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Coupling bionic foot pad for improving ground contact stability of leg-foot type robot

A robot and stability technology, applied in the field of bionic foot pads, can solve problems such as poor performance of foot pads and poor stability of robot feet touching the ground

Active Publication Date: 2021-05-07
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the difficult problem of poor ground contact stability of the robot foot due to poor performance of the existing robot foot pads, and to provide a coupled bionic foot pad that can effectively improve the ground contact stability of the legged robot

Method used

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  • Coupling bionic foot pad for improving ground contact stability of leg-foot type robot
  • Coupling bionic foot pad for improving ground contact stability of leg-foot type robot
  • Coupling bionic foot pad for improving ground contact stability of leg-foot type robot

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Embodiment Construction

[0031] see Figure 1 to Figure 7 As shown, a coupled bionic foot pad that improves the stability of a leg-footed robot touching the ground includes a base layer 1 of the bionic foot pad, a middle layer 2 of the bionic foot pad, a lower layer 3 of the bionic foot pad and a surface layer 4 that touches the ground;

[0032] The bionic foot pad base layer 1 selects materials with mechanical properties equivalent to the plantar fascia rigidity, such as: Ecoflex0050 silica gel, etc. The thickness of the bionic foot pad base layer 1 is 1 ± 0.5mm; the upper surface 11 of the base layer and the lower surface 12 of the base layer are coated with flexible Adhesive is bonded to the surface of the sole of the robot and the upper surface 23 of the middle layer of the bionic foot pad respectively; due to the high rigidity of the base layer, it can not only prevent excessive deformation of the bionic foot pad, improve the durability of the material, but also make the bionic foot pad more durab...

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Abstract

The invention relates to a coupling bionic foot pad for improving the ground contact stability of the leg-foot type robot, the bionic foot pad can achieve an excellent biomechanical function by simulating a unique compartment structure and material combination of a human heel pad. The bionic foot pad comprises a bionic foot pad base layer, a bionic foot pad middle layer, a bionic foot pad lower layer and a ground contact surface layer which are fixed through flexible adhesives. The bionic foot pad base layer has relatively high hardness; the middle layer of the bionic foot pad is provided with an ellipsoidal compartment and a pinniform compartment, nanofiber bundles coated with viscoelastic filler are embedded in the compartments, the bionic foot pad shows highly anisotropic mechanical properties through the coupling effect of structures and materials, and the lower layer of the bionic foot pad is provided with a honeycomb closed compartment coated with viscoelastic filler. By means of the structure, good shock absorption and energy storage effects can be achieved, and the ground contact stability of a leg-foot type system of the robot can be effectively improved.

Description

technical field [0001] The invention relates to the field of mechanical bionic engineering, in particular to a bionic foot pad applied to the sole of a legged robot to improve the ground stability of the robot. Background technique [0002] In recent years, legged robot technology has developed rapidly and is widely used in military reconnaissance, emergency rescue and disaster relief, etc., which greatly reduces human work intensity and improves safety. However, the complex road surface and terrain environment put forward higher requirements and challenges for the performance of the robot, especially the road adaptability and efficient cushioning and shock absorption performance of the robot leg-foot system, and the robot leg-foot system determined by the joint action of the two. System touchdown stability. [0003] The literature survey shows that the current legged robots mainly relieve the strength of the ground force by designing complex buffer mechanisms / structures or...

Claims

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Application Information

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IPC IPC(8): B62D57/032B32B3/12B32B3/26B32B3/08B32B9/00B32B9/04B32B25/00
CPCB32B3/085B32B3/12B32B3/26B32B9/00B32B9/04B32B9/043B32B25/00B32B2307/56B32B2307/744B62D57/032
Inventor 钱志辉庄智强任雷王坤阳姜振德王胜利宋广生任露泉
Owner JILIN UNIV
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