A coupled linkage posture-changing anti-sinking bionic foot and a coupled linkage walking wheel

Abstract

The present invention provides a coupled linkage posture-changing anti-sinking bionic foot and a coupled linkage walking wheel, comprising a bionic foot unit; the bionic foot unit comprises a simulated tarsometatarsal unit, a simulated tarsometatarsal tendon unit and a simulated toe unit; the simulated tarsometatarsal unit comprises a vertical rod and an elastic component; the simulated toe unit comprises a second toe, a third toe, a fourth toe, a left web and a right web; the simulated tarsometatarsal tendon unit and the elastic component are both sleeved on the vertical rod, the lower end of the vertical rod is connected to the base of the third toe; the elastic component is located between the simulated tarsometatarsal tendon unit and the base of the third toe; the simulated tarsometatarsal tendon unit can rotate and move up and down along the vertical rod, and the up and down movement of the simulated tarsometatarsal tendon unit drives the second toe and the fourth toe to open and close simultaneously. The present invention uses the mallard foot as a bionic prototype and develops a design based on the opening and closing method of the mallard's toe web and the coupling linkage mechanism of the tarsometatarsal bones, tarsometatarsal tendons, and metatarsophalangeal joints to improve the maneuverability of the mobile mechanism on soft surfaces such as mudflats.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering bionics, and in particular relates to a coupled linkage posture-changing anti-sinking bionic foot and a coupled linkage walking wheel. Background Art

[0002] my country has a large area of ​​soft ground, which is a treasure trove for developing agriculture, obtaining energy, and developing seabed resources. For example, the Daqing Oilfield is located in a soft area, and the oil and gas fields are located in the desert area of ​​the Xinjiang Uygur Autonomous Region.

[0003] Problems in existing soft ground machine systems include: vehicles are prone to slipping and sinking, resulting in reduced passability and increased energy consumption; adhesion of ground working machinery's soil-contacting parts increases working resistance, reducing the machinery's working efficiency and lifespan. Mudflats are a special type of coastal wetland located between the coastline and the sea, and are the junction of land and sea.

[0004] Tidal flats are typically composed of sediments such as mud and sand, covered by a layer of shallow water, also known as the intertidal zone or intertidal zone. Coastal tidal flats are an important land reserve resource in my country. However, there are currently many problems with the development and utilization of coastal tidal flats. From a geographical perspective, coastal tidal flats are the shore areas between the highest and lowest tide lines, with a geological structure of sand, gravel, silt, or soft mud. Based on the material composition of the intertidal zone, it can be further divided into bedrock beaches, gravel beaches, sandy beaches, silt-silt beaches, and biomass beaches. These special properties determine its poor ground bearing capacity and shear resistance. Traditional wheeled mobile mechanisms are prone to slipping and sinking when moving on tidal flats, making it difficult to travel smoothly. Compared with traditional wheeled mobile mechanisms, tracked mobile mechanisms have the disadvantages of being large and having poor flexibility. Legged robots are also prone to sinking due to their small contact area with the tidal flat.

[0005] Therefore, the key to realizing mechanized operation on tidal flats is to solve the problem of sinking of mobile operation mechanisms on tidal flats. Summary of the Invention

[0006] In response to the above technical problems, the present invention provides a coupled linkage variable posture anti-sinking bionic foot and a coupled linkage walking wheel. The present invention takes the mallard foot as a bionic prototype and designs it based on the opening and closing mode of the mallard toe-web and the coupled linkage mechanism of the tarsometatarsal bones, tarsometatarsal tendons, and toe metatarsophalangeal joints to improve the passability of the mobile mechanism on soft ground such as mudflats.

[0007] Mallards inhabit soft-surface environments such as sandbars and mudflats year-round. Their ability to survive in these soft environments is closely related to their anatomy, and the structural morphology of their toes aids their navigating. Mallards possess four toes. Due to natural evolution and the influence of their living environment, the first toe of the mallard has gradually degenerated, leaving them primarily relying on the second, third, and fourth toes to resist subsidence. Webbed feet develop between their toes, securing sand and limiting current flow, thereby increasing their ground contact area. These webbed feet, as a unique foot structure, allow for their free movement on soft surfaces like mudflats. Using the mallard foot as a bionic prototype, this study investigates the opening and closing of the toe-web, exploring the anti-subsidence mechanism of the mallard foot. This study may provide insights into addressing the maneuverability of mobile devices on soft surfaces such as mudflats.

[0008] The present invention uses the mallard's foot as a bionic prototype, imitating the biomechanical functions of the mallard's foot, such as the upright support of the tarsometatarsal bones and the pulling of the tendons at the tarsometatarsal bones to cause the opening and closing of the toes and webs, as well as the coupled linkage of the metatarsophalangeal joints of the second and fourth toes. Based on the principles of engineering bionics and adopting engineering bionics technology, a coupled linkage posture-changing and anti-sinking bionic foot and a coupled linkage energy-saving and buffering walking wheel are provided.

[0009] The walking wheel's connecting disk connects to the movement mechanism through a central opening. Multiple bionic foot units are arranged in a circular array on the connecting disk, which connects to the vertical rod of each bionic foot unit via a sleeve. The sleeve has a built-in elastic component that provides energy saving, cushioning, and reset functions. When the walking wheel touches the ground, the connecting disk applies pressure to the rotatable slider in the bionic foot unit, thereby coupling the units in each bionic foot unit, increasing the ground contact area and achieving anti-sinking function.

[0010] The tarsometatarsal unit plays the role of support, series connection and reduction;

[0011] The tarsometatarsal tendon unit simulates the connection, pulling, energy saving and other functions of the tendon attached to the tarsometatarsal bone;

[0012] The bionic toe unit pushes and pulls the fourth toe through the connecting rod in the bionic tarsometatarsal tendon unit. The gear at the root of the fourth toe drives the gear at the root of the second toe to drive the toe-web linkage coupling to open and close, thereby imitating the mallard duck's foot's posture change and anti-sinking function, while improving the lateral stability of the bionic foot.

[0013] Note that the inclusion of these objectives does not preclude the existence of other objectives. One embodiment of the present invention does not necessarily achieve all of the above objectives. Objectives other than the above objectives may be extracted from the description of the specification, drawings, and claims.

[0014] The present invention achieves the above technical objectives through the following technical means.

[0015] A coupled linkage posture-changing anti-sinking bionic foot comprises a bionic foot unit; the bionic foot unit comprises a tarsometatarsal unit, a tarsometatarsal tendon unit and a toe unit;

[0016] The simulated tarsometatarsal unit includes a vertical rod and an elastic component; the simulated toe unit includes toe II, toe III, toe IV, a left webbing, and a right webbing; a left webbing is provided between toes II and III, and a right webbing is provided between toes III and IV; one end of the simulated tarsometatarsal tendon unit is connected to the vertical rod, and the other end is connected to the simulated toe unit;

[0017] The simulated tarsometatarsal tendon unit and the elastic component are both mounted on a vertical rod, the lower end of the vertical rod is connected to the base of the third toe; the elastic component is located between the simulated tarsometatarsal tendon unit and the base of the third toe;

[0018] A groove is formed at the base of the third toe, a first gear is provided at the base of the second toe, and a second gear is provided at the base of the fourth toe. The first gear and the second gear are meshed and arranged in the groove at the base of the third toe.

[0019] The simulated tarsometatarsal tendon unit can rotate and move up and down along the vertical rod, and the simulated tarsometatarsal tendon unit moves up and down to drive the second toe and the fourth toe to open and close simultaneously.

[0020] In the above solution, the simulated tarsometatarsal tendon unit includes a slider and a connecting rod mechanism;

[0021] One end of the link mechanism is connected to the slider, and the other end is connected to the front end of the toe stem of the fourth toe; the link mechanism limits the opening and closing range of the fourth toe and the second toe;

[0022] The slider is sleeved on the vertical rod, and the elastic component is located between the slider and the toe root of the third toe; the slider can rotate and move up and down along the vertical rod, and the slider moves up and down, and the connecting rod mechanism makes a circumferential transverse movement, and the connecting rod mechanism drives the fourth toe to move circumferentially, and the second gear at the toe root of the fourth toe drives the first gear at the toe root of the second toe to make the second toe move circumferentially, thereby realizing the simultaneous opening and closing of the second and fourth toes.

[0023] Furthermore, the connecting rod mechanism includes a connecting rod, a rib connecting rod and a toe rib connecting rod;

[0024] The rib connecting rod is arranged on the slider, one end of the connecting rod is rotatably connected to the rib connecting rod, and the other end is rotatably connected to the toe rib connecting rod;

[0025] The toe rib connecting rod is arranged at the front end of the toe stem of the fourth toe;

[0026] The slider is sleeved on the vertical rod, and the elastic component is located between the slider and the base of the third toe;

[0027] The slider can rotate and move up and down along the vertical rod. The slider moves up and down to drive the upper end of the connecting rod to move circumferentially on the rib connecting rod, and the lower end of the connecting rod drives the fourth toe to move circumferentially.

[0028] In the above scheme, the slider includes an outer ring, steel balls, a retaining frame and an inner ring; the vertical rod passes through the inner ring, and the inner surface of the inner ring cooperates with the vertical rod; the steel balls are evenly distributed on the retaining frame, and the retaining frame is placed between the inner ring and the outer ring.

[0029] In the above solution, the elastic component is a spring.

[0030] In the above solution, the outer wall of the outer ring of the slider is provided with two first ribs, and one end of the connecting rod mechanism is rotatably connected to the first ribs.

[0031] In the above solution, two second ribs are provided at the front end of the toe stem of the fourth toe, and the other end of the connecting rod mechanism is rotatably connected to the second ribs.

[0032] In the above solution, the left web and the right web are made of rubber material, the left web is arranged on the bottom surface of the second and third toes, and the right web is arranged on the bottom surface of the third and fourth toes.

[0033] A coupled linkage walking wheel, comprising the coupled linkage posture-changing anti-sinking bionic foot and a connecting plate;

[0034] A plurality of bionic foot units are arranged in a circular array on the connection disk; and the upper ends of the vertical rods are respectively connected to the connection disks.

[0035] In the above solution, a plurality of hollow sleeves are provided on the circumference of the connecting disk, the sleeves are connected with the vertical rods of the bionic foot unit, and the sleeves have a built-in second elastic component; the second elastic component is located between the bottom of the sleeve and the end of the vertical rod.

[0036] In the above solution, the connection plate and the rigid part of the bionic foot monomer are made of aluminum alloy material.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention uses the mallard's foot as a bionic prototype, observes the mallard's movement posture on the mudflat, and simulates the opening and closing mode of the mallard's toes and webs. This achieves the movement effect of increasing the web area when the bionic foot touches the ground and returning to its original state when leaving the ground, reducing the sinking of mobile mechanisms such as foot-type robots, wheel-foot-type mobile platforms, and walking wheels on soft ground, and improving passability.

[0039] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of a coupled linkage posture-changing anti-sinking bionic foot according to one embodiment of the present invention.

[0041] Figure 2 It is a front view of a coupled linkage posture-changing anti-sinking bionic foot according to one embodiment of the present invention.

[0042] Figure 3 It is a top view of the coupled linkage posture-changing anti-sinking bionic foot according to one embodiment of the present invention.

[0043] Figure 4 This is a right view of the coupled linkage posture-changing anti-subsidence bionic foot according to one embodiment of the present invention.

[0044] Figure 5 This is a diagram of the gear meshing between the root portions of the second and fourth toes of an embodiment of the present invention.

[0045] Figure 6 It is a bottom view of a rotatable slider according to one embodiment of the present invention.

[0046] Figure 7 It is a front view of the early stage posture of the coupled linkage posture-changing anti-sinking bionic foot touching the ground according to one embodiment of the present invention.

[0047] Figure 8 It is a top view of the early stage posture of the coupled linkage posture-changing anti-sinking bionic foot touching the ground according to one embodiment of the present invention.

[0048] Figure 9 It is a front view of a mid-term posture diagram of a coupled linkage posture-changing anti-sinking bionic foot touching the ground according to one embodiment of the present invention.

[0049] Figure 10 It is a top view of the mid-term posture of the coupled linkage posture-changing anti-sinking bionic foot touching the ground in one embodiment of the present invention.

[0050] Figure 11 It is a front view of a posture diagram of a coupled linkage posture-changing anti-sinking bionic foot in a late stage of ground contact according to one embodiment of the present invention.

[0051] Figure 12 It is a top view of the late-stage ground contact posture of the coupled linkage posture-changing anti-sinking bionic foot according to one embodiment of the present invention.

[0052] Figure 13 It is a front view of the coupled linkage walking wheel according to one embodiment of the present invention.

[0053] Figure 14 This is a top view of the coupled walking wheel in one embodiment of the present invention.

[0054] Figure 15This is a diagram of a coupled walking wheel axle according to an embodiment of the present invention.

[0055] Figure 16 This is an axial view of a connecting disk according to an embodiment of the present invention.

[0056] Among them, 1-connecting disk, 2-bionic foot monomer, 211-vertical rod, 212-spring, 221-rotatable slider, 222-connecting rod, 223-rotatable slider protruding rib connecting rod, 224-toe rib connecting rod, 231-second toe, 2311-second toe stem, 2312-second toe gear, 232-third toe, 233-fourth toe, 2331-fourth toe stem, 2332-fourth toe gear, 234-left web, 235-right web. DETAILED DESCRIPTION

[0057] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0060] Example 1

[0061] Figure 1-12 The figure shows a preferred embodiment of the coupled linkage posture-changing anti-sinking bionic foot, which includes a bionic foot monomer 2; the bionic foot monomer 2 includes a simulated tarsometatarsal unit, a simulated tarsometatarsal tendon unit and a simulated toe unit;

[0062] The simulated tarsometatarsal unit includes a vertical rod 211 and an elastic component. The simulated toe unit includes a second toe 231, a third toe 232, a fourth toe 233, a left web 234, and a right web 235. The left web 234 is provided between the second toe 231 and the third toe 232, and the right web 235 is provided between the third toe 232 and the fourth toe 233. One end of the simulated tarsometatarsal tendon unit is connected to the vertical rod 211, and the other end is connected to the simulated toe unit.

[0063] The simulated tarsometatarsal tendon unit and the elastic component are both mounted on the vertical rod 211, and the lower end of the vertical rod 211 is connected to the base of the third toe 232; preferably, the lower end of the vertical rod 211 is provided with a thread for threaded connection with the base of the third toe 232 in the simulated toe unit.

[0064] The elastic component is located between the simulated tarsometatarsal tendon unit and the base of the third toe 232; the base of the third toe 232 is grooved, the base of the second toe 231 is provided with a first gear 2312, and the base of the fourth toe 233 is provided with a second gear 2332. The first gear 2312 and the second gear 2332 are engaged and arranged in the groove at the base of the third toe 232; the simulated tarsometatarsal tendon unit can rotate and move up and down along the vertical rod 211, and the up and down movement of the simulated tarsometatarsal tendon unit drives the second toe 231 and the fourth toe 233 to open and close at the same time.

[0065] In one embodiment of the present invention, two threaded holes are respectively opened at the upper and lower ends of the groove at the root of the third toe 232, and the gears at the roots of the second toe 231 and the fourth toe 233 are connected to the two threaded holes at the root of the third toe 232 through threads.

[0066] In one embodiment of the present invention, the bases of the toe stems 2311 and 2331 of the second and fourth toes are welded to their respective gears to form geared toes II and IV. The gears simulate the coupling and linkage function of the metatarsophalangeal joints of the second and fourth toes 231 and 233, enabling simultaneous opening and closing of both toes, as well as the left and right webs 234 and 235. The two webs are made of highly elastic rubber, and nail-free adhesive is used to adhere the left web to the undersides of the second and third toes 231 and 232, while the right web 235 is adhered to the undersides of the fourth and third toes 233 and 232.

[0067] In one embodiment of the present invention, the simulated tarsometatarsal tendon unit includes a slider 221 and a connecting rod mechanism;

[0068] One end of the link mechanism is connected to the slider 221, and the other end is connected to the front end of the toe stem of the fourth toe 233; the link mechanism limits the opening and closing range of the fourth toe 233 and the second toe 231;

[0069] The slider 221 is sleeved on the vertical rod 211, and the elastic component is located between the slider 221 and the toe root of the third toe 232; the slider 221 can rotate and move up and down along the vertical rod 211, and the slider 221 moves up and down to make a circumferential transverse movement of the connecting rod mechanism, and the connecting rod mechanism drives the fourth toe 233 to move circumferentially, and the second gear 2332 at the toe root of the fourth toe 233 drives the first gear 2312 at the toe root of the second toe 231 to make the second toe 231 move circumferentially, thereby realizing the simultaneous opening and closing of the second toe 231 and the fourth toe 233.

[0070] In one embodiment of the present invention, the linkage mechanism includes a connecting rod 222, a rib connecting rod 223, and a toe rib connecting rod 224; the rib connecting rod 223 is disposed on the slider 221, one end of the connecting rod 222 is rotatably connected to the rib connecting rod 223, and the other end is rotatably connected to the toe rib connecting rod 224; the toe rib connecting rod 224 is disposed at the front end of the toe shaft of the fourth toe 233; the rib connecting rod 223 limits the opening and closing range of the fourth toe 233 and the second toe 231;

[0071] The slider 221 is sleeved on the vertical rod 211, and the elastic component is located between the slider 221 and the toe root of the third toe 232; the slider 221 can rotate and move up and down along the vertical rod 211, and the up and down movement of the slider 221 drives the upper end of the connecting rod 222 to make a circumferential transverse movement on the rib connecting rod 223, and the lower end of the connecting rod 222 drives the fourth toe 233 to make a circumferential transverse movement, and the second gear 2332 at the toe root of the fourth toe 233 drives the first gear 2312 at the toe root of the second toe 231 to make the second toe 231 move circumferentially, thereby realizing the simultaneous opening and closing of the second toe 231 and the fourth toe 233.

[0072] In one embodiment of the present invention, the connecting rod 222 pulling the fourth toe 233 on the bionic foot monomer 2 can improve the lateral stability of the symmetrical moving mechanism.

[0073] The internal structure of the slider 221 is similar to that of a bearing and includes a seal, an outer ring, steel balls, a retaining frame and an inner ring. The inner surface of the inner ring cooperates with the vertical rod 211; grooves are provided on the outer surface of the inner ring and the inner surface of the outer ring, and the steel balls are evenly distributed on the retaining frame, and the retaining frame is placed between the inner ring and the outer ring, and the steel balls are just located in the groove position. Furthermore, the slider 221 also includes a sealing ring, which is used to seal the gap between the outer surface of the inner ring and the inner surface of the outer ring to prevent lubricant leakage and foreign matter intrusion, thereby extending the service life.

[0074] The slider 221 , the connecting rod 222 , the rib connecting rod 223 and the toe rib connecting rod 224 serve as a collective system to simulate biomechanical functions such as connection, pulling, and energy saving of the tendons attached to the tarsometatarsal bones.

[0075] In one embodiment of the present invention, the elastic component is a spring 212. The vertical rod 211 and the spring 212 simulate the support and vertical height change functions of the tarsometatarsal bones, connect the simulated tarsometatarsal tendon unit 22 and the simulated toe unit 23, and connect the entire bionic foot unit 2 in series.

[0076] In one embodiment of the present invention, two first ribs are provided on the outer wall of the outer ring of the slider 221, and one end of the connecting rod mechanism is rotatably connected to the first ribs. Preferably, holes can be drilled in the two protruding first ribs and bolted to the two ends of the rib connecting rod 223.

[0077] In one embodiment of the present invention, two second ribs are provided at the front end of the toe stem of the IV toe 233, and the other end of the connecting rod mechanism is rotatably connected to the second ribs.

[0078] The upper and lower ends of the connecting rod 222 are opened; the upper end of the connecting rod 222 is located between the two protruding first ribs on the rotatable slider 221, and the rib connecting rod 223 passes through the circular hole at the upper end of the connecting rod 222; the center of the slider 221 is opened, the slider 221 and the spring 212 are both sleeved on the vertical rod 211, and the rotatable slider 221 is located above the spring 212. The spring 212 is compressed by the rotatable slider 221, driving the upper end of the connecting rod 222 to move laterally around the rib connecting rod 223 to drive the IV in the imitation toe unit The toe 233 moves laterally in the circumferential direction, and at the same time, the steel ball 225 embedded in the rotatable slider 221 drives the rotatable slider 221 to rotate. The lower end of the connecting rod 222 is hinged to the toe rib connecting rod 224 on the opening connecting rib on the fourth toe 233. The lower end of the connecting rod 222 drives the fourth toe 233 to move laterally in the circumferential direction, and the gear at the root of the fourth toe 233 drives the gear at the root of the second toe 231 to move laterally in the circumferential direction. The coupling and linkage of the above parts simulates the pulling of the tendon to control the opening and closing of the toe web.

[0079] In one embodiment of the present invention, the left web 234 and the right web 235 are made of rubber material. The left web 234 is arranged on the bottom surface of the second toe 231 and the third toe 232, and the right web 235 is arranged on the bottom surface of the third toe 232 and the fourth toe 233.

[0080] The engineering bionic principle of this patent:

[0081] Mallards inhabit soft surfaces such as sandbanks and reservoirs year-round. Their ability to survive in these unconventional environments is closely related to their body structure. Mallards avoid slipping, sinking, or lack of traction when moving on these unconventional surfaces. This is largely due to the structure of their toes. Their anti-sinking function relies primarily on their second, third, and fourth toes, with webbed feet growing between them to stabilize sand and limit flow, increasing their ground contact area. These webbed feet, as a unique foot structure, enable them to move freely on soft surfaces such as mudflats. Using the biological structure of the mallard foot as a bionic prototype and the principles and technology of engineering bionics, a coupled, variable-position, anti-sinking bionic foot and coupled, energy-saving, cushioned walking wheels were designed. These feet mitigate the impact, sinking, and slipping issues associated with traditional locomotion mechanisms on soft surfaces such as mud, mudflats, and swamps, reducing energy consumption and improving the walking wheel's maneuverability and traction.

[0082] The tendon on the plantar of the mallard's foot starts at the distal end of the tarsal phalanges, branches into three tendons, and connects to the proximal end of the first phalanges of the three phalanges. It then branches out again from the proximal end of the first phalanges of the three phalanges and connects to each phalange.

[0083] When a mallard moves, the extensor tendons on the dorsum of the foot and the flexor tendons on the plantar side of the foot work together to bend and extend the toes. When a mallard lifts its leg, the muscles controlling the flexor tendons on the lower limbs keep them taut, while the extensor tendons on the dorsum of the foot relax. The flexor tendons on the plantar side of the toes bend the toes backward, causing the foot to lift off the ground. When the duck's foot descends to touch the ground, the muscles controlling the extensor tendons on the dorsal side tighten, while the flexor tendons on the plantar side relax, allowing the foot to gradually touch the ground.

[0084] When the mallard's foot just touches the ground, the vertical height of the tarsal phalanges shortens, and the tendons attached to the tarsal phalanges push and pull the second and fourth toes, while the third toe does not expand. The angles between the second and third toes, as well as between the third and fourth toes, expand, thereby opening the webbed foot and gradually increasing the toe-web area. When the mallard's foot completely touches the ground, the vertical height of the tarsal phalanges reaches its lowest point, the angles between the second and third toes, as well as between the third and fourth toes, reach their maximum point, and the toe-web area reaches its maximum point.

[0085] When the mallard's foot leaves the ground, the vertical height of the tarsal bones gradually increases, and the tendons attached to the tarsal bones pull back the second and fourth toes. The angles between the second and third toes and between the third and fourth toes gradually decrease, thereby closing the webbed feet and gradually reducing the toe-webbed area.

[0086] In order to imitate the function of the tarsometatarsal bones of the mallard's foot, vertical rods and springs were designed. Through the contraction of the springs, they play the roles of support, series connection, buffering and reset.

[0087] In order to imitate the function of the tarsometatarsal tendon, a rotatable slider, a connecting rod, a rotatable slider protruding rib connecting rod and a toe rib connecting rod were designed as an integrated system. The rotatable slider was used as a starting point to drive the entire integrated system to simulate the connection, traction, energy saving and other functions of the tendon attached to the tarsometatarsal bones.

[0088] In order to imitate the function of the mallard's toes, the second, third, fourth toes, left and right webs were designed. Gears that simulate the metatarsophalangeal joints were designed at the base of the second and fourth toes. The connecting rod in the tarsometatarsal tendon unit pulled the fourth toe, and the gear at the base of the fourth toe drove the gear at the base of the second toe to drive the toe-web linkage coupling to open and close, thereby imitating the mallard's foot posture change and anti-sinking function.

[0089] Engineering process of this patent:

[0090] The bionic foot unit 2 can be connected to the robot leg through a vertical rod 211 , and the upper end of the vertical rod 211 is connected to the robot leg through a sleeve of an elastic component and a connecting plate 1 .

[0091] When the bionic foot touches the ground, under the action of its own gravity, the rotatable slider 221 and the spring are pressed downward, driving the upper end of the connecting rod 222 on the rib connecting rod 223 to perform circumferential transverse movement, and the rotatable slider 221 itself rotates. The lower end of the connecting rod 222 drives the fourth toe 233 to perform circumferential transverse movement. The gear at the base of the fourth toe 233 drives the gear at the base of the second toe 231 to perform circumferential transverse movement. The second toe 231 and the fourth toe 233 open, and at the same time, the left web 234 and the right web 235 attached to the bottom surface are stretched, thereby expanding the ground contact area.

[0092] When the bionic foot leaves the ground, the compressed spring 212 returns to its original state, pushing the rotatable slider 221 to move upward, the upper end of the connecting rod 222 to move horizontally in the opposite direction, and the rotatable slider 221 itself to rotate in the opposite direction. The lower end of the connecting rod 222 drives the fourth toe 233 to close, and the gear at the base of the fourth toe drives the gear at the base of the second toe to close at the same time, so that the stretched left and right webs are also restored to their original state.

[0093] This invention uses the mallard's foot as a bionic prototype, observing the duck's movements on mudflats to simulate the opening and closing of its toes and webs. A vertical rod simulates the support of the tarsometatarsal bones. A rotatable slider and linkage mechanism work as an integrated system to emulate the biomechanical functions of the tendons attached to the tarsometatarsal bones, including connection, tension, and energy conservation. Toes II and IV are geared toes, with the bases of their trunks connected to gears. This gear simulates the coupling and linkage of the metatarsophalangeal joints, enabling simultaneous opening and closing of toes II and IV.

[0094] The present invention innovatively designs the opening and closing method of the toe-web. Through the coupling, linkage and coordinated cooperation of the rotatable slider 221, the spring 212, the connecting rod 222, the rib connecting rod 223 and the toe rib connecting rod 224, the bionic foot achieves the movement effect of increasing the web area when touching the ground and returning to its original state when leaving the ground, solving the problem of sinking of mobile mechanisms such as foot-type robots, wheel-foot mobile platforms, and walking wheels on soft ground, which is of great significance for promoting the development of soft ground such as mudflats.

[0095] Example 2

[0096] Combine Figure 13-16 A coupled linkage walking wheel includes the coupled linkage posture-changing anti-sinking bionic foot described in Example 1, and a connecting plate 1, so it has the beneficial effects of Example 1 and will not be repeated here.

[0097] A plurality of bionic foot units 2 are arranged in a circular array on the connection disk 1 ; the upper ends of the vertical rods 211 are respectively connected to the connection disks 1 .

[0098] The connection disk 1 is provided with multiple hollow sleeves around its circumference. These sleeves are connected to the vertical rods 211 of the bionic foot unit 2. These sleeves contain a second elastic component located between the bottom of the sleeve and the end of the vertical rod 211. The second elastic component is a spring and provides connection, cushioning, energy saving, and reset functions.

[0099] The rigid parts of the connecting plate 1 and the bionic foot unit 2 are made of aluminum alloy material with excellent welding performance, corrosion resistance and high strength.

[0100] In one embodiment of the present invention, the number of the bionic foot monomers 2 is six.

[0101] In one embodiment of the present invention, the coupled walking wheel can be connected to the moving mechanism by opening a hole at the center of the connecting disk 1 .

[0102] Six bionic foot units are arranged in a circular array on the connecting disk 1. The connecting disk 1 is connected to the vertical rod 211 in the tarsometatarsal unit of the bionic foot unit 2 via a spring. The spring serves the functions of connection, energy saving, buffering, and reset. When the bionic foot unit 2 on the walking wheel just touches the ground, pressure is transmitted through the connecting disk 1 to the rotatable slider 221 in the tarsometatarsal tendon unit of the bionic foot unit. The rotatable slider 221 compresses the spring 212 in the tarsometatarsal unit, causing the various components in each unit of the bionic foot unit to couple and start to increase the toe-web contact area.

[0103] When the bionic foot unit 2 on the walking wheel fully touches the ground, the pressure reaches the maximum, and through the coupling and linkage of the parts in each unit, the toe-web is fully unfolded, and the ground contact area reaches the maximum;

[0104] When the bionic foot unit 2 on the walking wheel leaves the ground, the bionic foot unit is reset under the action of the spring of the connecting plate 1 and the spring 212 in the tarsometatarsal unit, and the toe-web closes accordingly; when the walking wheel moves, the six bionic foot units 2 in the circular array on the connecting plate 1 repeat the above movement process in turn, changing the ground contact area of ​​the bionic foot unit toe-web, thereby achieving the anti-sinking function.

[0105] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0106] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A coupled linkage posture-changing anti-sinking bionic foot, characterized in that: The bionic foot unit (2) comprises a bionic foot unit (2); the bionic foot unit (2) comprises a bionic tarsometatarsal unit, a bionic tarsometatarsal tendon unit and a bionic toe unit; The simulated tarsometatarsal unit includes a vertical rod (211) and an elastic component; the simulated toe unit includes a second toe (231), a third toe (232), a fourth toe (233), a left web (234) and a right web (235); a left web (234) is provided between the second toe (231) and the third toe (232), and a right web (235) is provided between the third toe (232) and the fourth toe (233); one end of the simulated tarsometatarsal tendon unit is connected to the vertical rod (211), and the other end is connected to the simulated toe unit; The simulated tarsometatarsal tendon unit and the elastic component are both sleeved on the vertical rod (211), and the lower end of the vertical rod (211) is connected to the base of the third toe (232); the elastic component is located between the simulated tarsometatarsal tendon unit and the base of the third toe (232); the base of the third toe (232) is grooved, the base of the second toe (231) is provided with a first gear (2312), and the base of the fourth toe (233) is provided with a second gear (2332); the first gear (2312) and the second gear (2332) are meshed and arranged in the groove of the base of the third toe (232); the simulated tarsometatarsal tendon unit can rotate and move up and down along the vertical rod (211), and the simulated tarsometatarsal tendon unit moves up and down to drive the second toe (231) and the fourth toe (233) to open and close simultaneously; The simulated tarsometatarsal tendon unit comprises a slider (221) and a connecting rod mechanism; One end of the link mechanism is connected to the slider (221), and the other end is connected to the front end of the toe stem of the fourth toe (233); the link mechanism limits the opening and closing range of the fourth toe (233) and the second toe (231); The slider (221) is sleeved on the vertical rod (211), and the elastic component is located between the slider (221) and the toe root of the third toe (232); the slider (221) can rotate and move up and down along the vertical rod (211), and the slider (221) moves up and down to make the connecting rod mechanism move circumferentially, and the connecting rod mechanism drives the fourth toe (233) to move circumferentially, and the second gear (2332) at the toe root of the fourth toe (233) drives the first gear (2312) at the toe root of the second toe (231) to make the second toe (231) move circumferentially, thereby realizing the simultaneous opening and closing of the second toe (231) and the fourth toe (233).

2. The coupled linkage posture-changing anti-sinking bionic foot according to claim 1, characterized in that: The connecting rod mechanism comprises a connecting rod (222), a rib connecting rod (223) and a toe rib connecting rod (224); The rib connecting rod (223) is arranged on the slider (221), one end of the connecting rod (222) is rotatably connected to the rib connecting rod (223), and the other end is rotatably connected to the toe rib connecting rod (224); the toe rib connecting rod (224) is arranged at the front end of the toe stem of the fourth toe (233); the slider (221) is sleeved on the vertical rod (211), and the elastic component is located between the slider (221) and the toe root of the third toe (232); the slider (221) can rotate and move up and down along the vertical rod (211), and the slider (221) moves up and down to drive the upper end of the connecting rod (222) to move circumferentially on the rib connecting rod (223), and the lower end of the connecting rod (222) drives the fourth toe (233) to move circumferentially.

3. The coupled linkage posture-changing anti-sinking bionic foot according to claim 1, characterized in that: The slider (221) includes an outer ring, steel balls, a retaining frame, and an inner ring; the vertical rod (211) passes through the inner ring, and the inner surface of the inner ring cooperates with the vertical rod (211); the steel balls are evenly distributed on the retaining frame, and the retaining frame is placed between the inner ring and the outer ring.

4. The coupled linkage posture-changing anti-sinking bionic foot according to claim 1, characterized in that: The elastic component is a spring (212).

5. The coupled linkage posture-changing anti-sinking bionic foot according to claim 3, characterized in that: The outer wall of the outer ring of the slider (221) is provided with two first ribs, and one end of the connecting rod mechanism is rotatably connected to the first ribs.

6. The coupled linkage posture-changing anti-sinking bionic foot according to claim 5, characterized in that: Two second ribs are provided at the front end of the toe stem of the fourth toe (233), and the other end of the connecting rod mechanism is rotatably connected to the second ribs.

7. The coupled linkage posture-changing anti-sinking bionic foot according to claim 1, characterized in that: The left web (234) and the right web (235) are made of rubber material. The left web (234) is arranged on the bottom surface of the second toe (231) and the third toe (232), and the right web (235) is arranged on the bottom surface of the third toe (232) and the fourth toe (233).

8. A coupled walking wheel, characterized in that: The method comprises the coupled linkage posture-changing anti-sinking bionic foot according to any one of claims 1 to 7, and a connecting plate (1); A plurality of bionic foot units (2) are arranged in a circular array on the connection disk (1); and the upper ends of the vertical rods (211) are respectively connected to the connection disk (1).

9. The coupled walking wheel according to claim 8, characterized in that: The circumference of the connecting disk (1) is provided with a plurality of hollow sleeves, the sleeves being cooperatively connected to the vertical rods (211) of the bionic foot unit (2), and the sleeves having a built-in second elastic component; the second elastic component is located between the bottom of the sleeve and the end of the vertical rod (211).

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