rebound mechanical leg

Abstract

The invention discloses a bionic passive rebound mechanical leg which comprises a body, a crank connecting rod mechanism, a passive rebound mechanism and a foot end, wherein the crank connecting rod mechanism comprises a crank, a thigh bone and a rocker; the passive rebound mechanism comprises a fixed slide block, a shin bone, an upper outer spring, a pulley, a movable slide block, a splinter bone, a lower outer spring, a stopper, a metatarsal bone, a pin shaft and an inner spring mechanism; the inner spring mechanism comprises a base, an inner shaft, a compressed spring plate, a compressed spring plate base, a baffle, a small spring, a small spring guide rod and a brake cable; the foot end comprises a torsional spring and toes; the toes are made from flexible storage energy materials. According to the bionic passive rebound mechanical leg, based on the dimension parameters of ostrich hind limbs and passive rebound characteristics of joints among ostrich tarsal bones, the passive rebound function of the joints among the tarsal bones of bionic ostrich hind limbs is realized by utilizing the passive rebound mechanism, so that the energy consumption can be reduced, the ground impact force can be absorbed at initial contact by utilizing an elastic element, and the buffering and damping effects are achieved.

Description

technical field [0001] The invention belongs to the field of robots and relates to a bionic passive rebound mechanical leg. Background technique [0002] The ostrich's hind legs are strong and powerful, and it has the ability to run steadily, persistently and at high speed. Ostriches can run at a speed of 50-60Km / h and last for 30 minutes. They are the fastest bipeds on land. Studies have shown that when the angle between the tarsal joints is greater than 125°, the metatarsals are released during the process of the ostrich hindlimb from bending to stretching, and the metatarsals quickly swing to the position of 168° without external force. This passive stretching process can reduce the energy consumption of ostrich movement. According to the energy-saving and high-speed characteristics of ostrich movement, based on the principle of engineering bionics, the superior performance of ostrich hind limbs can be applied to the design of leg-foot robot leg structure. Since 2000, ...

AI Technical Summary

Problems solved by technology

Although the research on bionic footed robots is relatively mature at home and abroad, there is still a problem of low energy utilization in the design of the leg structure of bionic footed robots.

And it will produce a large impact force with the ground, which will easily cause the robot to vibrate, making it unable to operate normally, and even damage the machine parts in severe cases

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