Self-adaptive variable-posture bionic mechanical foot

Abstract

The invention discloses a self-adaptive variable-posture bionic mechanical foot which can passively adjust the motion posture of toes in real time according to the ground environment and change the ground contact area of the sole. The mechanical foot comprises a bearing rod, a guide rod, a first sliding block connecting rod mechanism, a second sliding block connecting rod mechanism, a first toe mechanism, second toe mechanisms and third toe mechanisms; the guide rod sequentially penetrates through the bearing rod, the first sliding block connecting rod mechanism and the second sliding block connecting rod mechanism and then is in threaded connection with the first toe mechanism. The pair of second toe mechanisms is hinged to the left side and the right side of the first toe mechanism respectively. The pair of third toe mechanisms are respectively hinged to the outer sides of the second toe mechanisms on the corresponding sides; the two ends of the first sliding block connecting rod mechanism are hinged to the third toe mechanisms on the corresponding sides respectively; the two ends of the second sliding block connecting rod mechanism are hinged to the second toe mechanisms on thecorresponding sides respectively; the guide rod is sleeved with a spring; the toe mechanism is composed of a phalanx, a foot pad unit and a sole.

Description

technical field [0001] The invention belongs to the technical field of engineering bionics, and in particular relates to a self-adaptive posture-changing bionic mechanical foot. Background technique [0002] Compared with wheel-type and crawler-type mobile mechanisms, the contact points of leg-foot-type mobile mechanisms are discrete and discontinuous when passing on soft ground, and its traction performance, sand-surfing performance and anti-subsidence performance are all significantly improved. As the main actuator of the leg-foot mobile mechanism, the design of its structure, shape and function will directly affect whether the mobile mechanism can pass smoothly and normally on soft ground. The feet of most humanoid robots are flat and approximately rectangular, such as ASIMO and PETMAN. If a legged robot is to walk on rough terrain, its feet are usually designed to be cylindrical or spherical so that they can adapt to the terrain more freely, for example, BigDog, LS3, Li...

AI Technical Summary

Problems solved by technology

[0006] A Chinese invention patent of a bionic tendon-bone synergistic rigid-flexible coupling mechanical foot for crossing the sand (application number: 201810786878.0) separates the phalanges of the main toe and the auxiliary toe, emphasizing the push-off function of the mechanical foot, through the servo motor push rod, cushioning and reducing The separation and closing of the two toes is achieved through the cooperation of the vibration mechanism and the flexible passive control mechanism. There is no detailed consideration of the different extensor / flexor tendons driving the toe extension / flexion movements of different phalanges and the movement posture of the toes in different contact periods. Adjustment, and need servo motor assistance, not completely passive

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