CN108748129A - It is driven using the pneumatic muscles of wire rope gearing and spring reset and imitates frog travelling leg mechanism - Google Patents

Abstract

The pneumatic muscle-driven imitation frog swimming leg mechanism, which adopts wire rope transmission and spring reset, relates to a frog-like swimming leg to solve the complex and diverse leg structures, inflexible movements, and problems of existing pneumatic muscle-driven imitation frog swimming robots. The problem of too many drive units, complex control and high air consumption, it includes the thigh and the calf; the thigh includes pneumatic muscle one, pneumatic muscle two, thigh support, hip joint axis, knee joint axis, spring group one and spring group two ; Pneumatic muscle one, pneumatic muscle two, spring group one, spring group two, hip joint shaft and knee joint shaft are installed on the thigh support; the end joint end of pneumatic muscle one is connected with wire rope group one; One end of the calf is rotationally connected, the thigh is rotationally connected with the hip joint of the frog-like robot through the hip joint shaft, and the other end of the calf is also provided with an ankle joint shaft for connecting the foot of the frog-like robot. The invention belongs to the technical field of robots.

Description

Frog-like swimming legs driven by pneumatic muscles with wire rope transmission and spring return mechanism

technical field

The invention specifically relates to a frog-like swimming leg, in particular to a pneumatic muscle-driven frog-like swimming leg mechanism which adopts wire rope transmission and spring reset, and belongs to the field of robots.

Background technique

With the in-depth exploration of water environments such as oceans and lakes, different bionic swimming robots adopt different propulsion methods as important research objects, such as bionic underwater propulsion that imitates the fluctuation of hydrofoils and fins, and imitates creatures such as octopus or jellyfish by shrinking themselves Water jetting in the cavity realizes propulsion, and the underwater propulsion method of the frog-like robot leg structure is different from the flapping propulsion of hydrofoils such as penguins and sea turtles, and is also different from the propulsion methods of general fish such as pectoral fin swing and tail fin fluctuation.

An existing frog-like swimming robot with multiple pneumatic muscles concentrated on the main body of the torso. In order to reduce the weight of the frog-like robot's hind limbs, the pneumatic muscles that drive the hip joints and knee joints are concentrated on the main trunk, and the knee joints are driven by wire ropes that move through the pneumatic muscles placed on the main body of the torso. The ankle joint pneumatic muscle adopts a double-joint installation method, and the actual driving stroke of the ankle joint pneumatic muscle is improved through the drive of the knee joint pneumatic muscle. However, this structure uses the return springs of each joint to ensure the joint angle, resulting in unstable movement. A single wire rope pulls the knee joint to rotate for a long distance, and the hip joint drives the bracket to rotate through the slider. The structure is complex and the movement is not flexible, resulting in poor actual driving ability.

Current pneumatic muscle antagonism-driven frog-like swimming robot. Pneumatic muscle antagonism-driven leg structure, a single joint is installed with double pneumatic muscles in the form of opposite pull, the forward and reverse of the joint is controlled by the pneumatic muscle, and the joint stiffness is controlled while adjusting the joint angle, but this structure requires a large number of pneumatic muscles ,complex structure. When the antagonistic drive joint is in the initial position, the two muscles can adjust the initial stiffness by rushing into a certain air pressure, and then one muscle continues to inflate while the other muscle deflates to realize the joint rotation. However, under the condition of limited air source, this working method requires a large amount of air consumption and increases the complexity of control.

Contents of the invention

The present invention aims to solve the problems of the existing frog-like swimming robot driven by pneumatic muscles, such as complex and diverse leg structure, inflexible movement, too many drive units, complex control and large gas consumption, and further proposes a method that adopts wire rope transmission and spring reset Pneumatic muscle-driven frog-like swimming leg mechanism.

The technical scheme of the present invention is: adopt the pneumatic muscle of wire rope transmission and spring reset to drive the imitation frog swimming leg mechanism, which includes thigh and calf; the thigh includes pneumatic muscle one, pneumatic muscle two, thigh support, hip joint shaft, knee Joint axis, spring group 1 and spring group 2; pneumatic muscle 1, pneumatic muscle 2, spring group 1, spring group 2, hip joint shaft and knee joint shaft are installed on the thigh support; hip joint shaft and knee joint shaft are belt A joint shaft with a wheel groove, the hip joint shaft is arranged adjacent to the pneumatic joint end of the pneumatic muscle one and rotates relative to the thigh support, the knee joint shaft is disposed adjacent to the end joint end of the pneumatic muscle one and rotates relative to the thigh support; the end of the pneumatic muscle one The joint end is connected with the steel wire rope group 1, and the steel wire rope group 1 is connected with the spring group 1 after passing through the wheel groove of the knee joint shaft. The groove is connected to the second spring group; the thigh is connected to one end of the lower leg through the knee joint shaft, and the thigh is connected to the hip joint of the frog-like robot through the hip joint shaft. Ankle axis.

Further, the lower leg includes the lower leg pneumatic muscle, the lower leg support, the ankle joint shaft and the lower leg spring group; the lower leg pneumatic muscle, the ankle joint shaft and the lower leg spring group are respectively installed on the lower leg support; the ankle joint shaft is adjacent to the end joint end of the lower leg pneumatic muscle Setting, the ankle joint shaft is a joint shaft with a wheel groove and can rotate relative to the calf support, the calf support is fixed on the knee joint shaft, the end joint end of the calf pneumatic muscle is connected with the calf steel wire rope, and the calf steel wire rope passes through the ankle joint shaft wheel groove and connected with the lower leg spring set.

Further, the first spring set includes two springs arranged side by side, one end of the two springs is connected to the wire rope, the other end of the two springs is fixed on the spring fixing column, and the spring fixing column is installed on the thigh support.

Further, the second spring set includes two springs arranged side by side, one end of the two springs is connected to the wire rope, the other end of the two springs is fixed on the spring fixing column, and the spring fixing column is installed on the thigh support.

Further, the shank spring set includes two shank springs arranged side by side, one end of the two shank springs is connected to the steel wire rope, the other ends of the two shank springs are fixed on the shank spring fixing post, and the shank spring fixing post is installed on the shank support .

Further, a static sealing ring, a dynamic sealing ring and a compression spring are arranged between the upper bone plate of the thigh and the lower bone plate of the calf; the static sealing ring, the dynamic sealing ring and the compression spring are sleeved on the knee joint shaft from bottom to top, and the static sealing ring It is fixedly connected to the upper thigh bone plate, and the compression spring leans against the dynamic sealing ring and the lower leg bone plate.

The beneficial effect of the present invention compared with prior art is:

1. A pneumatic muscle-driven imitation frog swimming leg mechanism proposed by the present invention adopts wire rope transmission and spring reset. The driving muscles are no longer placed in the main trunk, but completely placed in the leg structure. The driver is separated from the main body of the trunk, which is convenient for the robot. The layout of each system can more imitate the distribution of muscle structure and joint movement of biological frogs, and is more in line with the principle of bionics.

2. The main body structure of the present invention adopts an innovative driving structure and a more reasonable configuration method. The driving of the hip, knee and ankle joints is exactly the same, and the double pneumatic muscles of the thigh are symmetrically distributed, and the structure is more compact and modular. The air source in the robot system is provided by its own micro-air pump, which has fewer driving muscles and less air consumption. This structure is more suitable for an independent underwater robot system.

3. The present invention adopts the steel wire rope to drive the joint shaft to rotate, the structure is simple, and the position of the generated moment radius remains unchanged, which makes the theoretical modeling analysis simpler and more accurate. The recovery torque required for the contraction of the hip, knee, and ankle joints is completed by the return spring. With the help of the large driving force and diastolic reset of the driving muscles, the driving output of the pneumatic muscles can be more fully utilized.

4. In the present invention, mechanical seals are used at the hip joint shaft connection between the thigh and the torso of the imitation frog, the knee joint shaft joint between the thigh and the calf, and the ankle joint shaft joint between the calf and the foot, and a standardized mechanical seal ring is used for sealing. Effectively guarantee the sealing of joint shaft joints and prevent liquid leakage.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the structure of the thigh support, the calf support and the shell of the present invention;

Fig. 3 is the schematic diagram of thigh structure of the present invention;

Fig. 4 is the structural representation of the thigh of the present invention after removing the skeletal plate on the thigh;

Fig. 5 is the structural schematic view of the shank of the present invention after removing the skeletal plate on the shank;

Fig. 6 is a sectional view of the knee joint axis of the present invention;

Fig. 7 is a diagram of the installation position of the swimming leg mechanism of the present invention in the imitation frog robot.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1-shown in Fig. 4, the pneumatic muscle that adopts wire rope transmission and spring reset of the present embodiment drives imitation frog swimming leg mechanism, and it comprises thigh 1 and calf 2; Said thigh 1 comprises pneumatic muscle one 1-1, Pneumatic muscle two 1-2, thigh support 1-3, hip joint axis 1-11, knee joint axis 1-12, spring group one 1-9 and spring group two 1-10; pneumatic muscle one 1-1, pneumatic muscle Two 1-2, spring group one 1-9, spring group two 1-10, hip joint axis 1-11 and knee joint axis 1-12 are installed on the thigh support 1-3; hip joint axis 1-11 and knee joint Shafts 1-12 are respectively joint shafts with wheel grooves. Hip joint shafts 1-11 are arranged adjacent to the pneumatic joint end of pneumatic muscle 1-1 and rotate relative to thigh support 1-3. Knee joint shafts 1-12 are adjacent to pneumatic muscles. - 1-1 end joint end is set and rotated relative to thigh support 1-3;

The end joint end of the pneumatic muscle one 1-1 is connected with the steel wire rope group one, and the steel wire rope group one passes through the wheel groove of the knee joint shaft 1-12 and is connected with the spring group one 1-9, and the end of the pneumatic muscle two 1-2 The joint end is connected with the steel wire rope group 2, and the steel wire rope group 2 passes through the wheel groove of the hip joint shaft 1-11 and is connected with the spring group 2 1-10;

The thigh 1 is rotationally connected with one end of the calf 2 through the knee joint axis 1-12, the thigh 1 is rotationally connected with the hip joint of the imitation frog robot through the hip joint axis 1-11, and the other end of the calf 2 is also provided with a foot for connecting to the imitation frog robot. Department of ankle axis 5.

The hip joint shaft 1-11 and the knee joint shaft 1-12 are two rotating shafts at the two ends of the thigh respectively, and the ankle joint shaft 2-3 is the rotating shaft at one end of the calf, and the thigh 1 can be installed on the hip joint shaft 1-11. On the torso of the imitation frog robot, the lower leg 2 is installed at a certain angle with the thigh 1 through the knee joint axis 1-12 installed on the thigh 1, and the ankle joint axis 2-3 on the lower leg 2 can be installed with the frog-like robot foot fins structure.

The hip joint, knee joint, and ankle joint are driven by only one pneumatic muscle respectively, and the thighs realize the rotation of the hip joint and the knee joint respectively through the symmetrical distribution of two pneumatic muscles, and the pneumatic muscle 1-1 inflates and exhausts to realize the knee joint axis 1-12 turns, and then drives the calf 2 to rotate, the inflation and exhaust of the pneumatic muscle 2 1-2 realizes the rotation of the hip joint axis 1-11, and then realizes the rotation of the thigh 1 itself, and the calf drives the ankle through a calf pneumatic muscle Joint axis 2-3 rotates to drive the foot to rotate. The spring is a linear spring, and the spring pre-tightens the steel wire rope to ensure that the thigh and calf return to the initial position after stretching, realizing the leg retraction action. This embodiment relies on the contraction characteristics of pneumatic muscles similar to biological muscles, that is, large contraction force and fast contraction speed. By injecting high-pressure gas into the pneumatic muscles, each joint shaft is driven to rotate to realize leg extension.

Referring to Fig. 5, in order to realize the easy control of the swimming leg, the lower leg driven by the pneumatic muscle is designed, and the lower leg 2 includes the lower leg pneumatic muscle 2-1, the lower leg support 2-2, the ankle joint shaft 2-3 and the lower leg spring group 2-4; the calf pneumatic muscle 2-1, the ankle joint shaft 2-3 and the calf spring group 2-4 are respectively installed on the calf support 2-2; the ankle joint shaft 2-3 is adjacent to the end of the calf pneumatic muscle 2-1 The joint end is set, the ankle joint shaft 2-3 is a joint shaft with a wheel groove and can rotate relative to the calf support 2-2, the calf support 2-2 is fixed on the knee joint shaft 1-12, and the calf pneumatic muscle 2-1 The end connector end of the shank is connected with the shank wire rope, and the shank wire rope passes through the wheel groove of the ankle joint shaft 2-3 and is connected with the shank spring group 2-4. The relative position of the knee joint shaft 1-12 and the lower leg 2 is fixed by the key 1-13 on the joint shaft.

The movements of the thigh and calf are all driven by the moving wire rope of the pneumatic muscle. The wire rope is wound on the shaft of the hip joint, the shaft of the knee joint and the shaft of the ankle joint. turn. The driving structures of the hip joint, knee joint and ankle joint are exactly the same. One end of the pneumatic muscle is installed on the support of the thigh and thigh, and the other end of the pneumatic muscle is connected to the steel wire rope, and the steel wire rope is tightly wound around the axis of the hip, knee and ankle joints. On the wheel groove of the large-diameter disc, the other end of the wire rope is connected to the spring connector 1-6, and one end of the spring is connected to the spring connector 1-6, and the other end is connected to the spring fixing column 1-5 or the calf spring fixing column 2 -5 connections, the reset action is reset to the initial joint position by a spring. The pre-tightening force tightly winds the steel wire rope on the joint shaft, and the steel wire pulls the joint shaft to rotate through static friction, thereby driving the movement of the leg structure.

Referring to Figures 4 and 5, in order to control the stiffness, the spring group 1-9 includes two springs arranged side by side, one end of the two springs is connected to the steel wire rope, and the other end of the two springs is fixed on the spring fixing column 1-9. 5, the spring fixing column 1-5 is installed on the thigh support 1-3. The steel wire rope group one and the steel wire rope group two respectively comprise two steel wire ropes.

Spring group 2 1-10 comprises two springs arranged side by side, and one end of these two springs is connected with steel wire rope, and the other end of these two springs is fixed on the spring fixing column 1-5, and spring fixing column 1-5 is installed on the thigh support 1-3 on. The shank spring group 2-4 comprises two shank springs arranged side by side, one end of the two shank springs is connected with a wire rope, the other end of the two shank springs is fixed on the shank spring fixing post 2-5, and the shank spring fixing post 2-5 5 is installed on the calf support 2-2. Spring group one 1-9 and spring group two 1-10 are arranged in parallel. Leg spring sets 2-4 include two wire ropes.

Referring to Fig. 1 and Fig. 4, in order to ensure the structure of the swimming leg is simple and easy to use, the thigh support 1-3 includes the upper thigh bone plate 1-3-1 and the lower thigh bone plate 1-3-2; the upper thigh bone plate 1 -3-1 and the bone plate 1-3-2 under the thigh are arranged side by side and connected together, and the bone plate 1-3-1 on the thigh and the bone plate 1-3-2 under the thigh are provided with a connection between the two Pneumatic muscle one 1-1, pneumatic muscle two 1-2, spring group one 1-9, spring group two 1-10, hip joint axis 1-11 and knee joint axis 1-12.

Referring to Fig. 1 and shown in Fig. 5, the calf support 2-2 comprises the upper bone plate 2-2-1 of the lower leg and the lower bone plate 2-2-2 of the lower leg; the upper bone plate 2-2-1 of the lower leg and the lower bone plate 2 of the lower leg - The 2-2 intervals are arranged side by side and connected together, the lower leg bone plate 2-2-1 and the lower leg bone plate 2-2-2 are provided with a calf pneumatic muscle 2-1 and a calf spring connected to the two In group 2-4, the knee joint axis 1-12 is fixedly connected to the lower leg bone plate 2-2-1. With such arrangement, the structure is compact, and the parts are unified and simple. Each joint axis is only affected by the tension of the wire rope, and the moment radius of the structure remains unchanged, which is convenient for theoretical modeling and analysis. The hip joint shaft 1-11 and the knee joint shaft 1-12 are installed together with the upper thigh bone plate 1-3-1 and the lower thigh bone plate 1-3-2 through the bearing 1-8 to realize rotation, and the pneumatic muscles are fastened on Installed on the fixed ferrule 1-7 on the thigh support 1-3. The fixed ferrule 1-7 is fixed on the skeletal plate 1-3-2 under the thigh, and other pneumatic muscles are fixed in the same way.

Referring to Figure 6, the hip joint shaft, knee joint shaft, and ankle joint shaft have reserved positions for placing mechanical seal rings, and are connected at the hip joint shaft connection between the thigh and the main body trunk, and the knee joint shaft connection between the thigh and the calf A mechanical seal is put on the junction of the ankle joint shaft of the lower leg and the foot. The mechanical seal device is divided into two parts. The static sealing ring is tightly fixed on the thigh support, and the dynamic sealing ring is tightly sleeved on the joint shaft. Sealing is achieved while turning. Specifically take the knee joint shaft as an example: a static sealing ring 3-1, a dynamic sealing ring 3-2 and a compression spring 3-3 are arranged between the upper thigh bone plate 1-3-1 and the lower leg bone plate 2-2-2. ; Static sealing ring 3-1, dynamic sealing ring 3-2 and compression spring 3-3 are sleeved on the knee joint shaft 1-12 from bottom to top, and static sealing ring 3-1 is fixedly connected to bone plate 1-3- on the thigh 1, the compression spring 3-3 leans against the dynamic sealing ring 3-2 and the lower leg bone plate 2-2-2. In addition, as shown in Fig. 5, both the thigh 1 and the lower leg 2 are wrapped by the upper and lower parts of the sealed shell, and two layers of semicircular grooves are respectively arranged at the junction of the two shells, and then hot melt glue is injected to realize water sealing.

work process

See Figure 1-Figure 7. The installation position diagram of the imitation frog swimming leg mechanism driven by the pneumatic muscle with wire rope transmission and spring reset in the imitation frog robot, as shown in the dotted line area in Figure 7, the hip joint axis 1-11 and knee joint axis 1-12 respectively These are the two rotating shafts at both ends of the thigh, the ankle joint shaft 2-3 is the rotating shaft at one end of the lower leg, the thigh 1 can be installed on the main body of the robot through the hip joint shaft 1-11, and the lower leg 2 can be installed on the thigh 1 through the knee joint Axis 1-12 and thigh 1 are installed together at a certain angle, and ankle joint axis 2-3 on shank 2 can be installed with imitation frog robot foot flipper structure.

The hip joint, knee joint, and ankle joint are driven by only one pneumatic muscle. The thigh 1 realizes the rotation of the hip joint and the knee joint through the symmetrical distribution of the two pneumatic muscles. The pneumatic muscle one 1-1 inflates and exhausts the knee joint The shaft 1-12 rotates, and then drives the calf 2 to rotate, and the inflation and exhaust of the pneumatic muscle 2 1-2 realizes the rotation of the hip joint shaft 1-11, and then realizes the rotation of the thigh 1 itself, and the calf passes through a calf pneumatic muscle 2- 1 Realize driving the rotation of the ankle joint axis 2-3, realizing driving the rotation of the foot. The spring is a linear spring, and the spring pre-tightens the steel wire rope to ensure that the thigh and calf return to the initial position after stretching, realizing the leg retraction action. Relying on the contraction characteristics of pneumatic muscles similar to biological muscles, that is, large contraction force and fast contraction speed, high-pressure gas is injected into the pneumatic muscles to drive the rotation of each joint axis to achieve leg extension.

The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any skilled person who is familiar with the profession, without departing from the scope of the technical solution of the present invention, does the above implementation cases according to the technical essence of the present invention. Any simple modifications, equivalent changes and modifications still belong to the scope of the technical solution of the present invention.

Claims (8)

1. imitating frog travelling leg mechanism using the driving of the pneumatic muscles of wire rope gearing and spring reset, it is characterised in that：It is wrapped Include thigh (1) and shank (2)；The thigh (1) includes pneumatic muscles one (1-1), pneumatic muscles two (1-2), thigh support frame (1- 3), hip joint axis (1-11), knee axis (1-12), groups of springs one (1-9) and groups of springs two (1-10)；One (1- of pneumatic muscles 1), pneumatic muscles two (1-2), groups of springs one (1-9), groups of springs two (1-10), hip joint axis (1-11) and knee axis (1- 12) it is mounted on thigh support frame (1-3)；Hip joint axis (1-11) and knee axis (1-12) are respectively the joint with race Axis, the pneumatic joint end setting of the neighbouring pneumatic muscles one (1-1) of hip joint axis (1-11) are simultaneously rotated relative to thigh support frame (1-3), The end-fitting end setting of the neighbouring pneumatic muscles one (1-1) of knee axis (1-12) is simultaneously rotated relative to thigh support frame (1-3)；

The end-fitting end of pneumatic muscles one (1-1) is connect with steel wire rope group one, and steel wire rope group one passes through knee axis (1-12) Race after connect with groups of springs one (1-9), the end-fitting end of pneumatic muscles two (1-2) is connect with steel wire rope group two, steel wire Rope group two is connect after the race of hip joint axis (1-11) with groups of springs two (1-10)；

Thigh (1) is rotatablely connected by one end of knee axis (1-12) and shank (2), and thigh (1) passes through hip joint axis (1- 11) it is rotatablely connected with the hip joint of imitative frog robot, the other end of shank (2) is additionally provided with for connecting imitative frog robot The ankle-joint axis (5) of foot.

2. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 1 Structure, it is characterised in that：The shank (2) include shank pneumatic muscles (2-1), small leg support (2-2), ankle-joint axis (2-3) and Shank groups of springs (2-4)；Shank pneumatic muscles (2-1), ankle-joint axis (2-3) and shank groups of springs (2-4) are separately mounted to small On leg support (2-2)；The end-fitting end of the neighbouring shank pneumatic muscles (2-1) of ankle-joint axis (2-3) is arranged, ankle-joint axis (2- 3) it is the joint shaft with race and can be rotated relative to small leg support (2-2), small leg support (2-2) is fixed in knee axis (1- 12) on, the end-fitting end of shank pneumatic muscles (2-1) is connect with shank steel wire rope, shank steel wire penetrating ankle-joint axis (2- 3) race is simultaneously connect with shank groups of springs (2-4).

3. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 2 Structure, it is characterised in that：Groups of springs one (1-9) includes two springs being set up in parallel, which connect with steel wire rope, The other end of two springs is fixed on spring fixed column (1-5), and spring fixed column (1-5) is mounted on thigh support frame (1-3) On.

4. imitating frog travelling leg according to the driving of the pneumatic muscles of wire rope gearing and spring reset is used described in Claims 2 or 3 Mechanism, it is characterised in that：Groups of springs two (1-10) includes two springs being set up in parallel, which connects with steel wire rope It connects, the other end of two springs is fixed on spring fixed column (1-5), and spring fixed column (1-5) is mounted on thigh support frame (1- 3) on.

5. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 4 Structure, it is characterised in that：Shank groups of springs (2-4) includes two shank springs being set up in parallel, two shank spring one ends with Steel wire rope connects, and the other end of two shank springs is fixed on shank spring fixed column (2-5), shank spring fixed column (2-5) is mounted in small leg support (2-2).

6. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 5 Structure, it is characterised in that：Thigh support frame (1-3) includes bone plate (1-3-2) under bone plate (1-3-1) and thigh on thigh；Thigh Upper bone plate (1-3-1) is arranged and links together with bone plate (1-3-2) spacing parallel arranging under thigh, bone plate (1- on thigh 3-1) between bone plate (1-3-2) under thigh be equipped with connect with the two pneumatic muscles one (1-1), pneumatic muscles two (1-2), Groups of springs one (1-9), groups of springs two (1-10), hip joint axis (1-11) and knee axis (1-12).

7. imitating frog travelling leg according to described driven using the pneumatic muscles of wire rope gearing and spring reset of claim 5 or 6 Mechanism, it is characterised in that：Small leg support (2-2) includes bone plate (2-2-2) under bone plate (2-2-1) and shank on shank；It is small Bone plate (2-2-2) spacing parallel arranging is arranged and links together under bone plate (2-2-1) and shank on leg, bone plate on shank The shank pneumatic muscles one (2-1) being connect with the two and shank spring are equipped between (2-2-1) and bone plate (2-2-2) under shank Group (2-4), knee axis (1-12) and bone plate (2-2-1) on shank are affixed.

8. the driving of the pneumatic muscles of wire rope gearing and spring reset is used to imitate frog travelling leg machine according to claim 7 Structure, it is characterised in that：On thigh static sealing ring (3- is provided between bone plate (2-2-2) under bone plate (1-3-1) and shank 1), dynamic seal ring (3-2) and compressed spring (3-3)；Static sealing ring (3-1), dynamic seal ring (3-2) and compressed spring (3-3) by Under it is supreme be sleeved on knee axis (1-12), static sealing ring (3-1) is fixed on thigh on bone plate (1-3-1), compressed spring (3-3) is acted against under dynamic seal ring (3-2) and shank on bone plate (2-2-2).