Design method of bionic shoe sole with propelling performance

Abstract

The invention relates to the field of shoe soles, in particular to a design method of a bionic shoe sole with propelling performance, which comprises the following steps executed in sequence: S1, constructing a tetragonal insect-like foot lattice unit cell structure, s2, defining design parameters: defining a total deformation coefficient according to the side length of a foot lattice unit cell structure of the insect, the joint diameter of the insect-like structure, a main diagonal deformation coefficient and a secondary diagonal deformation coefficient, and S3, constructing topological structures of different structures according to a preset total deformation coefficient range, obtaining a topological structure database, and determining the design parameters according to the topological structure database. S4, acquiring or calculating the energy absorption efficiency and peak propulsive force of each topological structure in the topological structure database, and constructing a topological structure optimization function, and S5, calculating the optimization function of each topological structure in the topological structure database, selecting the topological structure for filling each region of the shoe sole according to requirements, and acquiring a 3D shoe sole printing scheme; the shoe sole is designed by adopting the insect-like foot dot matrix unit cell structure constructed by the invention, so that the exercise efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shoe soles, in particular to a bionic shoe sole design method with propulsion performance. BACKGROUND

[0002] The motion performance of shoes is one of the key factors that determine the experience of the athletes, especially in the cushioning and propulsion ability of the shoe sole. When choosing the right sports shoes, people usually pay attention to the cushioning effect of the shoes, that is, the absorption ability of the shoe sole to the ground impact, so as to reduce the burden on the joints and muscles. At the same time, excellent propulsion performance can effectively convert and utilize the energy of the runner when landing, reducing energy loss, which means that the runner can reach the same speed with less effort, or reach a higher speed under the condition of maintaining the same energy input, thereby improving the running efficiency. In addition, running shoes with good propulsion performance can also reduce the impact on the knee, ankle and other parts when the foot lands to a certain extent, which helps to alleviate joint wear and tear and reduce the risk of injury. Therefore, the design of shoe sole structure based on motion performance optimization has become an important technical path to improve the overall performance of sports shoes.

[0003] The existing shoe sole structure usually adopts integrated molding technology, which is difficult to process a hollowed-out shoe sole, making it difficult to achieve the goal of reducing weight on the basis of the original design. The weight reduction of this type of shoe sole mainly depends on the selection of lightweight materials, but this not only increases the cost of materials, but also may affect the mechanical properties and durability, making it difficult to achieve true structural optimization and lightweight.

[0004] Although there are some applications of 3D printed shoe soles at present, there is no standardized manufacturing process and specification. Due to insufficient research on the performance of shoe soles, the printed shoe soles cannot be accepted by consumers. This makes the advantages of 3D printing rapid prototyping become disadvantages, because the 3D shoe sole cannot be directly modified, and only the design scheme can be adjusted and reprinted, which increases the workload and causes great waste of materials. SUMMARY

[0005] The purpose of the present application is to provide a bionic dot matrix structure inspired by the characteristics of insect feet, which is used to improve the cushioning and energy absorption ability and transverse propulsion performance of the shoe sole, and a bionic shoe sole design method with propulsion performance.

[0006] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows: A bionic shoe sole design method with propulsion performance, comprising the following steps executed in sequence: S1: Constructing a tetrahedral insect leg lattice unit cell structure, the method for constructing the insect leg lattice unit cell structure is as follows: constructing an insect-like structure, the insect-like structure comprising a first segment, a second segment, a third segment, and a fourth segment connected in sequence, wherein the angle formed by the first segment and the second segment is an obtuse angle or an acute angle, the angle formed by the second segment and the third segment is greater than 180°, and the angle formed by the third segment and the fourth segment is an obtuse angle; A first structure is formed by symmetrically distributing two insect-like structures, wherein the second segments of the two insect-like structures of the first structure are connected at the connection points of the third segments. A second structure is formed by symmetrically distributing two insect-like structures, wherein the second segments of the two insect-like structures of the second structure are connected at the connection points of the third segments. The first structure and the second structure are centrally symmetrical, wherein two second segments are connected to the first segments of the first structure and the second structure, and two third segments are connected to the fourth segments of the first structure and the second structure. The second segments and the third segments between the first structure and the second structure are connected in a one-to-one correspondence, i.e., the four surfaces of the insect-like foot lattice unit cell structure connected in sequence are each composed of two insect-like structures. S2: Define design parameters: the side length of the insect foot lattice unit cell structure , the diameter of the segment of the insect-like structure , main diagonal deformation coefficient , secondary diagonal deformation coefficient and total deformation coefficient , total deformation coefficient Main diagonal deformation coefficient and the secondary diagonal deformation coefficient sum; S3: 0.30 0.70, 0.05 0.25 Build topological structures of different structures and obtain the topological structure database; S4: Obtain or calculate the energy absorption efficiency and peak propulsion force of each topology in the topology database, and construct a topology optimization function : ; in, is the optimal value calculated for each topology, Represents the forefoot, midfoot or hindfoot area, represents the preferred factor for energy absorption efficiency, represents the optimal factor for peak thrust, represents the energy absorption efficiency, represents the peak propulsive force; S5: calculating the preferred function of each topology in the topology database according to the performance requirements of each partition of the shoe sole According to the requirements, the topologies used to fill the forefoot area, midfoot area and hindfoot area are selected, and the 3D shoe sole printing scheme is obtained by filling the shoe sole with the selected topologies.

[0007] Preferably, in step S2, a first diagonal surface is constructed with two first knuckles of the first body and two second knuckles of the second body, the two first knuckles symmetrically centered form a first diagonal line on the first diagonal surface, and the intersection of the first knuckle and the corresponding second knuckle is a first construction point, The ratio of the displacement amount of the first construction point along the first diagonal line direction to the length of the first diagonal line, i.e. ; Wherein, a second diagonal surface is constructed with two fourth knuckles of the first body and two fourth knuckles of the second body, the two fourth knuckles symmetrically centered form a second diagonal line on the second diagonal surface, and the intersection of the fourth knuckle and the third knuckle is a second construction point, The ratio of the displacement amount of the second construction point along the second diagonal line direction to the length of the second diagonal line, i.e. ; Wherein, The length of the diagonal line is ; Total deformation coefficient It can be expressed by the following formula: .

[0008] Preferably, the insect foot point lattice unit cell structure is projected onto the X-Z plane to obtain a projection structure, and the two second knuckles on the projection structure form an included angle The included angle is calculated by the following formula: ; The included angle can be used to classify different insect foot point lattice unit cell structures.

[0009] Preferably, the actual volume and the equivalent envelope volume corresponding to each topology in the topology database are obtained, and the relative density of each topology is calculated: .

[0010] By adopting the above-mentioned design scheme, the beneficial effects of the present invention are: the present application designs an insect foot lattice unit cell structure, obtains the performance characteristics of different topological structures by analyzing, and selects a suitable insect foot lattice unit cell structure to fill the sole according to the different performance of the foot area, thereby obtaining a complete sole structure. The sole obtained by this design method is used to improve the shock absorption and energy absorption capacity and lateral propulsion performance of the sole, which helps to improve the sports performance of the sole and improve the user's sports efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic structural diagram of the insect-like structure of the present invention; Figure 2 This is a schematic structural diagram of the insect foot lattice unit cell structure of the present invention; Figure 3 It is a schematic structural diagram of the first diagonal surface of the present invention; Figure 4 is a schematic structural diagram of the second diagonal surface of the present invention; Figure 5 The three-dimensional schematic diagram and the plane schematic diagram of the lattice unit cell of the topological structure of the present invention are shown; Figure 6 A schematic structural diagram of the external support rods and the internal support rods of the topological structure of the present invention; Figure 7 The length and deformation coefficient of the topological structure of the present invention are Schematic diagram of the relationship between Figure 8 is the projection of the insect foot lattice unit cell structure of the present invention on the xz plane; Figure 9 For the present invention Schematic diagram of the concavity and convexity of the insect-like foot lattice unit cell structure; Figure 10 The total deformation coefficient of the present invention is Classification statistics of three species of insect-like foot lattice unit cell structures; Figure 11 Schematic diagrams of the structure of the three types of insect foot lattice unit cell structures of the present invention; Figure 12 A schematic diagram of the propulsion performance of the topological structure of the present invention; Figure 13 Schematic diagram of the structure of the sole printed according to the design method of the present invention; Figure 14 The angle of the present invention and deformation coefficient The relationship diagram between . DETAILED DESCRIPTION

[0012] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application in detail with reference to the drawings. Obviously, the described embodiments are only part of, rather than all of, the embodiments of the present application. Based upon the embodiments of the present application, all other embodiments obtained by those ordinarily skilled in the art without creative effort belong to the scope of the present application.

[0013] The terms "first", "second", "third", etc. in the specification and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0014] A bionic shoe sole design method with propulsion performance, comprising the following steps executed in sequence: S1: Construct an insect-like foot point lattice unit cell structure in the form of a cuboid, as shown in Figure 2 The construction method of the insect-like foot point lattice unit cell structure is as follows: construct an insect-like structure as shown in Figure 1 The insect-like structure includes a first bone segment a, a second bone segment b, a third bone segment c and a fourth bone segment d connected in sequence, the included angle formed by the first bone segment a and the second bone segment b is an obtuse angle or an acute angle, the included angle formed by the second bone segment b and the third bone segment c is greater than 180°, and the included angle formed by the third bone segment c and the fourth bone segment d is an obtuse angle.

[0015] In nature, insects have formed foot structures that can adapt to complex environments through a long evolution process. During movement and propulsion, different inclined angle parts of the insect foot produce tangential and normal force coupling, the former provides continuous propulsion for movement, and the latter helps support. This force coupling enables insects to achieve maximum forward propulsion with minimal energy loss, reflecting excellent energy utilization efficiency.

[0016] The flexible deformation between each segment of the insect-like structure can effectively disperse and absorb external impact forces, thereby enhancing the environmental adaptability thereof. In the process of force application, different segments exhibit gradual changes in rigidity, which not only enhances the applicability of the structure to different scenarios, but also provides a good basis for subsequent energy conversion. The connection between the segments can store and release elastic potential energy, and in the process of movement, the stored elastic potential energy is efficiently converted into forward propulsion kinetic energy, thereby realizing the recycling of energy, greatly improving the movement efficiency and achieving stable movement propulsion.

[0017] The two insect-like structures are symmetrically distributed to form a first structure, the connection points of the second segments and the third segments of the two insect-like structures of the first structure are connected together, the two insect-like structures are symmetrically distributed to form a second structure, the connection points of the second segments and the third segments of the two insect-like structures of the second structure are connected together, the first structure and the second structure are center-symmetric, two second segments are connected to the first segments of the first structure and the second structure, two third segments are connected to the fourth segments of the first structure and the second structure, and the second segments and the third segments between the first structure and the second structure are one-to-one corresponding connection, that is, the four surfaces connected in turn of the insect-like foot point lattice unit cell structure are composed of two insect-like structures.

[0018] S2: defining design parameters: side length of the insect-like foot point lattice unit cell structure , segment diameter of the insect-like structure , main diagonal deformation coefficient , and secondary diagonal deformation coefficient , wherein the first diagonal surface A is constructed as shown in Figure 3 by two first segments a of the first structure and two second segments b of the second structure, the two first segments a of the center symmetry form a first diagonal line on the first diagonal surface A, and the intersection of the first segment a and the corresponding second segment b is a first construction point, is the ratio of the displacement amount of the first construction point along the first diagonal line direction to the length of the first diagonal line, that is: ; , wherein the second diagonal surface B is constructed as shown in Figure 4 by two fourth segments d of the first structure and two fourth segments d of the second structure, the two fourth segments d of the center symmetry form a second diagonal line on the second diagonal surface B, and the intersection of the fourth segment d and the third segment c is a second construction point, is the ratio of the displacement amount of the second construction point along the second diagonal line direction to the length of the second diagonal line, that is: ; , wherein For the diagonal length, ; Definition of total deformation coefficient : ; S3: 0.30 0.70, 0.05 0.25 Construct topological structure of different structures, get topological structure database; In order to facilitate the identification of different structures, the topological structure is referred to as , for example, when , , the topological structure is marked as , in order to facilitate the comparative analysis between different design schemes.

[0019] In this embodiment, the internal topological structure contains four closed loop quadrilateral links, which are connected in turn at the face center. When is 0.25, the closed loop quadrilateral is orthogonal to the corresponding body diagonal face; When is less than 0.25, the closed loop quadrilateral is convex to the body center direction; When the deformation coefficient is greater than 0.25, the closed loop quadrilateral is concave to the body center direction, as shown in Figure 5 .

[0020] As shown in Figure 6 and Figure 7 , the influence law of different values of deformation coefficient on the length of external strut (blue strut in Figure 6 ) and internal quadrilateral link (purple strut in Figure 6 ). Under the condition of constant deformation coefficient , the 4 external struts on the same diagonal face have equal length, and the corresponding internal quadrilateral link also presents equal length characteristics. When the deformation coefficient , the length of external blue strut and internal quadrilateral link is consistent, and the overall structure presents complete axial symmetry. With the increase of , the length of external strut presents linear growth, while the length change of internal quadrilateral link presents nonlinear characteristics. Specifically, the length of internal link increases first and then decreases with the increase of , and reaches the minimum value at . In addition, with the increase of deformation coefficient , the geometric shape of internal quadrilateral link gradually changes from convex to concave. The change of length of internal and external links has a significant influence on the mechanical properties of the lattice structure.

[0021] In order to quantify the concave-convex degree of closed loop quadrilateral, the internal included angle As a characterization index, in this embodiment, the four-edge link of the first diagonal plane A is taken as an example, as shown in the projection of the insectoid foot point lattice cell structure in the x-z plane, at this time, the closed loop quadrilateral only has two links, and the internal angle Figure 8 can be used to reflect the concave-convex characteristics of the closed loop quadrilateral. Figure 14 The relationship between the internal angle and the deformation coefficient is shown, and the results show that, with the increase of , the internal angle also gradually increases. When , the internal angle reaches a flat angle of 180°, at this time, the four links of the closed loop quadrilateral are coplanar; when 0, the internal angle is a convex angle, that is, , the closed loop quadrilateral presents an outward convex structure characteristic; and when , the internal angle is a concave angle, that is, , the closed loop quadrilateral presents an inward concave structure characteristic. The relationship expression between the internal angle and the deformation coefficient is as follows: ; The internal angle can be used to classify different insectoid foot point lattice cell structures, and the lattices in different angle ranges have obviously different mechanical performances.

[0022] Under different combinations of deformation coefficients, the insectoid foot point lattice cell structure presents significantly different structural morphologies. The theoretical range of the total deformation coefficient is , however, in the process of generating the lattice structure from the cell array, it is found that when or , there is a large part of the structure overlapping. Therefore, in order to avoid structural interference in the processing process, the combination range of the deformation coefficient is further limited to .

[0023] In the design process, when the total deformation coefficient , the external convexity and the internal concavity of the four-edge link inside the insectoid foot point lattice cell structure are the same, reaching a balanced state. For example, when and , the two four-edge links intersecting with the first diagonal plane A present an outward convex deformation, while the two four-edge links intersecting with the second diagonal plane B present an inward concave deformation with the same degree, as shown in Figure 9 . In addition, when , the internal angle and ​and always equal to 360°; when , ; and when , .

[0024] Therefore, based on the numerical characteristics of the sum of the deformation coefficients, the present research classifies the insect-like foot point lattice unit cell structures into three types: the outer convex dominant type, i.e. , the concave-convex balanced type, i.e. , and the inner concave dominant type, i.e. , as shown in Figure 10 . This classification system based on geometric characteristics not only helps to deeply understand the configuration characteristics of the lattice structure, but also lays a foundation for subsequent mechanical performance analysis.

[0025] When or , because the structure pillars have a large degree of geometric interference, the structure forms in this range are not included in the present embodiment. Within the effective range of , due to the influence of the geometric symmetry of the lattice structure itself, for example , and , , the geometric form of the lattice structure is completely consistent, so only half of the symmetric region needs to be analyzed, and the left half of the symmetric structure is selected as the research object in the present embodiment. In the selected analysis region of Figure 11 : the green area represents the outer convex dominant type, where ; the red area represents the concave-convex balanced type, where ; and the blue area represents the inner concave dominant type, where .

[0026] The relative density of the lattice structure is one of the important indicators for evaluating its design and performance, reflecting the lightweight degree of the structure. By keeping the rod diameter of the unit cell the same and the overall height of the structure equal, the relative density of each structure can be controlled within a certain range. The relative density is determined by the ratio of the actual volume of the insect-like foot point lattice unit cell structure to the corresponding envelope volume. The actual volume and the equivalent envelope volume corresponding to each topology in the topology database are obtained, and the relative density of each topology is calculated as follows: ; In the present embodiment, the actual volume of the topology is calculated by the Catia softwareThe equivalent envelope volume here is the cubic volume of the topology established, and the actual volume is the volume actually occupied by the topology. Since it is hollow, the normal relative density is less than 1. Calculate the relative density , for evaluating the quality of the sole, the lower the relative density, the smaller the quality.

[0027] In the performance evaluation of the sole, the propulsion performance is one of the important indicators to measure its functional performance, which directly affects the running efficiency and the comfort of the movement. For the propulsion performance of the sole dot matrix structure, it mainly refers to the horizontal propulsion effect generated when it is subjected to axial compression load. Specifically, this performance can be measured by lateral force and lateral displacement. Lateral force reflects the ability of the dot matrix structure to convert vertical load into horizontal propulsion force, while lateral propulsion displacement describes the amount of horizontal displacement generated by the structure under the action of vertical pressure, as shown in Figure 12 .

[0028] Through the analysis of different structures of the topology, the present application mainly considers the following types when selecting the sole insect-like foot dot matrix unit cell structure: the concave-dominant type and , the concave-convex balanced type , the removal of , and the convex-dominant type and , the removal of and . The test results of the 18 topologies in terms of energy absorption and propulsion performance are shown in Table 1. For propulsion performance, the evaluation indicators are maximum propulsion displacement and maximum propulsion force. As for energy absorption performance, there are three indicators: volume-specific energy absorption, mass-specific energy absorption, and energy absorption efficiency. According to the previous analysis, the relative density of the insect-like foot dot matrix unit cell structure is relatively small, so the difference between volume-specific energy absorption and mass-specific energy absorption is not large. At the same time, in order to be consistent with the number of evaluation indicators of propulsion performance, mass-specific energy absorption and energy absorption efficiency are selected as the evaluation indicators of energy absorption performance.

[0029] Table 1 Energy absorption and propulsion performance test results of different types of topologies

[0030] The performance requirements of the three regions of the sole, i.e. the forefoot region, the midfoot region and the hindfoot region, are different. The comprehensive performance of the 18 insect-like foot dot matrix unit cell structures is ranked, and the results are shown in Table 2. Analysis shows that the overall ranking of the 6 types of dot matrix structure of the concave-dominant type is low, because although its mass-specific energy absorption is high, its energy absorption efficiency is low, resulting in poor comprehensive performance of energy absorption, so it has no competitive advantage in the comprehensive score.

[0031] Table 2 Evaluation results of different types of topologies

[0032] S4: Calculate the energy absorption efficiency and peak propulsion force of each topology in the topology database, and construct a topology preference function : ; wherein, is the calculated preference value of each topology, represents the forefoot region, midfoot region or rearfoot region, represents the preferred factor of energy absorption efficiency, represents the preferred factor of peak propulsion force, represents the energy absorption efficiency, represents the peak propulsion force, in this embodiment, the energy absorption efficiency and peak propulsion force can be calculated by conventional software or mechanical performance test.

[0033] S5: Calculate the preference function of each topology in the topology database according to the performance requirements of each subarea of the sole , select the topology for filling the forefoot region, midfoot region and rearfoot region according to the requirements, and fill the sole with the selected topology to obtain a 3D sole printing scheme, and the 3D printed sole is shown in Figure 13 .

[0034] In this embodiment, the preferred factor of energy absorption efficiency and the preferred factor of peak propulsion force The values of the preferred factors for different regions of the sole are shown in Table 3, and other settings can also be made according to actual requirements.

[0035] Table 3: Value setting of preferred factor:

[0036] Through the above formula calculation, the forefoot region mainly considers propulsion performance and secondarily considers energy absorption performance, and the optimal structure is , which can meet the propulsion demand while considering energy absorption; the midfoot region needs to balance the propulsion and energy absorption performance, and the optimal structure is , which provides necessary support and stability and ensures smooth transition during movement; the rearfoot region mainly considers energy absorption performance and secondarily considers propulsion performance, and the optimal structure is , which effectively absorbs impact force and improves comfort. The selection of the sole subarea structure is based on the evaluation of the actual user's foot bottom, and there is a slight difference between different people.

[0037] In summary, the application designs an insect-like foot point array unit cell structure, obtains the performance characteristics of different topologies through analysis, selects appropriate insect-like foot point array unit cell structures for filling the shoe sole according to the different performance of the foot part area, and thus obtains a complete shoe sole structure. The shoe sole obtained by the design method improves the shock absorption and energy absorption capacity and transverse propulsion performance of the shoe sole.

[0038] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the application. It should be understood that the above description is only a specific embodiment of the application and is not intended to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A method of designing a bionic shoe sole with propulsion performance, characterized in that: The method comprises the following steps executed in sequence: S1: constructing an insectoid foot point lattice unit cell structure in the form of a cuboid, the construction method of the insectoid foot point lattice unit cell structure being as follows: constructing an insectoid structure, the insectoid structure comprising a first bone segment, a second bone segment, a third bone segment and a fourth bone segment connected in sequence, an included angle formed by the first bone segment and the second bone segment being an obtuse angle or an acute angle, an included angle formed by the second bone segment and the third bone segment being greater than 180°, and an included angle formed by the third bone segment and the fourth bone segment being an obtuse angle; symmetrically distributing two insectoid structures to form a first structure, the connection points of the second bone segments and the third bone segments of the two insectoid structures of the first structure being connected together, symmetrically distributing two insectoid structures to form a second structure, the connection points of the second bone segments and the third bone segments of the two insectoid structures of the second structure being connected together, the first structure and the second structure being centrosymmetric, two second bone segments being connected to the first bone segments of the first structure and the second structure, two third bone segments being connected to the fourth bone segments of the first structure and the second structure, and the second bone segments and the third bone segments between the first structure and the second structure being connected in one-to-one correspondence, that is, the four surfaces of the insectoid foot point lattice unit cell structure connected in sequence are each composed of two insectoid structures; S2: defining design parameters: side length of the foot-point lattice cell structure of the insect-like structure , diameter of the segment of the insect-like structure , primary diagonal deformation coefficient , secondary diagonal deformation coefficient , and total deformation coefficient , total deformation coefficient is the sum of the primary diagonal deformation coefficient and the secondary diagonal deformation coefficient . S3: 0.30 0.70, 0.05 0.25 constructing topological structures of different structures, and obtaining a topological structure database; S4: Obtain or calculate the energy absorption efficiency and peak thrust of each topology in the topology database, and construct a topology preference function : ； wherein, the calculated preferred values for each topology, representing forefoot region, midfoot region or rearfoot region, representing a preferred factor of energy absorption efficiency, representing a preferred factor of peak propulsion force, representing energy absorption efficiency, representing peak propulsion force; S5: calculating the preferred function of each topology in the topology database according to the performance requirements of each partition of the shoe sole According to the requirements, the topologies for filling the forefoot area, midfoot area and hindfoot area are selected, and the selected topologies are used to fill the shoe sole to obtain a 3D shoe sole printing scheme.

2. A method of designing a bionic shoe sole with propulsive performance as claimed in claim 1, characterized in that: In step S2, a first diagonal surface is configured with two first bone segments of the first structure and two second bone segments of the second structure, two first bone segments symmetrically at the center form a first diagonal line on the first diagonal surface, and the intersection of the first bone segment and the corresponding second bone segment is a first configuration point, The ratio of the displacement amount of the first configuration point along the first diagonal line direction to the first diagonal line length, that is: ； wherein a second pair of diagonal surfaces is configured with two fourth bone segments of the first body and two fourth bone segments of the second body, two fourth bone segments which are centrally symmetrical form a second diagonal line on the second pair of diagonal surfaces, and the intersection of the fourth bone segment and the third bone segment is a second configuration point, a ratio of a displacement amount of the second configuration point in the direction of the second diagonal line to the length of the second diagonal line, that is, ； wherein is the diagonal length, ; Total deformation coefficient is expressed by the following equation: 。 3. The method of claim 2, wherein the bionic shoe sole design with propulsion performance is characterized in that: Projecting the tarsal array cell structure of the insect onto the X-Z plane to obtain a projection structure, an included angle is formed between two second segments on the projection structure , the included angle is calculated by the following formula: ； The included angle is adopted Different insectoid foot-point lattice cell structures can be classified.

4. The method of claim 3, wherein the bionic shoe sole design with propulsion performance is characterized in that: obtaining the actual volume corresponding to each topology in the topology database and the equivalent envelope volume and calculating the relative density of each topology : 。

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