Buffering energy-saving and active anti-subsidence bionic mechanical foot

Abstract

The invention discloses a buffering energy-saving and active anti-subsidence bionic mechanical foot. The foot is composed of a tarsometatarsus, metatarsophalangeal joints, a second phalanx, a third phalanx, a steering engine and a toe pad; each metatarsophalangeal joint is composed of a base, a support, a connection rod, a spring, a horizontal slider, a first phalanx, a vertical slider, a hinge pin and the like. Ostrich feet are used as a bionic prototype. On one hand, considering the motion morphology of sand touching and sand crossing of the ostrich feet when an ostrich runs on the sand land at high speed, the metatarsophalangeal joints which are permanently kept off the sand land are designed, and energy-storage, buffering and energy-saving effects are achieved; on the other hand, considering the aspect of material assembly, the phalanx adopts rigid materials, the toe pad adopts rubber materials, and rigid-flexible coupling plays a role in protecting a skeleton. Besides, considering the ostrich feet sand-off posture and active anti-subsidence characteristics, the steering engine drives the phalanxes to be off the sand land in sequence, and the active anti-subsidence effect is achieved. The bionic mechanical foot is simple in structure and multifunctional, and helps to improve the walking ability of a robot in the soft ground like sand land.

Description

technical field [0001] The invention belongs to the technical field of engineering bionics, in particular to a bionic mechanical foot with cushioning, energy saving and active anti-subsidence. Background technique [0002] With the development of mechanical design and control technology, robots have become a research hotspot. Various countries have successively developed different robots, the main applications of which include mineral mining, interstellar exploration, emergency rescue and disaster relief, military investigation and anti-terrorism, etc. However, most of the environments that current robots face are hard ground, and there are relatively few robots facing soft ground. As one of the actuators of the robot, the detailed research has become particularly important. The quality of the foot design will have a profound impact on the balance, passability and traction of the robot. The mechanical feet that have been researched are mostly considered from the aspects o...

AI Technical Summary

Problems solved by technology

The mechanical feet that have been researched are mostly considered from the aspects of support balance and cushioning, while there are relatively few researches on active anti-subsidence

In addition, most functions such as buffering and vibration reduction are assembled through springs, sleeves, etc., while rigid-flexible coupling applications such as material assembly and component assembly are relatively rare

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