CN113635992B - Bionic jumping leg driven by double-joint pneumatic artificial muscle - Google Patents

Abstract

The invention discloses a bionic jumping leg driven by double-joint pneumatic artificial muscles, which is composed of a knee joint module, an ankle joint module, a buffer foot module and a pneumatic artificial muscle driving module. The knee module and the ankle module are hinged up and down by connecting brackets. The ankle joint module and the cushioned foot module are connected by connecting rods. One muscle of the pneumatic artificial muscle module is respectively articulated with the body and the knee joint through a connector to form a single-joint muscle; one muscle is respectively articulated with the knee joint and ankle joint through a connector to form a double-joint muscle. The inflation and contraction of the single-joint muscle drives the knee joint to rotate, and at the same time, part of the mechanical energy is transmitted to the ankle joint through the double-joint muscle; the inflation and contraction of the double-joint muscle further drives the rotation of the ankle joint and increases the range of motion of the ankle joint. The cushioning foot module adjusts the angle of the cushioning support foot through torsion springs to adapt to different terrains. The bionic jumping leg of the invention has the remarkable advantages of compact structure, good terrain adaptability and good jumping performance.

Description

A bionic jumping leg driven by double-joint pneumatic artificial muscles

technical field

The invention belongs to the field of bionic robots, in particular to a double-joint pneumatic artificial muscle-driven bionic jumping leg.

technical background

The main movement modes of ground mobile robots are walking, running, jumping, etc. Among them, mobile robots using jumping methods have good terrain adaptability and mobility in unstructured environments.

The leg mechanism of the bionic jumping robot adopts motor, hydraulic and pneumatic drive. Among them, the motor drive mode consists of a motor connected in series with a reducer with a high reduction ratio to form the driving device; the hydraulic and pneumatic drive modes usually use hydraulic cylinders or air cylinders as the main driving components, and the joint movement is driven by the telescopic movement of the cylinder body. The above-mentioned driving methods have disadvantages such as being difficult to realize light weight and miniaturization, and low power-to-mass ratio.

At present, pneumatic artificial muscles are used as a new type of pneumatic drive in the field of bionic robots. Compared with the transmission motor and hydraulic system, the pneumatic artificial muscle is lighter in weight; compared with the cylinder with the same cross-sectional area, the pneumatic artificial muscle has greater output force characteristics; due to the compressibility and compressibility of the gas inside the pneumatic artificial muscle The shape-changing cavity makes it exhibit excellent elasticity, and the pneumatic artificial muscle is used as the driver of the robot joint, which can enhance the flexibility and impact resistance of the joint.

The bionic legs driven by pneumatic artificial muscles mainly have two structural forms: lever type and pulley type. Among them, the lever structure, the pneumatic artificial muscle directly acts on the joint, and the pneumatic artificial muscle contracts to drive the joint to rotate; the pulley structure, the artificial muscle moves across the joint pulley through the steel wire rope, connects with the joint connecting rod, and contracts through the pneumatic artificial muscle, etc. The moment arm drives the joint to rotate. In these two structures, each pneumatic artificial muscle is only associated with the movement of one joint, which belongs to the driving mode of single-joint muscles. Due to the small contraction rate of pneumatic artificial muscles, the range of motion of joints is usually relatively small for bionic joints driven by single-joint muscles.

The invention relates to a bionic jumping leg driven by a double-joint pneumatic artificial muscle. The bionic joint is driven by the double-joint muscle. The double-joint muscle is formed by connecting the pneumatic artificial muscle to the knee joint and the ankle joint respectively. Part of the mechanical energy of the single-joint muscle is The used double-joint muscles are transferred to the adjacent ankle joint to increase the range of motion of the ankle joint; by adjusting the position of the connecting piece on the connecting rod and replacing the pneumatic artificial muscles of different lengths, the initial attitude angle and joint motion range of the bionic leg can be changed; The designed buffer foot module can adaptively adjust the contact surface between the robot and the ground, which can effectively improve the landing stability. The bionic jumping leg structure of the present invention has remarkable advantages such as compact structure, large joint movement range, and good terrain adaptability, thereby effectively improving the jumping performance of the bionic leg.

Contents of the invention

The object of the present invention is to address the deficiencies of the prior art and provide a bionic jumping leg driven by double-joint pneumatic artificial muscles, which has significant advantages such as large range of joint motion, compact structure, and good impact resistance.

The invention relates to a bionic jumping leg driven by double-joint pneumatic artificial muscles, which comprises a knee joint module, an ankle joint module, a buffer foot module and a pneumatic artificial muscle drive module. The knee joint module and the ankle joint module are hinged up and down through the connecting bracket, and the buffer foot module and the ankle joint module are connected through the connecting rod; the rotation axes of the ankle joint module and the knee joint module are parallel; the pneumatic artificial muscle module is composed of two pneumatic artificial muscles. Muscles drive two joints, one muscle is connected with the body and the knee joint through a connecting piece to form a single-joint muscle arrangement, and one muscle is connected with the knee joint and ankle joint through a connecting piece respectively, which is a double-joint muscle; the bone structure of the bionic leg adopts light weight High-quality hollow tubes and printing resins, light-weight hollow tubes have guide grooves on the end faces, which cooperate with the limit grooves inside the corresponding brackets to prevent the connecting rods from twisting during jumping.

Preferably, the knee joint module is composed of upper tibial bracket, lower femoral bracket, joint bushing A, joint bushing B, flange bearing, knee joint angle sensor bracket, knee joint angle sensor, pneumatic artificial muscle connection bracket, femur connection Composed of rods and couplings; the outer diameter of the flange bearing is interference fit with the bearing hole of the lower femoral bracket; joint bushing A and joint bushing B are connected with the upper tibial bracket, and the boss of the shaft sleeve corresponds to the limit slot of the bracket, and the shaft The interference fit between the body and the inner diameter of the flange bearing constitutes the knee joint, which is fixed axially by bolt connection; the femoral connecting rod is sequentially connected to the subfemoral support, pneumatic artificial muscle connection support, and knee joint angle sensor support, and is fixed by bolts; In the knee joint angle sensor, the main body is connected with the knee joint angle sensor bracket, and the main shaft is connected with the knee joint screw through a shaft coupling.

Preferably, the ankle joint module is composed of a tibial connecting rod, a lower tibial support, a return spring, a metatarsal upper support, a foot end connecting rod, a joint bushing A, a joint bushing B, a flange bearing, a coupling, and an ankle joint angle Sensor bracket, ankle angle sensor, tibial fixation bracket, and fixing screw; the upper metatarsal bracket is connected with the connecting rod at the foot end and fixed by bolts; the tibial connecting rod is respectively arranged on both sides of the lower tibial bracket and inserted into the guide groove of the bracket , fixed by bolts; the tibial fixation bracket penetrates into the two tibial connecting rods through the through hole, and is fixed by bolt connection; by adjusting the position of the tibial fixing bracket on the tibial connecting rod, the initial posture and range of joint motion of the body can be adjusted; the screw is fixed Arranged in the through holes of the lower tibial support and the tibial fixed support, it is fixed by threads to prevent the tibial fixed support from sliding under force; one end of the return spring is connected to the upper metatarsal support, and the other end is connected to the tibial fixed support to provide tension for the recovery movement of the two joints.

Further preferably, the outer diameter of the flange bearing is in interference fit with the bearing on the upper metatarsal bracket; the joint bushing A and the joint bushing B are connected to the lower tibial bracket, the boss of the bushing corresponds to the limit slot of the bracket, and the shaft body is in contact with the bracket. The inner diameter of the flange bearing is an interference fit, forming the ankle joint. Further preferably, the knee joint also adopts a similar structure.

Preferably, the buffer foot module is composed of a buffer foot end, a buffer support foot, a compression end cover, a flange bearing and a buffer torsion spring; the buffer support foot and the buffer foot end are connected through a flange bearing, and the buffer support The feet are symmetrically arranged on the other side of the buffer foot end; the buffer torsion spring is arranged in the limit groove of the buffer support foot, one end of the foot is connected and fixed with the buffer foot end, and the other end of the foot is connected and fixed with the buffer support foot; the compression end caps are respectively Arranged on the outside of the buffer support foot and fixed by bolts; the foot end connecting rod is arranged in the guide hole of the buffer foot end; the buffer foot end and the buffer support foot are in contact with the ground, and the buffer torsion spring provides support, depending on the angle of the contact surface , adaptively adjust the angle between the buffer foot end and the buffer support foot.

Preferably, the pneumatic artificial muscle driving module is composed of a muscle connector, an anterior tibial pneumatic artificial muscle, and a gastrocnemius pneumatic artificial muscle; the anterior tibial pneumatic artificial muscle is connected to the muscle connector through threads; the gastrocnemius pneumatic artificial muscle is connected to the muscle connector Through threaded connection; the muscle connector is connected with the subfemoral bracket of the knee joint module through bolts; the muscle connector is connected with the tibial fixation bracket of the ankle joint through bolts; the anterior tibial pneumatic artificial muscle is inflated and contracted to drive the subfemoral bracket Rotate to control the knee joint movement; the muscle connector is connected to the pneumatic artificial muscle connection bracket of the knee joint module through a stud; the muscle connector is connected to the upper metatarsal support of the ankle joint module through a stud; the gastrocnemius pneumatic artificial muscle Double-joint muscles drive the movement of the ankle and knee joints; when the bionic leg takes off, the pneumatic artificial muscle in front of the tibia is inflated and contracted to drive the knee joint to rotate, and a part of the mechanical energy is transmitted to the ankle joint through the gastrocnemius pneumatic artificial muscle, and the gastrocnemius pneumatic artificial muscle is inflated at the same time , to further drive the ankle joint to rotate. Increase the angular rotation range of the ankle joint, solve the contradiction of short stroke and high output force of the pneumatic artificial muscle, and improve the jumping performance.

Compared with the prior art, the present invention has the following obvious outstanding substantive features and remarkable advantages:

1. The present invention adopts a double-joint muscle driving method. One end of the anterior tibial pneumatic artificial muscle module is hinged to the subfemoral bracket, and the other end is hinged to the tibial fixed bracket to control the movement of the knee joint; one end of the gastrocnemius pneumatic artificial muscle module is connected to the muscle of the knee joint module The bracket is hinged, and the other end of the ankle joint module is connected to the upper metatarsal bracket; the gastrocnemius pneumatic artificial muscle is a double-joint muscle that drives the knee joint and ankle joint at the same time; when the bionic jumping leg of the present invention takes off, the pneumatic artificial muscle in front of the tibia is inflated and contracted to drive the knee The joint rotates, and a part of the mechanical energy is transmitted to the ankle joint through the gastrocnemius pneumatic artificial muscle. At the same time, the gastrocnemius pneumatic artificial muscle is inflated and contracted, which further drives the ankle joint to rotate, increases the range of motion of the ankle joint, and can solve the contradiction of short stroke of the pneumatic artificial muscle and large output force. Improve jumping performance;

2. The present invention adopts an adaptive buffer foot structure, the buffer support foot is connected to the foot end, one end of the buffer torsion spring is fixed to the foot end, and the other end of the foot is connected to the buffer support foot; the buffer support foot and the buffer foot end are in contact with the ground, The angle between the buffer support foot and the buffer foot end is adjusted by the buffer torsion spring to adapt to different inclination angles of the ground.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the bionic jumping leg driven by pneumatic artificial muscles of the present invention.

Fig. 2 is an exploded view of the knee joint structure of the bionic jumping leg driven by the pneumatic artificial muscle of the present invention.

Fig. 3 is an exploded diagram of the ankle joint structure of the bionic jumping leg driven by the pneumatic artificial muscle of the present invention.

Fig. 4 is an exploded view of the buffer foot structure of the bionic jumping leg driven by pneumatic artificial muscles of the present invention.

Fig. 5 is a schematic diagram of the layout of the pneumatic artificial muscle module of the bionic jumping leg driven by the pneumatic artificial muscle of the present invention.

Detailed ways

The present invention is described in more detail below in conjunction with accompanying drawing example, but following embodiment is illustrative only, and protection scope of the present invention is not limited by these embodiments:

Embodiment one

As shown in Figure 1, a bionic jumping leg driven by double-joint pneumatic artificial muscles includes knee joint module I, ankle joint module II, buffer foot module III and pneumatic artificial muscle drive module IV; the knee joint module I and ankle joint module The joint II module is hinged up and down through the connecting bracket, and the buffer foot module III and the ankle joint module II are connected through a connecting rod; the rotation axes of the ankle joint module II and the knee joint module I are parallel; the pneumatic artificial muscle module IV consists of two pneumatic artificial muscles Drive two joints, one muscle is connected with the body and the knee joint through a connecting piece, forming a single-joint muscle arrangement, and one muscle is connected with the knee joint and ankle joint through a connecting piece, which is a double-joint muscle; the bionic leg bone mechanism is made of light weight Hollow tubes and printing resins, light-weight hollow tubes have guide grooves on the end faces, which cooperate with the limit grooves inside the corresponding brackets; the bionic jumping legs have significant advantages such as compact structure, large range of joint motion, good terrain adaptability, and good jumping performance .

Embodiment two

This embodiment is basically the same as Embodiment 1, especially in that:

In this embodiment, referring to Fig. 1 and Fig. 2, the knee joint module I is composed of upper tibial bracket 6, lower femoral bracket 5, joint hub A3, joint hub B8, flange bearings 4, 7, knee joint angle Sensor bracket 11, knee joint angle sensor 10, pneumatic artificial muscle connection bracket 2, femoral connecting rod 1, and shaft coupling 9; the outer diameter of flange bearing 4, 7 is interference fit with the bearing hole of lower femoral bracket 5; joint shaft Sleeve A3 and joint shaft sleeve B8 are connected with the upper tibial bracket 6, the boss of the shaft sleeve corresponds to the limit groove of the bracket, the shaft body and the inner diameter of the flange bearing 4, 7 are interference fit to form the knee joint, and the shaft is connected by bolts. The femoral connecting rod 1 is sequentially connected to the subfemoral support 5, the pneumatic artificial muscle connection support 2, and the knee joint angle sensor support 11, and is fixed by bolts; the knee joint angle sensor 10, the main body is connected with the knee joint angle sensor support 11, and the main shaft Connect with the knee joint screw through the shaft coupling 9.

In this embodiment, referring to Fig. 3, the ankle joint module II is composed of tibial connecting rods 12, 26, lower tibial bracket 13, return spring 14, upper metatarsal bracket 17, foot connecting rod 18, joint sleeve A15, joint Axle sleeve B23, flange bearings 16, 19, shaft coupling 22, ankle joint angle sensor support 20, ankle joint angle sensor 21, tibia fixed support 25, fixed screw rod 24 constitute; the support 17 on the metatarsal bone and the foot end connecting rod 18 connection, fixed by bolts; the tibial connecting rods 12, 26 are respectively arranged on both sides of the lower tibial bracket 13, inserted into the guide groove of the bracket, and fixed by bolts; the tibial fixing bracket 25 penetrates the two tibial connecting rods 12, 26 through through holes In 26, it is fixed by bolt connection; by adjusting the position of the tibial fixing bracket 25 on the tibial connecting rod, the initial posture and joint motion range of the body are adjusted; the fixing screw 24 is arranged in the through hole of the tibial lower bracket 13 and the tibial fixing bracket 25, The tibial fixation bracket 25 is prevented from being forced to slide through threaded fixation; one end of the return spring 14 is connected with the upper metatarsal bracket 17, and the other end is connected with the tibial fixation bracket 25 to provide tension for the two joints to return to motion.

In this embodiment, referring to Fig. 3, the outer diameters of the flange bearings 16, 19 are in interference fit with the bearings of the metatarsal upper bracket 17; the joint shaft sleeve A15 and the joint shaft sleeve B23 are connected with the lower tibial bracket 13, and the shaft sleeve is convex The platform corresponds to the limit groove of the bracket, and the inner diameter of the shaft body and the flange bearings 16, 19 is interference fit to form an ankle joint, which is axially fixed by bolt connection. The knee joint is constructed with the same structure.

In this embodiment, referring to FIG. 4, the buffer foot module III is composed of buffer foot end 31, buffer support feet 29, 33, compression end caps 28, 34, flange bearings 30, 32 and buffer torsion spring 27; The buffer support foot 29 is connected to the buffer foot end 31 through a flange bearing 30, and the buffer support foot 33 is symmetrically arranged on the other side of the buffer foot end; the buffer torsion spring 27 is arranged in the limit groove of the buffer support feet 29, 33 Among them, one end of the leg is connected and fixed with the buffer foot end 31, and one end of the leg is connected and fixed with the buffer support leg 29, 33; the compression end caps 28, 34 are respectively arranged on the outside of the buffer support leg 29, 33, and are fixed by bolts; The foot end connecting rod 18 is arranged in the guide hole of the buffer foot end 31; the buffer foot end 31 and the buffer support feet 29, 33 are in contact with the ground, and the buffer torsion spring 27 provides a supporting force, and the buffer is adaptively adjusted according to the angle of the contact surface. The angle between the end of the foot and the foot of the cushioning support.

In this embodiment, referring to Fig. 5, the pneumatic artificial muscle drive module IV is composed of muscle connectors 35, 37, 38, 40, anterior tibial pneumatic artificial muscle 36, and gastrocnemius pneumatic artificial muscle 39; The muscle 36 is connected with the muscle connectors 35, 37 by threads; the gastrocnemius pneumatic artificial muscle 39 is connected with the muscle connectors 38, 40 by threads; The muscle connector 37 is connected with the tibial fixation bracket 25 of the ankle joint through bolts; the pneumatic artificial muscle 36 of the tibia is inflated and contracted to drive the sub-femur bracket 5 to rotate, and controls the movement of the knee joint; the pneumatic muscle connector 40 and the knee joint module The artificial muscle connection bracket 2 is connected by studs; the muscle connector 38 is connected with the upper metatarsal support 17 of the ankle joint module by studs; the gastrocnemius pneumatic artificial muscle 39 is a double-joint muscle that drives the ankle and knee joints; the bionic leg When taking off, the pneumatic artificial muscle 36 in front of the tibia is inflated and contracted to drive the knee joint to rotate, and part of the mechanical energy is transmitted to the ankle joint through the gastrocnemius pneumatic artificial muscle 39. At the same time, the gastrocnemius pneumatic artificial muscle 39 is inflated to further drive the ankle joint to rotate and increase the ankle joint The range of angular rotation solves the contradiction of short stroke and large output force of pneumatic artificial muscles, and improves jumping performance.

In addition, as shown in Figure 2 and Figure 3, the knee joint module I and ankle joint module II are hinged up and down through the upper tibial bracket 6; The metatarsal support 17 is connected to form an ankle joint; the ankle joint angle displacement sensor support 20 is connected with the metatarsal support 17; the main body of the ankle joint angle sensor 21 is fixed on the ankle joint angle sensor support 20, and the main shaft passes through a shaft coupling 22 fixed on the ankle joint; the tibial connecting rods 12, 26 are arranged on both sides of the tibial lower bracket 13; the tibial fixing bracket 25 is sleeved on the tibial connecting rods 12, 26, and fixed by bolts; by adjusting the tibial fixing bracket 25 in The position on the tibial connecting rod 12, 26 is used to adjust the initial pose of the bionic leg joint. Utilize fixing screw to be arranged in the limiting space of lower tibial support 13 and tibial fixed support 25, through threaded connection, the tibial fixed support is strengthened and fixed, prevents the sliding of force; And the tibial fixation bracket 25 provides the required force for recovery of the two joints. In this embodiment, the upper tibial bracket 6 is connected with the tibial connecting rods 12, 26; the joint bushing is arranged on the upper tibial bracket 6, and is connected with the lower femoral bracket 5 through a flange bearing to form a knee joint; The bracket 5, the muscle connection bracket and the knee joint angle sensor bracket 11 are connected in sequence, and are inserted into the femur connecting rod 1; the main body of the knee joint angle sensor 10 is connected with the knee joint angle sensor bracket 11, and the main shaft is connected to the lower tibial bracket 13 through a coupling connect.

As shown in Figure 3, the joint bearing B23 has a nut installation groove, and the bolt follows the rotation of the metatarsal upper bracket 17; the main body of the ankle joint angle sensor 21 is connected with the ankle joint angle sensor bracket 20, and the main shaft is connected with the ankle joint bolt through a shaft coupling 22; The connecting rods 12, 26 are respectively arranged on both sides of the lower tibial bracket 13, inserted into the guide groove of the bracket, and fixed by bolts; the tibial fixation bracket 25 penetrates into the two tibial connecting rods 12, 26 through through holes, and is fastened and fixed by bolts , by adjusting the position of the fixing bracket on the connecting rod, the initial posture of the body is adjusted; the fixing screw 24 is arranged in the through holes of the tibial fixing bracket 13 and the tibial fixing bracket 25, and is fixed by threads to prevent the tibial fixing bracket 25 from sliding under force. One end of the return spring 14 is connected with the upper metatarsal support 17, and the other end is connected with the tibial fixation support 25, so as to provide pulling force for the return movement of the knee joint and the ankle joint.

As shown in FIG. 4 , the buffer foot module III and the ankle joint module II are fixed in series through connecting rods; the buffer support feet 29 , 33 are connected to the buffer foot end 31 through bearings, and are symmetrically arranged on both sides of the buffer foot end 31 . The buffer foot end 31 and the buffer support feet 29, 33 are in contact with the ground, and the angles of the two buffer support feet are adaptively adjusted by the buffer torsion spring according to the difference of the contact plane.

As shown in Figure 5, the pneumatic artificial muscle driving module IV is composed of a pneumatic artificial muscle and a muscle connector; the front tibial pneumatic artificial muscle 36 is hinged with the lower femoral bracket 5 through one end of the connector, and the other end is connected with the tibial fixed bracket 25 Hinged to form a single-joint muscle; the gastrocnemius pneumatic artificial muscle 39 is connected to the muscle connection bracket of the knee joint module I through a connector at one end, and connected to the upper metatarsal bracket 17 of the ankle joint module II at the other end. The gastrocnemius pneumatic artificial muscle 39 is a double-joint muscle, which simultaneously drives the ankle joint and the knee joint. When the bionic leg takes off, the pneumatic artificial muscle 36 in front of the tibia is inflated and contracted to drive the knee joint to rotate, and part of the mechanical energy is transmitted to the ankle joint through the gastrocnemius pneumatic artificial muscle 39. The range of joint motion solves the contradiction of the short stroke of the pneumatic artificial muscle and the large output force, and improves the jumping performance. The restoring forces of the knee and ankle joints are provided by return springs.

This embodiment adopts the dual-joint muscle drive mode, one end of the tibial anterior pneumatic artificial muscle module is hinged with the subfemoral support, and the other end is hinged with the tibial fixed support to control the movement of the knee joint; one end of the gastrocnemius pneumatic artificial muscle module is connected to the muscle support of the knee joint module Hinged, the other end of the ankle joint module is connected to the upper metatarsal bracket; the gastrocnemius pneumatic artificial muscle is a double-joint muscle that drives the knee joint and ankle joint at the same time; when the bionic jumping leg of this embodiment takes off, the pneumatic artificial muscle in front of the tibia is inflated and contracted to drive the knee The joint rotates, and a part of the mechanical energy is transmitted to the ankle joint through the gastrocnemius pneumatic artificial muscle. At the same time, the gastrocnemius pneumatic artificial muscle is inflated and contracted, which further drives the ankle joint to rotate, increases the range of motion of the ankle joint, and can solve the contradiction of short stroke of the pneumatic artificial muscle and large output force. Improve jumping performance; present embodiment adopts self-adaptive buffer foot structure, and buffer support foot is connected with foot end, and one end support foot of buffer torsion spring is fixed on foot end, and the other end support foot is connected with buffer support foot; In contact with the ground, adjust the angle between the buffer support foot and the buffer foot end through the buffer torsion spring to adapt to the inclination angle of different ground.

In summary, the knee joint module and the ankle joint module of the bionic jumping leg driven by the double-joint pneumatic artificial muscle of the above embodiment are hinged up and down through the connecting bracket. The ankle joint module and the cushioned foot module are connected by connecting rods. One muscle of the pneumatic artificial muscle module is respectively hinged with the body and the knee joint through the connecting piece to form a single-joint muscle; one muscle is hinged with the knee joint and the ankle joint through the connecting piece respectively to form a double-joint muscle. The inflation and contraction of the single-joint muscle drives the knee joint to rotate, and at the same time, part of the mechanical energy is transmitted to the ankle joint through the double-joint muscle; the inflation and contraction of the double-joint muscle further drives the rotation of the ankle joint and increases the range of motion of the ankle joint. The cushioning foot module adjusts the angle of the cushioning support foot through torsion springs to adapt to different terrains. The bionic jumping leg of the above embodiment has the remarkable advantages of compact structure, good terrain adaptability, and good jumping performance.

The embodiment of the present invention has been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiment, and various changes can also be made according to the purpose of the invention of the present invention. The changes, modifications, substitutions, combinations or simplifications should all be equivalent replacement methods, as long as they meet the purpose of the invention, as long as they do not deviate from the technical principle and inventive concept of the invention, they all belong to the protection scope of the invention.

Claims (5)

1. A bionic jumping leg driven by a double-joint pneumatic artificial muscle, comprising a knee joint module (I), an ankle joint module (II), a buffer foot module (III) and a pneumatic artificial muscle drive module (IV); it is characterized in that: The knee joint module (I) and the ankle joint module (II) are hinged up and down through the connecting bracket, and the buffer foot module (III) and the ankle joint module (II) are connected through a connecting rod; the ankle joint module (II) and the knee joint module ( The rotation axis of Ⅰ) is parallel; the pneumatic artificial muscle drive module (IV) is driven by 2 pneumatic artificial muscles to drive 2 joints, one muscle is connected with the body and the knee joint through a connector to form a single-joint muscle arrangement, and one muscle is connected through the joint The parts are connected to the knee joint and the ankle joint respectively, which are double-joint muscles; the bone structure of the bionic leg adopts lightweight hollow tubes and printing resin, and the end faces of the light hollow tubes are provided with guide grooves, which cooperate with the limit grooves inside the corresponding brackets. Prevent the connecting rod from twisting during jumping; The knee joint module (I) consists of upper tibial bracket (6), lower femoral bracket (5), joint bushing A (3), joint bushing B (8), flange bearings (4, 7), knee joint An angle sensor bracket (11), a knee joint angle sensor (10), a pneumatic artificial muscle connection bracket (2), a femoral connecting rod (1), and a shaft coupling (9); the outer diameter of the flange bearings (4, 7) and The bearing hole of the lower femoral bracket (5) is interference fit; joint bushing A (3) and joint bushing B (8) are connected with the upper tibial bracket (6), the boss of the bushing corresponds to the limit groove of the bracket, and the shaft body Interference fit with the inner diameter of the flange bearings (4, 7) to form a knee joint, which is fixed axially through bolt connection; the femoral connecting rod (1) is sequentially connected to the subfemoral support (5), the pneumatic artificial muscle connection support (2 ), the knee joint angle sensor bracket (11), which is fixed by bolt compression; the knee joint angle sensor (10), the main body is connected with the knee joint angle sensor bracket (11), and the main shaft is connected with the knee joint screw through a coupling (9) . 2. The bionic jumping leg driven by double-joint pneumatic artificial muscles according to claim 1, characterized in that: the ankle joint module (II) consists of tibial connecting rods (12, 26), lower tibial brackets (13), restoring Spring (14), upper metatarsal support (17), foot-end connecting rod (18), joint bushing A (15), joint bushing B (23), flange bearings (16, 19), coupling (22 ), ankle joint angle sensor bracket (20), ankle joint angle sensor (21), tibia fixation bracket (25), and fixation screw (24); the upper metatarsal bracket (17) is connected to the foot connecting rod (18) , fixed by bolts; the tibial connecting rods (12, 26) are respectively arranged on both sides of the lower tibial bracket (13), inserted into the guide groove of the bracket, and fixed by bolts; In the tibial connecting rod (12, 26), it is fixed by bolt connection; by adjusting the position of the tibial fixing bracket (25) on the tibial connecting rod, the initial posture and range of joint motion of the body can be adjusted; the fixed screw rod (24) is arranged In the through hole of the lower tibial support (13) and the tibial fixed support (25), the tibial fixed support (25) is prevented from sliding under force through screw fixing; one end of the return spring (14) is connected with the upper metatarsal support (17), and the other end is connected with the The tibial fixation bracket (25) is connected to provide tension for the recovery motion of the two joints. 3. The bionic jumping leg driven by double-joint pneumatic artificial muscles according to claim 2, characterized in that: the outer diameter of the flange bearings (16, 19) is in interference fit with the bearing of the upper metatarsal support (17); the joint shaft sleeve A (15) and the joint shaft sleeve B (23) are connected with the lower tibial bracket (13), the boss of the shaft sleeve corresponds to the limit groove of the bracket, and the inner diameter of the shaft body and the flange bearing (16, 19) is interference fit, forming ankle joint. 4. The bionic jumping leg driven by double-joint pneumatic artificial muscles according to claim 1, characterized in that: the buffer foot module (Ⅲ) consists of a buffer foot end (31), two buffer support feet (29, 33), Compression end cover (28,34), flange bearing (30,32) and buffer torsion spring (27) constitute; The buffer support foot (29) and buffer foot of one of two buffer support feet (29,33) The end (31) is connected by a flange bearing (30), and the buffer support foot (33) of the two buffer support feet (29, 33) is symmetrically arranged on the other side of the buffer foot end; the buffer torsion spring (27) is arranged In the limit groove of the buffer support feet (29, 33), one end of the foot is connected and fixed with the buffer foot end (31), and the other end of the foot is connected and fixed with the buffer support foot (29, 33); the compression end cover (28, 34) Arranged on the outside of the buffer support feet (29, 33) respectively, and fixed by bolts; the foot end connecting rod (18) is arranged in the guide hole of the buffer foot end (31); the buffer foot end (31) ) and the buffer support feet (29, 33) are in contact with the ground, and the buffer torsion spring (27) provides support force, and adaptively adjusts the angle between the buffer foot end and the buffer support feet according to the different contact surface angles. 5. The bionic jumping leg driven by double-joint pneumatic artificial muscles according to claim 1, characterized in that: the pneumatic artificial muscle driving module (IV) consists of four muscle connectors (35, 37, 38, 40), tibia Anterior pneumatic artificial muscle (36) and gastrocnemius pneumatic artificial muscle (39); said tibial anterior pneumatic artificial muscle (36) and two muscle connectors ( 35, 37) are connected by threads; the gastrocnemius pneumatic artificial muscle (39) is connected with the other two muscle connectors (38, 40) in the four muscle connectors (35, 37, 38, 40) by threads; The muscle connector (35) of one of the muscle connectors (35, 37, 38, 40) is connected with the subfemoral bracket (5) of the knee joint module through bolts; the four muscle connectors (35, 37, 38 , 40) the second muscle connector (37) and the tibial fixation bracket (25) of the ankle joint are connected by bolts; the anterior tibial pneumatic artificial muscle (36) is inflated and contracted to drive the lower femoral bracket (5) to rotate to control the knee joint Movement; the muscle connector (40) of three of the four muscle connectors (35, 37, 38, 40) is connected to the pneumatic artificial muscle connector bracket (2) of the knee joint module through studs; the four muscle connectors ( 35, 37, 38, 40), the muscle connector (38) of four of them is connected with the upper metatarsal bracket (17) of the ankle joint module through studs; the gastrocnemius pneumatic artificial muscle (39) is a double-joint muscle that drives the ankle joint and knee joint movement; when the bionic leg takes off, the tibial anterior pneumatic artificial muscle (36) inflates and contracts to drive the knee joint to rotate, and part of the mechanical energy is transmitted to the ankle joint through the gastrocnemius pneumatic artificial muscle (39), while the gastrocnemius pneumatic artificial muscle ( 39) Inflate air to further drive the ankle joint to rotate.

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