A bionic multi-toe joint cooperative mechanical foot and a bionic mechanical

Abstract

The application provides a kind of bionic multi-toe joint cooperative mechanical foot and bionic machine, including bionic toe-web opening and closing mechanism, bionic multi-toe joint section-by-section take-off mechanism and bionic foot web;The bionic toe-web opening and closing mechanism is connected with bionic multi-toe joint section-by-section take-off mechanism, and the bionic toe-web opening and closing mechanism is located above the bionic multi-toe joint section-by-section take-off mechanism, and the bionic foot web is connected with the bionic multi-toe joint section-by-section take-off mechanism, and the bionic toe-web opening and closing mechanism rotates to open the bionic multi-toe joint section-by-section take-off mechanism, thereby driving the bionic foot web to open.The toe-web opening and closing mechanism of the application realizes toe web opening through the forward rotation of the metatarsal bone after the mechanical foot touches the ground, thereby significantly increasing the ground contact area, reducing the ground pressure, and increasing the ground friction.

Description

Technical Field

[0001] This invention belongs to the field of bionic engineering technology, and particularly relates to a bionic multi-toe joint collaborative mechanical foot and a bionic machine. Background Technology

[0002] Tidal flat resources are important reserve land resources, and coastal tidal flat wetlands are natural nature reserves, possessing extremely rich biological, tourism, and mineral resources. The rational utilization and development of tidal flat resources plays a crucial role in protecting biodiversity and maintaining regional ecological balance. Tidal flat surfaces are a mixture of water and mud; conventional wheeled and walking vehicles are prone to significant subsidence and wet adhesion when in contact with their surface, resulting in substantial ground loss and excessive disturbance to the ground. Therefore, solving the problems of tidal flat subsidence and energy consumption is particularly critical for accelerating the utilization and development of tidal flats.

[0003] Mallards live year-round in mudflats and riverbanks, with a maximum walking speed of 1.6 m / s, three to four times their body length, giving them the ability to resist sinking. Their webbed feet are in direct contact with the ground. Existing imitation mallard feet, through imitation tendon units, can achieve energy-saving and vibration-damping functions. However, in actual use, the existing imitation mallard feet have strong adhesion to the ground when they leave the ground and are not easy to get rid of. In addition, the fixed shape and structure of the duck feet and their large surface area result in high air resistance and high energy consumption. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the above-mentioned technical problems.

[0005] To address this, the present invention proposes a biomimetic multi-phalangeal synergistic mechanical foot and a biomimetic mechanism. When the mechanical foot touches the ground, the forward rotation of the simulated tarsometatarsal bones causes the second and fourth toes to open, simultaneously opening the webs, increasing the contact area and thus reducing the sinking amount. When the mechanical foot leaves the ground, the simulated proximal phalanges first rotate around the finger joints and leave the ground under the action of the simulated metatarsophalangeal joint torsion springs. After reaching the maximum rotation angle, the simulated distal phalanges begin to leave the ground under the action of the tension springs, achieving the effect of the phalanges leaving the ground sequentially, thereby reducing the adhesion force and disturbance to the ground during departure. During swinging, the second and fourth toes close under the action of the simulated metatarsophalangeal joint torsion springs, achieving the closure of the webs and reducing the resistance when the foot moves forward in the air.

[0006] Mallards primarily walk using their three forward-facing toes and webbing between them. These three forward-facing toes, from the inside out, are the second, third, and fourth toes, each with two, three, and four phalangeal bones, respectively, as revealed by dissection. Additionally, the sole of the foot below the metatarsophalangeal joint has an elastic layer of fat pads for cushioning. When the mallard's foot touches the ground, the second and fourth toes open the webbing, increasing the contact area with the ground. When taking off, the phalanges lift off sequentially from the proximal phalanges, reducing adhesion and ground disturbance. Simultaneously, the webbing closes after takeoff, reducing air resistance during forward movement.The outermost layer of the mallard's foot is skin, which covers the entire foot, isolating the bones from the external environment and providing some protection. The skin on the mallard's toes is clearly defined from the webs and has tightly arranged folds to reduce soil adhesion and sliding resistance when walking on soft ground. The two webs are located between the second and third toes, and between the third and fourth toes, respectively. The webs are thin, resilient, and elastic, which facilitates their extension and folding during movement, aids in soil detachment, and reduces soil resistance when leaving the ground. The thick, elastic fat pads under the metatarsophalangeal joints are distributed below the proximal ends of the first phalanges of the third and fourth toes. After removing the fat pads, they are tightly attached to the foot. These are the plantar ligaments of the metatarsophalangeal joint. The fatty pads play a role in bearing weight and cushioning when the mallard's foot touches the ground. The mallard's foot is mainly framed by the tarsometatarsal bones and phalanges. The tarsometatarsal bones are irregular bones, slender and flattened along the axis. The proximal and distal ends of the tarsometatarsal bones are thick, while the middle ends are thin. The distal end is divided into three articular heads, which form a joint with the distal end of the phalanges, called the metatarsophalangeal joint. The proximal end is the glenoid fossa, which forms a joint with the distal end of the tarsal bones, called the tarsal joint. The metatarsophalangeal joint consists of three parts: the leftmost articular head of the distal end of the left tarsometatarsal bones forms the fourth metatarsophalangeal joint with the first phalanx of the fourth toe; the middle articular head of the distal end of the left tarsometatarsal bones forms the third metatarsophalangeal joint with the first phalanx of the third toe. The rightmost articular head of the distal tarsometatarsal bone of the left foot forms the metatarsophalangeal joint of the second toe with the first phalanx of the second toe. The right foot has a symmetrical distribution of these joints. Numerous and strong ligaments connect and reinforce each joint on the dorsal, plantar, medial, and lateral sides of the toes to maintain stability. The mallard's weight is transmitted to the tarsometatarsal bones via the tarsal joints, and then to the second, third, and fourth toes via the metatarsophalangeal joints. The metatarsophalangeal joints can flex in both forward and backward directions. When the mallard's foot first touches the ground, the angle between this joint and the dorsal side is close to 180 degrees, gradually decreasing as it touches the ground until it begins to change in the opposite direction upon leaving the ground, finally bending towards the plantar side during the swing phase. The morphological and structural characteristics of the joints and the ligaments between the bones are crucial for maintaining joint stability. The main mechanism of interphalangeal joints is that the metatarsophalangeal joints and the ligaments and tendons in the vicinity play a very important role in the transmission of force. The phalanges are also irregular bones, with a total of ten segments. The first, second, third, and fourth phalanges are composed of the first, second, third, and fourth phalanges, respectively. The proximal phalanges are large and long, and the phalanges become smaller as they approach the tip of the toe. Each phalanx has three parts: the base, the body, and the head. The base of the phalanx is larger than the head. The head of the phalanx is trochlear-shaped. The base of the phalanx has a glenoid fossa. There is a protruding ridge in the midsagittal position of the glenoid fossa of the base of the phalanx, and there is a concave groove in the midsagittal position of the head of the phalanx. The glenoid head and the glenoid fossa fit together perfectly, so the interphalangeal joint is a uniaxial synovial joint, which can only perform simple flexion and extension movements around the coronal axis.

[0007] The technical solution of the present invention is: a bionic multi-toe joint collaborative mechanical foot, including a bionic toe-web opening and closing mechanism, a bionic multi-toe joint ground lifting mechanism, and a bionic foot web;

[0008] The bionic toe-web opening and closing mechanism is set on the bionic multi-toe joint ground-lifting mechanism. The bionic webs are wrapped around the bionic multi-toe joint ground-lifting mechanism. The bionic toe-web opening and closing mechanism can open and close the bionic multi-toe joint ground-lifting mechanism, thereby driving the opening and closing of the bionic webs.

[0009] In the above scheme, the bionic toe-web opening and closing mechanism includes a bionic tarsometatarsal bone, a torsion spring, a helical column, a first helical slider, a second helical slider, a first push-pull block, a second push-pull block, and a bearing support. The bearing support is mounted on the bionic multi-phalangeal joint ground-lifting mechanism. The helical column passes through the bearing support. The bionic tarsometatarsal bone is connected to the helical column via a key. The bionic tarsometatarsal bone and the torsion spring are located between the bearing support. The first helical slider and the first push-pull block are located on one side of the bionic tarsometatarsal bone, and the second helical slider and the second push-pull block are located on the other side of the bionic tarsometatarsal bone. The first and second helical sliders are symmetrically distributed along the axis of the bionic tarsometatarsal bone, and the first and second push-pull blocks are also symmetrically distributed along the axis of the bionic tarsometatarsal bone. One end of the helical column passes through the first helical slider and is connected to it. The other end of the spiral column passes through and connects to the second spiral slider. One end of the first push-pull block is connected to the first spiral slider, and the other end of the first push-pull block is connected to the bionic multi-toe joint ground-lifting mechanism. One end of the second push-pull block is connected to the second spiral slider, and the other end of the second push-pull block is connected to the bionic multi-toe joint ground-lifting mechanism. The spiral column rotates by rotating the bionic tarsal bone, thereby causing the first and second spiral sliders to rotate outward, which in turn causes the first and second push-pull blocks to open outward. The first and second push-pull blocks cause the bionic multi-toe joint ground-lifting mechanism to unfold outward. A torsion spring is sleeved on the spiral column, with one end of the torsion spring wrapped around the spiral column and the other end of the torsion spring abutting against the bionic multi-toe joint ground-lifting mechanism. The torsion spring is used to reset the spiral column.

[0010] In the above scheme, the bionic multi-toed joint ground-lifting mechanism includes a simulated second toe, a simulated third toe, and a simulated fourth toe;

[0011] The simulated second toe and simulated fourth toe are both connected to the simulated third toe, and the simulated second toe and simulated fourth toe are located on both sides of the simulated third toe;

[0012] The simulated second toe, simulated third toe, and simulated fourth toe each include multiple simulated phalanges, which are connected by tension springs.

[0013] The spiral column is mounted on the simulated third toe via a bearing support;

[0014] The simulated articular heads of the simulated second, third, and fourth toes are all convex 180° cylindrical arc surfaces tangent to the upper and lower articular surfaces. The simulated articular sockets of the simulated second, third, and fourth toes are all concave 160° cylindrical arc surfaces with a 20° missing upper surface. Moreover, the rotation center is concentric with the corresponding simulated articular head, so that simulated articular trolleys are formed inside the simulated second, third, and fourth toes. The simulated articular heads and simulated articular sockets have reserved spaces for placing tension springs. The simulated articular heads and simulated articular sockets inside the simulated articular trolleys are pre-tensioned by tension springs, and the two ends of the tension springs are fixed to the inner walls of the simulated articular heads and simulated articular sockets, respectively.

[0015] In the above scheme, the connection point of the tension spring at the joint head of the simulated second, third, and fourth toes is set to be eccentric to the axis of motion of the simulated joint trolley, so that the bionic multi-toe joint off-ground mechanism can straighten.

[0016] In the above scheme, the simulated second toe includes 2 simulated phalanges, the simulated third toe includes 3 simulated phalanges, and the simulated fourth toe includes 4 simulated phalanges.

[0017] In the above scheme, the bionic webbed feet include bionic finger sleeves and bionic webs;

[0018] The adjacent bionic finger sleeves are connected by bionic webs, and the bionic finger sleeves are fitted onto the bionic multi-toe joint ground-lifting mechanism.

[0019] The above-mentioned solution also includes bionic foot pads;

[0020] The bionic foot pad is located at the bottom of the bionic multi-toe joint ground-lifting mechanism, and the bionic foot pad is connected to the bionic multi-toe joint ground-lifting mechanism.

[0021] In the above scheme, the bionic foot pads and bionic webs are both made of high-performance polyurethane TPE.

[0022] In the above scheme, the bionic foot pad has a pattern on the bottom surface, and the pattern type includes grid pattern and / or wave pattern.

[0023] A biomimetic machine, comprising the aforementioned biomimetic multi-toed synergistic mechanical foot.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. The toe-web opening and closing mechanism of this invention opens the toe web by rotating the simulated tarsometatarsal bones forward after the mechanical foot touches the ground, thereby significantly increasing the contact area, reducing the ground pressure, and increasing the contact friction. When the mechanical foot leaves the ground, the rotation of the torsion spring causes the simulated tarsometatarsal bones to gradually return to their original positions, while the toe web closes at the same time, thereby reducing the air resistance encountered by the mechanical foot when swinging. During the rotation of the simulated tarsometatarsal bones, the torsion spring and elastic web store energy, and release the energy when the mechanical foot leaves the ground to provide the power for the toe web to leave the ground. The bionic mechanical foot has a simple overall structure, and while achieving anti-sinking and energy saving, it does not require an additional control system, which improves the adaptability and wide range of applications of the mechanical foot. When applied to robots, it is beneficial to improve their passability on soft ground.

[0026] 2. In this invention, when the mechanical foot leaves the ground, due to the increased height of the simulated tarsometatarsal bones, the simulated first phalanx on the three toes will first rise and rotate around the second phalanx. Since the fixed center of one end of the tension spring is offset from the rotation center of the phalanx, the tension spring in the interphalangeal joint is stretched and stores energy. After reaching the maximum rotatable angle, the simulated second phalanx begins to leave the ground, followed by the simulated third and fourth phalanxes. As the phalanxes leave the ground, the tension spring shortens and releases energy to push off the ground, thereby realizing the movement of multiple phalanges leaving the ground in sequence. This reduces soil disturbance, decreases soil adhesion, and improves the smoothness and stability of the mechanical foot when walking. The pressure on the ground gradually moves forward when leaving the ground, improving the mechanical foot's resistance to sinking.

[0027] 3. In this invention, the rigid toe bone material, together with the flexible bionic web material and bionic foot pad material, form a rigid-flexible coupling system, which provides cushioning and a certain energy recovery effect when the mechanical foot touches the ground.

[0028] 4. The opening of the toe webs in this invention is driven by the forward rotation of the simulated tarsometatarsal bones, and the closing of the toe webs is driven by the release of energy stored in the torsion spring at the simulated metatarsophalangeal joint. Therefore, the passive opening and closing of the toe webs has the advantages of eliminating the need for a control system and saving energy. Through the rigid-flexible coupling of the toes and webs, the mechanical foot increases the contact area when it touches the ground to increase friction and increase the anti-sinking effect, and reduces the contact area when it leaves the ground to reduce air resistance and reduce vibration when it touches the ground. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the mechanical foot structure according to one embodiment of the present invention.

[0030] Figure 2 This is a schematic front view of a mechanical foot according to an embodiment of the present invention.

[0031] Figure 3 This is a schematic left view of a mechanical foot according to an embodiment of the present invention.

[0032] Figure 4 This is a top view schematic diagram of a mechanical foot according to an embodiment of the present invention.

[0033] Figure 5 This is a schematic diagram of the connection between the tarsometatarsal bone and the spiral column according to one embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the mechanical toe-webbed state according to an embodiment of the present invention.

[0035] Figure 7 This is a schematic diagram of a mechanical foot bionic webbed foot structure according to an embodiment of the present invention.

[0036] Figure 8 This is a schematic diagram of the mechanical toe opening state according to an embodiment of the present invention.

[0037] Figure 9 This is a schematic left view of a mechanical foot bionic toe-web opening and closing mechanism according to an embodiment of the present invention.

[0038] Figure 10 This is a top view schematic diagram of a mechanical foot bionic toe-web opening and closing mechanism according to an embodiment of the present invention.

[0039] Figure 11 This is a top view schematic diagram of a bionic multi-toe lifting mechanism for a mechanical foot according to an embodiment of the present invention.

[0040] Figure 12 This is a schematic diagram of the toe bone of a bionic multi-toe lift-off mechanism for a mechanical foot according to an embodiment of the present invention.

[0041] Figure 13 This is a schematic diagram of the mechanical foot of an embodiment of the present invention from a bottom view.

[0042] Figure 14 This is a schematic front view of a mechanical foot that mimics the first phalanx of the second toe according to an embodiment of the present invention.

[0043] Figure 15 This is a top view schematic diagram of a mechanical foot that mimics the first phalanx of the second toe according to an embodiment of the present invention.

[0044] Figure 16 This is a schematic front view of a mechanical foot that mimics the second phalanx of the second toe according to an embodiment of the present invention.

[0045] Figure 17 This is a schematic left view of a mechanical foot that mimics the second phalanx of the second toe according to an embodiment of the present invention.

[0046] Figure 18 This is a top view schematic diagram of a mechanical foot that mimics the second phalanx of the second toe according to an embodiment of the present invention.

[0047] Figure 19 This is a schematic diagram of a mechanical toe joint connection according to an embodiment of the present invention.

[0048] In the diagram: 1. Bionic toe-web opening and closing mechanism; 11. Simulated tarsometatarsal bone; 12. Torsion spring; 13. Helical column; 141. First helical slider; 142. Second helical slider; 151. First push-pull block; 152. Second push-pull block; 18. Bearing support; 2. Bionic multi-phalangeal joint lifting mechanism; 22. Simulated second toe; 221. Simulated second toe first phalanx; 2211. Simulated articulatory head, simulated cylindrical arc surface; 2212. Simulated articulatory head protrusion; 2213. First tension spring reserved space; 2214. Hinge hole; 2215. Push-pull block connecting hole; 2216. First tension spring pin hole; 222. Simulated second toe... 2221. Simulated joint socket and simulated cylindrical arc surface; 2222. Simulated cylindrical arc surface; 2223. Second tension spring reserved space; 2224. Second tension spring pin hole; 23. Simulated third toe; 231. Simulated third toe and simulated first phalanx; 232. Simulated third toe and simulated second phalanx; 233. Simulated third toe and simulated third phalanx; 24. Simulated fourth toe; 241. Simulated fourth toe and simulated first phalanx; 242. Simulated fourth toe and simulated second phalanx; 243. Simulated fourth toe and simulated third phalanx; 244. Simulated fourth toe and simulated fourth phalanx; 3. Bionic foot web; 31. Bionic finger sleeve; 32. Bionic web; 4. Bionic foot pad. Detailed Implementation

[0049] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length °," "width °," "thickness °," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] Figure 1 , 2 Figures 3, 4, 5, 8, 9, 10, 11, and 12 show a preferred embodiment of the bionic multi-toe joint collaborative mechanical foot, which includes a bionic toe-web opening and closing mechanism 1, a bionic multi-toe joint ground-lifting mechanism 2, and a bionic foot web 3.

[0053] The bionic toe-web opening and closing mechanism 1 is connected to the bionic multi-toe joint ground-lifting mechanism 2. The bionic toe-web opening and closing mechanism 1 is located above the bionic multi-toe joint ground-lifting mechanism 2. The bionic foot web 3 is sleeved on the bionic multi-toe joint ground-lifting mechanism 2. The bionic toe-web opening and closing mechanism 1 rotates to open the bionic multi-toe joint ground-lifting mechanism 2, thereby driving the bionic foot web 3 to open.

[0054] The biomimetic toe-web opening and closing mechanism 1 includes a simulated tarsometatarsal bone 11, a torsion spring 12, a spiral column 13, a first spiral slider 141, a second spiral slider 142, a first push-pull block 151, a second push-pull block 152, and a bearing support 18. The bearing support 18 is connected to the biomimetic multi-phalangeal joint ground-lifting mechanism 2. The spiral column 13 passes through the bearing support 18. The simulated tarsometatarsal bone 11 is connected to the spiral column 13 via a key. The simulated tarsometatarsal bone 11 and the torsion spring 12 are located between the bearing support 18. The first spiral slider 141 and the first push-pull block 151 are located on one side of the simulated tarsometatarsal bone 11, and the second spiral slider 142 and the second push-pull block 152 are located on the other side of the simulated tarsometatarsal bone 11. The first helical slider 141 and the second helical slider 142 are symmetrically distributed along the axis of the simulated tarsometatarsal bone 11. The first push-pull block 151 and the second push-pull block 152 are also symmetrically distributed along the axis of the simulated tarsometatarsal bone 11. One end of the helical column 13 passes through the first helical slider 141 and is helically connected to it. The other end of the helical column 13 passes through the second helical slider 142 and is helically connected to it. The helical thread is a circular thread for easy sliding. Due to its large pitch, it uses a double-threaded helix to balance the force during rotation. The right side of the helical column 13 has a left-hand thread, and the left side has a right-hand thread. The first helical slider 141 has a left-hand thread, and the second helical slider 142 has a right-hand thread. When the helical column 13 rotates, the first helical slider 141 can slide to the right along the helical column 13, and the second helical slider 142 can slide to the left along the helical column 13.

[0055] One end of the first push-pull block 151 is hinged to the bottom of the first spiral slider 141, and the other end of the first push-pull block 151 is hinged to the first phalanx 221 of the simulated second toe. One end of the second push-pull block 152 is hinged to the bottom of the second spiral slider 142, and the other end of the second push-pull block 152 is hinged to the first phalanx 2 of the fourth toe. The rotation of the simulated tarsometatarsal bone 11 drives the spiral column 13 to rotate, thereby driving the first spiral slider 141 and the second spiral slider 142 to rotate outward, thereby driving the first push-pull block 151 and the second push-pull block 152 to open outward. The first push-pull block 151 and the second push-pull block 152 drive the bionic multi-phalanx ground-lifting mechanism 2 to unfold outward. The torsion spring 12 is sleeved on the spiral column 13. One end of the torsion spring 12 is wrapped around the spiral column 13, and the other end of the torsion spring 12 abuts against the bionic multi-phalanx ground-lifting mechanism 2. The torsion spring 12 is used to reset the spiral column 13.

[0056] Preferably, the angle between the simulated tarsal bone 11 and the simulated second toe 22 is 130° to 140°, thereby increasing the contact area with the ground and reducing the ground pressure. Further, the angle between the simulated tarsal bone 11 and the simulated second toe 22 is 135°.

[0057] Preferably, the biomimetic multi-toed joint ground-lifting mechanism 2 includes a simulated second toe 22, a simulated third toe 23, a simulated fourth toe 24 and a tension spring between the toe bones. The simulated second toe 22 is a simulated second toe of a mallard duck, the simulated third toe 23 is a simulated third toe of a mallard duck, and the simulated fourth toe 24 is a simulated fourth toe of a mallard duck.

[0058] The simulated second toe 22 and simulated fourth toe 24 are both connected to the simulated third toe 23;

[0059] like Figure 14 , 15 As shown in 16, 17, and 18, the simulated second toe 22, simulated third toe 23, and simulated fourth toe 24 each include multiple simulated phalanges, which are connected by tension springs.

[0060] Preferably, the simulated second toe 22, simulated third toe 23, and simulated fourth toe 24 are equipped with the second, third, and fourth segments of simulated phalanges, respectively. From biological proximal to distal, they are named simulated second toe first segment 221, simulated second toe second segment 222, simulated third toe first segment 231, simulated third toe second segment 232, simulated third toe third segment 233, simulated third toe first segment 241, simulated fourth toe second segment 242, simulated fourth toe third segment 243, and simulated fourth toe fourth segment 244, which completely correspond to the phalangeal bone distribution of the mallard's foot. Among them, the first phalanx of the imitation second toe is the main support point. The first phalanx 221 of the imitation second toe and the first phalanx 241 of the imitation fourth toe are connected to the left and right holes of the first phalanx 231 of the imitation third toe through hinges, so the imitation second toe 22 and the imitation fourth toe 24 can rotate inward or outward around the hinge. The remaining imitation phalanxes are connected through the cooperation of the imitation phalanx joint head and the imitation joint socket.

[0061] The simulated second toe first phalanx 221 has a simulated joint head simulated cylindrical arc surface 2211 at one end, and a hinge hole 2214 for connecting with the third toe at the other end. The simulated second toe first phalanx 221 has a push-pull block connection hole 2215. The simulated joint head simulated cylindrical arc surface 2211 has a simulated joint head protrusion 2212 on its edge for anti-slip. A tension spring reserved space 2213 is opened on the simulated joint head simulated cylindrical arc surface 2211. A first tension spring pin hole 2216 is provided on the side of the simulated second toe first phalanx 221 near the simulated joint head simulated cylindrical arc surface 2211, slightly below the side. The tension spring pin hole 2216 passes through the first tension spring reserved space 2213.

[0062] like Figure 19 As shown, the simulated second phalanx 222 has a simulated articular socket and simulated cylindrical arc surface 2221 at one end. The simulated articular socket and simulated cylindrical arc surface 2221 is missing a 20° simulated cylindrical arc surface 2222 at the upper end, thereby ensuring that the simulated articular socket and simulated cylindrical arc surface 2221 and the simulated articular head and simulated cylindrical arc surface 2211 can rotate normally after being connected by a tension spring. The simulated articular socket and simulated cylindrical arc surface 2221 has a second tension spring reserved space 2223. The simulated articular socket and simulated cylindrical arc surface 2221 has a second tension spring pin hole 2224 on its side. The tension spring pin hole 2224 passes through the tension spring reserved space 2223, which completely corresponds to the phalanx distribution of the mallard's foot. Among them, the first phalanx 221 of the imitation second toe is the main support point. The first phalanx 221 of the imitation second toe and the first phalanx 241 of the imitation fourth toe are connected to the left and right holes of the first phalanx 231 of the imitation third toe by hinges, so the imitation second toe 22 and the imitation fourth toe 24 can rotate inward or outward around the hinge. The remaining imitation phalanxes are connected by the cooperation of the imitation phalanx joint head and the imitation joint socket.

[0063] Preferably, all the interphalangeal connections described in this invention are the same as the connection methods of the first phalanx 221 and the second phalanx 222 of the pseudo-second toe.

[0064] Preferably, in order to mimic the tension structure of the toe joint of a mallard duck, the simulated toe joint head is designed as a convex 180° simulated cylindrical arc surface that is tangent to the upper and lower joint surfaces, and the joint socket is designed as a concave 160° simulated cylindrical arc surface with a 20° missing upper surface, and the rotation center is concentric with the convex cylindrical surface. These two simulated cylindrical arc surfaces with equal and concentric radii cooperate to form a simulated joint trolley. The simulated joint trolley is pre-tensioned and connected by a tension spring 21, which is placed in the reserved space inside the joint and fixed at both ends by pins through the reserved holes on the sides of the simulated toe joint head and joint socket.

[0065] Preferably, in order to mimic the straightening of a mallard's toes before the next touch of the ground, each protophagoid bone is designed to return to its original position after rotation upon leaving the ground. By setting the connection point of the tension spring at the joint head of the protophagoid bone as eccentric to the joint's axis of motion, when the mechanical foot leaves the ground, the tension spring is stretched when the distal protophagoid bone is passively rotated. After the mechanical foot leaves the ground, i.e., after the external force is released, the distal protophagoid bone rotates under the action of the tension spring, thus returning to its initial straightened position.

[0066] Preferably, to mimic the limiting mechanism of the mallard's phalangeal joints and prevent excessive extension or bending of the phalangeal bones, the joint limiting is achieved through the combined action of the concave and convex cylindrical surfaces and the preload of a tension spring. To mimic the vertical limiting mechanism of the phalangeal joints, the convex cylindrical surface is a complete 180° cylinder tangent to the upper and lower joint surfaces, while the concave cylindrical surface is a 160° cylinder with a 20° gap on its upper surface. The center of rotation is concentric with the convex cylindrical surface; therefore, the distal protophalic bone can rotate upwards by 20° around the center of rotation but cannot rotate downwards. To mimic the lateral limiting mechanism of the mallard's phalangeal joints, a protrusion is designed on each side of the bionic joint and welded to the joint head to ensure that the protophalic bone does not move laterally.

[0067] like Figure 7 As shown, preferably, the bionic webbed feet 3 include bionic finger sleeves 31 and bionic webbed feet 32;

[0068] The adjacent bionic finger sleeves 31 are connected by bionic webs 32, and the bionic finger sleeves 31 are fitted on the bionic multi-toe joint ground-lifting mechanism 2.

[0069] Preferably, the simulated second toe 22 includes two simulated phalanges, the simulated third toe 23 includes three simulated phalanges, and the simulated fourth toe 24 includes four simulated phalanges, thereby enabling the movement of multiple simulated phalanges lifting off the ground sequentially. This reduces soil disturbance, decreases soil adhesion, and improves the smoothness and stability of the mechanical foot during walking. When leaving the ground, the pressure on the ground gradually shifts forward, improving the mechanical foot's resistance to subsidence.

[0070] Preferably, it also includes a bionic footpad 4, which provides cushioning when the mechanical foot touches the ground.

[0071] The bionic foot pad 4 is located at the bottom of the bionic multi-toe joint off-ground mechanism 2, and the bionic foot pad 4 is connected to the bionic multi-toe joint off-ground mechanism 2.

[0072] Preferably, the bionic footpad 4 is located at the bottom of the first phalanx 231 of the imitation third toe.

[0073] Preferably, the bionic webbed foot 3 is made of high-performance polyurethane TPE.

[0074] Preferably, the bionic foot pad 4 is made of high-performance polyurethane TPE. The bionic webbed structure mimics the double-layered wrapping of a mallard's webbed feet, with the bionic webbed feet 3 wrapped around three toes. To mimic the high elasticity and foldability of thin-film webbed feet, a high-elasticity, 1mm thick, high-performance polyurethane TPE is used. The bionic foot pad 4, designed as an arc shape to mimic the fat pad on the sole of a mallard's foot, is part of a sphere and is bolted to the underside of the first phalanx of the third toe.

[0075] Preferably, the bionic multi-toe lifting mechanism 2 is a bionic multi-toe lifting mechanism that lifts each toe segment sequentially off the ground.

[0076] Preferably, the toe bone is made of aluminum alloy.

[0077] like Figure 13 As shown, preferably, the bottom surface of the bionic foot pad 4 is textured to improve the anti-slip performance of the sole.

[0078] In one embodiment of the present invention, preferably, in order to mimic the anti-slip and wear-resistant properties of the irregular structure of the keratin layer on the sole of a mallard's foot, several grooves are designed under the bionic web 3 to improve the mechanical foot's passability and anti-slip performance when dealing with complex terrain; in order to mimic the sand-fixing and flow-limiting function of the mallard's foot, the bionic web 3 is installed on the middle side of the toe in the vertical direction, so that there is a certain space between the toe and the bionic web 3 to accommodate the soil medium, thus ensuring the mechanical foot's adhesion and fixation to the ground.

[0079] Preferably, the bionic webbed foot 3 is wrapped around the bionic multi-toe segment lifting mechanism 2, and the bionic foot pad 4 is installed on the lower surface of the bionic multi-toe segment lifting mechanism 2.

[0080] Preferably, a torsion spring 12 is mounted on the helical column 13, so that when the pseudo-tarsal bone 11 rotates, it drives the helical column 13 to rotate, and at the same time applies a rotational torque to the torsion spring 12. The helical column 13 and the helical slider 14 are helically engaged. The thread of the helix is ​​a circular double-threaded thread, with the right-hand thread of the helical column 13 being left-handed and the left-hand thread of the helical column 13 being right-handed. The first helical slider 141 has a left-handed thread, and the second helical slider 142 has a right-handed thread. When the helical column 13 rotates, the first helical slider 141 can slide to the right along the helical column 13, and the second helical slider 142 can slide to the left along the helical column 13.

[0081] Preferably, one end of the first push-pull block 151 is hinged to the bottom of the first spiral slider 141, and the other end of the first push-pull block 151 is hinged to the first phalanx of the simulated second toe; one end of the second push-pull block 152 is hinged to the bottom of the second spiral slider 142, and the other end of the second push-pull block 152 is hinged to the first phalanx of the simulated fourth toe.

[0082] Preferably, the articulated trolley is pre-tensioned by three parallel tension springs 21, making the articulated trolley more stable.

[0083] Preferably, the third toe 23 is the main supporting toe, which is beneficial to the balance of the mechanical foot.

[0084] Preferably, the bionic toe-web opening and closing mechanism 1 and the bionic multi-toe lifting mechanism 2 are made of rigid materials, while the bionic foot pad 4 and the bionic foot web 3 are made of flexible materials. Together, they form a rigid-flexible coupled bionic design. Through this design, the bionic toe-web opening and closing mechanism increases the contact area when the mechanical foot touches the ground, thus preventing subsidence; and reduces the contact area when lifting off the ground, thereby reducing air resistance. The bionic multi-toe lifting mechanism reduces disturbance and damage to the ground. The bionic foot web and foot pad reduce vibration during contact with the ground. This technology can be applied to vehicles used in tidal flats or traditional rice transplanters, improving vehicle speed, anti-subsidence performance, and reducing damage to the ground, thus possessing practical application value.

[0085] This application uses the mallard's foot as a biomimetic prototype. Mallards are semi-aquatic birds with excellent mudflat walking ability, primarily due to the combined action and locomotion of their second to fourth toes and the webbing between them. During ground contact, pressure is distributed over the large area of ​​the webbing, resulting in minimal sinking; when taking off, the toe bones lift off segment by segment, resulting in minimal adhesion; and during the swinging phase after takeoff, the webbing closes, minimizing air resistance. Based on these characteristics of the mallard's foot, this invention, starting from a biological prototype, focuses on designing a webbing opening and closing mechanism, a segment-by-segment takeoff mechanism, and a joint tendon energy storage mechanism, providing new design ideas and reference solutions for mudflat walking mechanisms.

[0086] Mallards inhabit mudflats and riverbanks year-round, with a maximum walking speed of 1.6 m / s, three to four times their body length. They possess the ability to resist sinking. Their webbed feet are in direct contact with the ground, primarily using three forward-positioned toes and the webbing between them for locomotion. The three forward-positioned toes, from the inside out, are the second, third, and fourth toes, each with two, three, and four phalanges respectively, as revealed by dissection. Additionally, the sole of the foot below the metatarsophalangeal joint has an elastic fat pad for cushioning. When the mallard's foot touches the ground, the second and fourth toes open the webbing, increasing the contact area. When taking off, the phalanges lift off sequentially from the proximal phalanges, reducing adhesion and ground disturbance. Simultaneously, the webbing closes after takeoff, minimizing air resistance during forward movement.

[0087] A biomimetic machine, comprising the aforementioned biomimetic multi-phalangeal coordinated mechanical foot.

[0088] The biomimetic principle of this invention:

[0089] like Figure 6As shown, in order to mimic the opening of the webbed feet by the second and fourth toes before touching the ground and the closing of the webbed feet after leaving the ground, a webbed foot opening and closing mechanism was designed. During the touching process, the forward rotation of the simulated tarsometatarsal bones drives the second and fourth toes to open outward, and then the bionic webbed feet are opened by the simulated second toe 22 and simulated fourth toe 24, increasing the contact area with the ground, which increases the anti-sinking performance of the bionic foot. During the leaving process, the simulated tarsometatarsal bones 11 begin to rebound under the action of the torsion spring 12, driving the simulated second toe 22 and simulated fourth toe 24 to close, and then the bionic webbed feet 3 close, which reduces the air resistance during the movement of the mechanical foot.

[0090] To mimic the effect of each phalanx of a mallard's foot lifting off the ground sequentially, the mechanical foot features multiple simulated phalanges for each of its three toes. These simulated phalanges are connected by simulated articular heads and sockets, and joint positioning is achieved through a joint trolley structure. The pre-tension of a tension spring simulates the tension structure of an actual joint, and the stretching and shortening of the spring simulates the bending and straightening of an actual joint under the action of tendons. This design makes it easier for the mechanical foot to lift off the ground and more flexible when it touches the ground, without requiring an additional control system.

[0091] To mimic the energy-saving effect of tendons during mallard foot movement, a torsion spring was designed at the metatarsophalangeal joint to passively store energy during forward movement and release energy when leaving the ground, allowing the heel to easily leave the ground. An offset tension spring was designed at the toe joint to help the distal phalanx leave the ground quickly and return to its original position, while also cushioning and reducing vibration when the bionic foot touches the ground.

[0092] Work process:

[0093] When a mallard's foot touches the ground, the toes touch the ground first, followed by the entire foot. The second toe (22) and fourth toe (24) open the webs (32). The third toe (23), being the longest, touches the ground first. The foot then rotates around the tip of the third toe and quickly touches the ground. During the touchdown, the tarsal bones gradually rotate forward around the metatarsophalangeal joint, thus reducing the metatarsophalangeal joint angle. During the liftoff, the tarsal bones are raised, and the metatarsophalangeal joint is lifted, so the hind foot begins to lift off the ground. The metatarsophalangeal joint angle gradually increases, and each segment of the phalanx lifts off the ground segment by segment, starting from the proximal phalanx, until the last distal phalanx lifts off the ground, thus completing the liftoff process. During the swing phase, the second and fourth toes gradually begin to close, causing the webs to close. Before the next touchdown, the toes are extended, causing the webs to open. This completes one stride cycle.

[0094] Correspondingly, when the bionic mechanical foot touches the ground, due to the forward center of gravity and the initial angle of the simulated metatarsophalangeal joint, the mechanical toe touches the ground first, followed by the entire foot. The forward rotation of the simulated tarsometatarsal bone 11 drives the spiral column 13 to rotate clockwise. The spiral column 13 then drives the spiral slider 14, causing the first spiral slider 141 to slide to the right and the second spiral slider 142 to slide to the left. The first spiral slider drives the first push-pull block 151 to move to the right, and the second spiral slider drives the second push-pull block 152 to move to the left. Thus, the simulated second toe 22 and simulated fourth toe 24 open, which in turn drives the bionic foot web 3 to open, increasing the contact area and thus reducing the amount of sinking.

[0095] When the bionic mechanical foot begins to leave the ground, the torsion spring 12 at the simulated tarsal bone 11 begins to return to its original position, releasing some energy. Under the action of the simulated metatarsophalangeal joint torsion spring 12, the proximal simulated phalanges first rotate around the simulated first metatarsophalangeal joint and leave the ground. After reaching the maximum rotational angle of the metatarsophalangeal joint, the first phalanges 221 of the simulated second toe, 231 of the simulated third toe, and 241 of the simulated fourth toe complete the process of leaving the ground. The remaining distal simulated phalanges leave the ground one segment at a time under the action of the tension spring, until the last distal simulated phalange also leaves the ground. Thus, the process of the mechanical foot leaving the ground is completed, achieving the effect of each segment of the simulated phalanges on each bionic toe leaving the ground in sequence, thereby reducing the adhesion force and disturbance to the ground during lift-off.

[0096] When the bionic mechanical foot swings, the torsion spring 12 at the proto-tarsal bone 11 begins to return to its original position, releasing remaining energy. This causes the backward rotation of the proto-tarsal bone 11 to drive the spiral column 13 to rotate counterclockwise. The spiral column 13 then drives the spiral slider 14, causing the first spiral slider 141 to slide to the left and the second spiral slider 142 to slide to the right. The first spiral slider drives the first push-pull block 151 to move to the left, and the second spiral slider drives the second push-pull block 152 to move to the right. As a result, the proto-second toe 22 and the proto-fourth toe 24 gradually close. At the same time, the bionic webs 3 close, releasing elastic potential energy, thus reducing the drag of the foot when moving forward in the air. In this way, the mechanical foot completes one stride cycle.

[0097] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for 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.

[0098] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A biomimetic multi-phalangeal coordinated mechanical foot, characterized in that, It includes a bionic toe-web opening and closing mechanism (1), a bionic multi-toe joint lifting mechanism (2), and a bionic foot web (3). The bionic toe-web opening and closing mechanism (1) is set on the bionic multi-toe joint ground-lifting mechanism (2), and the bionic web (3) is wrapped around the bionic multi-toe joint ground-lifting mechanism (2). The bionic toe-web opening and closing mechanism (1) can open and close the bionic multi-toe joint ground-lifting mechanism (2), thereby driving the opening and closing of the bionic web (3). The bionic toe-web opening and closing mechanism (1) includes a bionic tarsal bone (11), a torsion spring (12), a spiral column (13), a first spiral slider (141), a second spiral slider (142), a first push-pull block (151), a second push-pull block (152), and a bearing support (18). A bearing support (18) is mounted on the bionic multi-toe lifting mechanism (2). A helical column (13) passes through the bearing support (18). A simulated tarsometatarsal bone (11) is connected to the helical column (13) via a key. The simulated tarsometatarsal bone (11) and a torsion spring (12) are located between the bearing support (18). A first helical slider (141) and a first push-pull block (151) are located on one side of the simulated tarsometatarsal bone (11). A second helical slider (142) and a second push-pull block (152) are located on one side of the simulated tarsometatarsal bone (11). 1) On the other side, the first spiral slider (141) and the second spiral slider (142) are symmetrically distributed along the tarsometatarsal bone (11) axis, the first push-pull block (151) and the second push-pull block (152) are symmetrically distributed along the tarsometatarsal bone (11) axis, one end of the spiral column (13) passes through the first spiral slider (141) and is connected to the first spiral slider (141), and the other end of the spiral column (13) passes through the second spiral slider (142) and is connected to the second spiral slider (142). One end of a push-pull block (151) is connected to the first spiral slider (141), and the other end of the first push-pull block (151) is connected to the bionic multi-toe lifting mechanism (2). One end of a second push-pull block (152) is connected to the second spiral slider (142), and the other end of the second push-pull block (152) is connected to the bionic multi-toe lifting mechanism (2). By rotating the bionic tarsal bone (11), the spiral column (13) is driven to rotate, thereby driving the first spiral slider (141) and the second spiral slider (142) to rotate. 142) Rotate outward, thereby driving the first push-pull block (151) and the second push-pull block (152) to open outward. The first push-pull block (151) and the second push-pull block (152) drive the bionic multi-toe joint ground-lifting mechanism (2) to unfold outward. The torsion spring (12) is sleeved on the spiral column (13). One end of the torsion spring (12) is wrapped around the spiral column (13), and the other end of the torsion spring (12) abuts against the bionic multi-toe joint ground-lifting mechanism (2). The torsion spring (12) is used to reset the spiral column (13).

2. The biomimetic multi-toed synergistic mechanical foot according to claim 1, characterized in that, The biomimetic multi-toe lifting mechanism (2) includes a second toe (22), a third toe (23), and a fourth toe (24). The simulated second toe (22) and simulated fourth toe (24) are both connected to the simulated third toe (23), and the simulated second toe (22) and simulated fourth toe (24) are located on both sides of the simulated third toe (23); The simulated second toe (22), simulated third toe (23) and simulated fourth toe (24) each include multiple simulated phalanges, which are connected by tension springs; The spiral column (13) is mounted on the simulated third toe (23) via a bearing support (18); The articular heads of the simulated phalanges of the simulated second toe (22), simulated third toe (23), and simulated fourth toe (24) are all convex 180° cylindrical arc surfaces that are tangent to the upper and lower articular surfaces. The articular sockets of the simulated phalanges of the simulated second toe (22), simulated third toe (23), and simulated fourth toe (24) are all concave 160° cylindrical arc surfaces with a 20° missing upper surface. Moreover, the rotation center is concentric with the corresponding simulated articular head, so that the simulated phalanges of the simulated second toe (22), simulated third toe (23), and simulated fourth toe (24) all form simulated articular trolleys. The simulated articular heads and simulated articular sockets have reserved spaces for placing tension springs. The simulated articular heads and simulated articular sockets in the simulated articular trolleys are pre-tightened by tension springs, and the two ends of the tension springs are fixed to the inner walls of the simulated articular heads and simulated articular sockets, respectively.

3. The biomimetic multi-phalangeal synergistic mechanical foot according to claim 2, characterized in that, The connection point of the tension spring at the joint head of the simulated second toe (22), simulated third toe (23) and simulated fourth toe (24) is set to be eccentric to the axis of motion of the simulated joint trolley, so that the bionic multi-toe joint off-ground mechanism (2) can be straightened.

4. The biomimetic multi-phalangeal synergistic mechanical foot according to claim 2, characterized in that, The simulated second toe (22) includes 2 simulated phalanges, the simulated third toe (23) includes 3 simulated phalanges, and the simulated fourth toe (24) includes 4 simulated phalanges.

5. The biomimetic multi-phalangeal synergistic mechanical foot according to claim 1, characterized in that, The bionic webbed foot (3) includes a bionic finger sleeve (31) and a bionic webbed foot (32). Adjacent bionic finger sleeves (31) are connected by bionic webs (32), and the bionic finger sleeves (31) are fitted onto the bionic multi-toe joint ground-lifting mechanism (2).

6. The biomimetic multi-phalangeal synergistic mechanical foot according to claim 1, characterized in that, It also includes bionic foot pads (4); The bionic foot pad (4) is located at the bottom of the bionic multi-toe joint ground-lifting mechanism (2), and the bionic foot pad (4) is connected to the bionic multi-toe joint ground-lifting mechanism (2).

7. The biomimetic multi-phalangeal synergistic mechanical foot according to claim 6, characterized in that, Both the bionic foot pad (4) and the bionic webbed foot (3) are made of high-performance polyurethane TPE.

8. The biomimetic multi-phalangeal synergistic mechanical foot according to claim 6, characterized in that, The bionic footpad (4) has patterns on its bottom surface, including grid patterns and / or wave patterns.

9. A biomimetic machine, characterized in that, Including the bionic multi-toe synergistic mechanical foot as described in any one of claims 1-8.

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