A coupled bionic foot pad to improve the ground stability of leg-footed robots

A robot and stability technology, applied in the field of bionic foot pads, can solve the problems of poor ground contact stability of robot feet and poor performance of foot pads, achieve excellent cushioning and shock absorption performance, improve road surface adaptability, and expand the contact area.

Active Publication Date: 2021-12-07
JILIN UNIV
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  • Abstract
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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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  • A coupled bionic foot pad to improve the ground stability of leg-footed robots
  • A coupled bionic foot pad to improve the ground stability of leg-footed robots
  • A coupled bionic foot pad to improve the ground stability of leg-footed robots

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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

A coupled bionic foot pad that improves the stability of a leg-footed robot touching the ground. The bionic foot pad can achieve excellent biomechanical functions by imitating the unique compartment structure and material combination of the human heel pad. The invention comprises a base layer of the bionic foot pad, a middle layer of the bionic foot pad, a lower layer of the bionic foot pad and a surface layer touching the ground, each layer is fixed by a flexible adhesive. The base layer of the bionic foot pad has high hardness; the middle layer of the bionic foot pad is equipped with ellipsoidal compartments and feather compartments, and the interior of the compartments is inlaid with nanofiber bundles coated with viscoelastic fillers. Through the coupling of structures and materials, The bionic foot pad presents highly anisotropic mechanical properties. The lower layer of the bionic foot pad is equipped with a honeycomb-shaped closed compartment wrapped with viscoelastic filler. This structure can achieve good shock absorption and energy storage effect, which can effectively improve the robot leg. Ground contact stability of the foot system.

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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Patent Type & Authority Patents(China)
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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