A self-adaptive posture-changing bionic mechanical foot

Abstract

The invention discloses an adaptive attitude-variable bionic mechanical foot, which can passively adjust the movement attitude of the toes in real time according to the ground environment where it is located, and change the contact area of ​​the sole of the foot. It includes a load-bearing rod, a guide rod, a first slider linkage mechanism, a second slider linkage mechanism, a first toe mechanism, a second toe mechanism, and a third toe mechanism; the guide rod passes through the load-bearing rod, the second toe mechanism in sequence A slider link mechanism and a second slider link mechanism are screwed to the first toe mechanism; a pair of second toe mechanisms are respectively hinged on the left and right sides of the first toe mechanism; a pair of third toe mechanisms The mechanisms are respectively hinged on the outside of the second toe mechanism on the corresponding side; the two ends of the first slider linkage mechanism are respectively hinged to the third toe mechanism on the corresponding side; the two ends of the second slider linkage mechanism are respectively connected to the corresponding side The second toe mechanism is hinged; the guide bar is sleeved with a spring; the toe mechanism is composed of a phalange, 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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