Bionic self-adaptive anti-sinking walking wheel and control method thereof

Abstract

The application provides a kind of bionic self-adaptive anti-sinking walking wheel and its control method, including walking wheel flange, walking wheel leg foot monomer, pose perception system and controller;Walking wheel flange is provided with a plurality of walking wheel leg foot monomers along the circumferential direction;Walking wheel leg foot monomer includes bionic tendon-bone coordination mechanism and bionic muscle tendon driving mechanism;Bionic muscle tendon driving mechanism can make bionic tendon-bone coordination mechanism open and close;Pose perception system is used to detect the height signal of walking wheel flange to ground, and is transmitted to controller;Controller compares height signal with preset value, and controls bionic muscle tendon driving mechanism to make bionic tendon-bone coordination mechanism open and close according to comparison result.The application realizes the toe web self-adaptive opening and closing of bionic walking wheel, the overall structure of walking wheel leg foot monomer is simple, improves the adaptability of walking wheel and the universality of application, and is applied to robot, which is beneficial to improve its passability on soft ground.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of engineering bionics, and particularly relates to a bionic self-adaptive anti-sinking walking wheel and a control method thereof. BACKGROUND

[0002] Paddy field is an important high-quality arable land resource in China. Paddy field has strong stability, good natural endowment condition and high quality level. Paddy field is not only an important guarantee for food security, but also plays an important role in maintaining regional ecological safety and promoting ecological civilization construction. Due to the poor bearing and shear resistance of soft ground such as paddy field, the conventional wheel type is prone to produce large sinking and wet adhesion when contacting with the surface, and is prone to have large water pushing resistance, thereby producing large off-road loss and excessive disturbance to the ground. Moreover, the production practice urgently needs the paddy field conservation tillage technology for reducing cost, protecting soil structure and protecting environment. Therefore, solving the sinking and energy consumption problems of soft ground such as paddy field is particularly crucial for improving economic efficiency.

[0003] Mallard ducks live in paddy fields, lakes, rivers and mudflats all year round, and have developed anti-sinking movement characteristics. The mallard duck foot, as an actuator directly contacting with the ground, is mainly composed of three toes, and there is a web between the toes. The structure and morphology of toe-web, touch / off-ground posture and material assembly play an important role in anti-sinking process. The existing imitation mallard duck foot can realize energy saving and vibration reduction through imitation tendon unit, but in actual use, the existing imitation mallard duck foot is strongly adhered to the ground when leaving the ground and is not easy to get rid of. Moreover, due to the fixed shape structure of the duck foot and large surface area, the air resistance is large and the energy consumption is high in use. SUMMARY

[0004] In view of the above technical problems, the present application provides a bionic self-adaptive anti-sinking walking wheel and a control method thereof, which realizes the toe-web self-adaptive opening and closing of the bionic walking wheel, the simple overall structure of the walking wheel leg foot monomer, improves the adaptability and wide applicability of the walking wheel, and is applied to a robot to improve the passability of the robot on soft ground.

[0005] Note that the description of these objects does not hinder the existence of other objects. One embodiment of the present application does not need to realize all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0006] Green-headed duck mainly walks by putting forward the second, third, fourth toes and the interdigital webbing from inside to outside. The foot of green-headed duck is mainly composed of tarsometatarsal bones and phalangeal bones. When touching the ground, the second and fourth toes open and drive the interdigital webbing to open, which increases the ground contact area. When leaving the ground, the phalangeal bones leave the heel, which reduces the adhesion force and the disturbance to the ground. When swinging, the webbing is closed, which reduces the resistance of water and air to the foot. The complex tendon system of the hind limb of green-headed duck provides the source of action and power for walking or running through muscles. The long and light tendons provide traction for the movement of other parts. The muscles are mainly distributed on the femur and tibial tarsal bones. There are few muscles on the bones below the tarsal joint, and the movement of the bones is almost entirely driven by the tendons. This reduces the weight and volume of the tarsometatarsal bones and the foot, which guarantees the maintenance of the sustained performance of green-headed duck during walking or swimming.

[0007] Tendon is a tough connective tissue band connecting muscle and bone, bearing tension, composed of collagen, and working with muscle to produce action. The foot tendon tissue of green-headed duck is obviously divided into tendon bundle and endotenon. The cross section of single tendon is cylindrical. Through scanning electron microscopy, the tendon is observed from the outer surface, and it can be seen that the tendon is composed of many tertiary fiber bundles, wrapped by a layer of fine connective tissue outside the tendon, called tendon outer layer. The average diameter of the tendon is about 1-2mm. From the cross section of the tendon, the incision is smooth, and the collagen fiber bundles are arranged tightly. The cracks show that the tertiary fiber bundles of the tendon are composed of many secondary fiber bundles. The longitudinal section shows that the numerous secondary fiber bundles are roughly parallelly arranged. The diameter of the secondary fiber bundle is about 0.2μm. In addition, there are interlaced collagen fiber bundles in a network structure, which will help to enhance the strength of the tendon in all directions. The secondary fiber bundle is composed of numerous primary collagen fiber bundles arranged in layers. The primary collagen fiber bundles are arranged tightly, forming a layered structure. The primary fiber bundle, secondary fiber bundle and tertiary fiber bundle are surrounded by the connective tissue sheath of endotenon, which helps the fiber bundles to slide with each other during the movement of the tendon.

[0008] When green-headed duck walks or runs, the extensor tendon on the dorsal side and the flexor tendon on the plantar side of the foot perfectly cooperate to realize the bending and stretching process of the toes. The support band at the metatarsophalangeal joint is relatively thin, which is distributed on the plantar side and the dorsal side to help change the direction of the tendon force and constrain the position of the tendon. When the foot of green-headed duck just touches the ground, the extensor tendon is pulled by the muscle, and the flexor tendon is relaxed, so the toes are in a straight state. When the foot is in the middle of the touch, the extensor tendon continues to be stretched by the muscle pull, and the flexor tendon is reversely stretched by the muscle due to the action of the metatarsophalangeal joint pulley, so the toes continue to maintain the straight state. When the foot leaves the ground, the extensor tendon gradually relaxes, and the flexor tendon gradually receives the pull of the muscle, so the toes gradually bend.

[0009] The present application realizes the above technical purpose through the following technical means.

[0010] A bionic adaptive anti-sinking walking wheel, comprising a walking wheel flange, a walking wheel leg foot unit, a pose perception system and a controller;

[0011] The walking wheel flange is provided with a plurality of walking wheel leg foot units in the circumferential direction;

[0012] The walking wheel leg foot unit comprises a bionic tendon-bone coordination mechanism and a bionic muscle tendon driving mechanism; the bionic muscle tendon driving mechanism is arranged on the bionic tendon-bone coordination mechanism, and the bionic muscle tendon driving mechanism can open and close the bionic tendon-bone coordination mechanism;

[0013] The pose perception system is installed on the walking wheel flange and is used for monitoring the height signal of the walking wheel flange to the ground and transmitting the height signal to the controller;

[0014] The controller is connected with the pose perception system and the bionic muscle tendon driving mechanism respectively, the controller compares the height signal with a preset value, and controls the bionic muscle tendon driving mechanism to open and close the bionic tendon-bone coordination mechanism according to the comparison result.

[0015] In the above scheme, the bionic tendon-bone coordination mechanism comprises a bionic metatarsal bone, a bionic extensor tendon, a bionic flexor tendon, a bearing support, a bionic second toe, a bionic third toe, a bionic fourth toe, a bionic foot web and a base;

[0016] The bearing support is arranged on the base, the bionic metatarsal bone is sleeved on the bearing support, the bionic flexor tendon is divided into left and right ends below, one end of the bionic flexor tendon is connected with the bionic second toe, the other end of the bionic flexor tendon is connected with the bionic fourth toe, and the upper part of the bionic flexor tendon is connected with the rear side of the bionic metatarsal bone; the bionic extensor tendon is divided into left and right ends below, one end of the bionic extensor tendon is connected with the bionic second toe, the other end of the bionic extensor tendon is connected with the bionic fourth toe, and the upper part of the bionic extensor tendon is connected with the front side of the bionic metatarsal bone; the bionic second toe, the bionic fourth toe and the bionic third toe are connected to the base respectively, and the bionic second toe and the bionic fourth toe are respectively located on the two sides of the bionic third toe; the bionic foot web is located at the bottom of the bionic second toe, the bionic fourth toe and the bionic third toe, the middle part of the bionic foot web is connected with the bionic third toe, and the two sides of the bionic foot web are respectively connected with the bionic second toe and the bionic fourth toe.

[0017] In the above scheme, the bionic muscle tendon driving mechanism comprises a bionic extensor tendon driving motor and a bionic flexor tendon driving motor; the bionic extensor tendon driving motor is installed on the front side of the bionic metatarsal bone, a power output shaft of the bionic extensor tendon driving motor is connected with the bionic extensor tendon, and the bionic extensor tendon driving motor is used for driving the bionic extensor tendon to drive the bionic foot web between the second toe and the fourth toe to close;

[0018] The bionic flexor tendon driving motor is installed on the rear side of the bionic metatarsal bone, a power output shaft of the bionic flexor tendon driving motor is connected with the bionic flexor tendon, and the bionic flexor tendon driving motor is used for driving the bionic flexor tendon to drive the bionic foot web between the second toe and the fourth toe to open;

[0019] The controller is connected with the extension tendon driving motor and the flexor tendon driving motor respectively; the controller compares the height signal of the posture sensing system with the preset value, and sends a command to control the extension tendon driving motor and the flexor tendon driving motor to make corresponding actions according to the comparison result, so that the bionic tendon-bone coordination mechanism is opened or closed.

[0020] In the above scheme, when the walking wheel leg foot monomer touches the ground, the height of the walking wheel flange to the ground monitored by the posture sensing system is lower than the preset value, the controller controls the extension tendon driving motor to rotate reversely, so that the extension tendon is released, and the flexor tendon driving motor is controlled to rotate forward, so that the second toe and the fourth toe are moved outward driven by the flexor tendon, thereby opening the interdigital bionic foot web.

[0021] When the walking wheel leg foot monomer starts to leave the ground, the height of the walking wheel flange to the ground monitored by the posture sensing system is higher than the preset value, the controller controls the flexor tendon driving motor to rotate reversely, so that the flexor tendon is released, and the extension tendon driving motor is controlled to rotate forward, so that the second toe and the fourth toe are moved inward driven by the extension tendon, thereby closing the interdigital bionic foot web, so as to reduce the disturbance and resistance when leaving the ground.

[0022] In the above scheme, the posture sensing system is a distance measuring sensor.

[0023] In the above scheme, the extension tendon has a fiber woven structure, including a fiber rope structure, a flexible telescopic structure and a shell.

[0024] The fiber rope structure includes a plurality of longitudinally spirally arranged fibers and transversely arranged fibers, and the longitudinally spirally arranged fibers and the transversely arranged fibers are interlaced to form the fiber rope structure.

[0025] The flexible telescopic structure includes a plurality of springs, and the plurality of springs are arranged to form the flexible telescopic structure.

[0026] The fiber rope structure and the flexible telescopic structure are longitudinally arranged and connected to form a bionic tendon unit, a plurality of bionic tendon units are longitudinally arranged, and the outside is wrapped with a nylon shell to form the extension tendon; the extension tendon and the flexor tendon have the same structure.

[0027] In the above scheme, the bearing support is provided with a first limiting mechanism and a second limiting mechanism on both sides respectively; the first limiting mechanism is higher than the second limiting mechanism, and the first limiting mechanism is used to limit the minimum angle between the bionic tarsometatarsal bone and the bionic third toe; and the second limiting mechanism is used to limit the maximum angle between the bionic tarsometatarsal bone and the bionic third toe.

[0028] In the scheme, the first sliding groove and the second sliding groove are arranged on the base; the first sliding groove is distributed on the side of the second toe, and the second sliding groove is distributed on the side of the fourth toe; the first sliding groove and the second sliding groove are symmetrically distributed along the simulative tarsometatarsal bone axis; the side of the simulative flexor tendon starting end passes through the first sliding groove, and the other side of the simulative flexor tendon starting end passes through the second sliding groove; and then, the simulative flexor tendon starting end is combined and passes through the simulative flexor tendon reserved hole arranged on the simulative third toe, and is connected to the rear side of the simulative tarsometatarsal bone.

[0029] A control method of the bionic adaptive anti-sinking walking wheel, comprising the following steps:

[0030] The pose perception system monitors the flange-to-ground elevation signal of the walking wheel and transmits it to the controller.

[0031] The controller compares the height signal with the preset value, and controls the bionic tendon driving mechanism to open and close the bionic tendon-bone coordination mechanism according to the comparison result.

[0032] When the walking wheel leg foot monomer touches the ground, the flange-to-ground elevation monitored by the pose perception system is lower than the preset value, the controller controls the simulative extensor tendon driving motor to rotate reversely to release the simulative extensor tendon, and controls the simulative flexor tendon driving motor to rotate forward to drive the second toe and the fourth toe to move outward, so as to open the inter-toe bionic foot web.

[0033] When the walking wheel leg foot monomer leaves the ground, the flange-to-ground elevation monitored by the pose perception system is higher than the preset value, the controller controls the simulative flexor tendon driving motor to rotate reversely to release the simulative flexor tendon, and controls the simulative extensor tendon driving motor to rotate forward to drive the second toe and the fourth toe to move inward, so as to close the inter-toe bionic foot web.

[0034] Compared with the prior art, the bionic adaptive anti-sinking walking wheel has the following beneficial effects:

[0035] 1. The bionic tendon-bone coordination mechanism is driven by the bionic tendon driving mechanism to open the toe web when the walking wheel leg foot monomer touches the ground, so as to obviously increase the ground contact area, reduce the ground pressure, and increase the ground friction; the bionic tendon driving mechanism is driven to close the toe web when the walking wheel leg foot monomer leaves the ground, so as to reduce the air resistance of the walking wheel leg foot monomer during swing, realize the adaptive opening and closing effect of the bionic walking wheel, and improve the adaptability and applicability of the walking wheel.

[0036] 2. The biomimetic tendon formed by the imitation extensor tendon and the imitation flexor tendon in this invention has a fiber rope structure at the lower end of the tendon, with longitudinally spirally arranged fibers and transversely arranged fibers interwoven to imitate the crisscrossing structure of a tendon; the upper end of the tendon is a spring, imitating the energy storage and shock absorption function of the tendon; a nylon shell is added to the surface of the tendon to imitate the protective and smooth effect of the outer layer of the tendon. The unique tendon weaving method achieves advantages such as high strength and flexibility, providing cushioning and a certain energy recovery effect when the walking wheel leg makes single-unit contact with the ground.

[0037] 3. The pose sensing system of this invention monitors the elevation signal from the walking wheel flange to the ground and transmits it to the controller; the controller...

[0038] The controller compares the height signal with the preset value and controls the bionic tendon drive mechanism to open and close the bionic tendon-bone coordination mechanism based on the comparison result. Through the rigid-flexible coupling of the toes and webs and the coordinated movement of the tendons and bones, the walking wheel leg foot increases the contact area when it touches the ground to increase friction and increase the anti-sinking effect. When it leaves the ground, the contact area decreases to reduce water and air resistance and reduce vibration when it touches the ground.

[0039] Note that the description of these effects does not preclude the existence of other effects. One aspect of the invention does not necessarily have to have all of the above.

[0040] The effects described above are obvious from the description, drawings, claims, etc. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of a walking wheel structure according to an embodiment of the present invention.

[0042] Figure 2 This is a front view schematic diagram of a walking wheel according to an embodiment of the present invention.

[0043] Figure 3 This is a schematic left view of the walking wheel leg foot in the open state according to an embodiment of the present invention.

[0044] Figure 4 This is a top view schematic diagram of the walking wheel leg foot in the open toe-web state according to an embodiment of the present invention.

[0045] Figure 5 This is a schematic front view of the walking wheel leg foot in the open state according to an embodiment of the present invention.

[0046] Figure 6 This is a schematic left view of the walking wheel leg foot in the closed state of a single toe-webbed foot according to an embodiment of the present invention.

[0047] Figure 7is a top view schematic diagram of a walking wheel leg foot monomer toe-flap closed state according to an embodiment of the present application.

[0048] Figure 8 is a schematic diagram of a walking wheel leg foot monomer base according to an embodiment of the present application.

[0049] Figure 9 is a top view schematic diagram of a walking wheel leg foot monomer base according to an embodiment of the present application.

[0050] Figure 10 is a schematic diagram of a walking wheel leg foot monomer bearing support according to an embodiment of the present application.

[0051] Figure 11 is a schematic diagram of a walking wheel leg foot monomer tendon-like cross-sectional structure according to an embodiment of the present application.

[0052] Figure 12 is a schematic diagram of a walking wheel leg foot monomer tendon-like structure single segment front view according to an embodiment of the present application.

[0053] Figure 13 is a schematic diagram of a walking wheel leg foot monomer tendon-like structure multi-segment front view according to an embodiment of the present application.

[0054] Figure 14 is a walking wheel control system flowchart according to an embodiment of the present application.

[0055] In the figure: 1, walking wheel flange; 2, walking wheel leg foot monomer; 21, bionic tendon-bone coordination mechanism; 211, imitated metatarsal bone; 212, imitated extensor tendon; 213, imitated flexor tendon; 214, bearing support; 2141, first limiting mechanism; 2142, second limiting mechanism; 215, imitated second toe; 216, imitated third toe; 217, imitated fourth toe; 218, bionic foot flap; 219, base; 2191, base first reserved hole; 2192, base second reserved hole; 22, bionic tendon driving mechanism; 222, imitated extensor tendon driving motor; 223, imitated flexor tendon driving motor; 3, pose perception system. DETAILED DESCRIPTION

[0056] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0057] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0058] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] Figures 1-13 The preferred embodiment of the bionic adaptive anti-sinking walking wheel is shown, which comprises a walking wheel flange 1, a walking wheel leg foot unit 2, a pose perception system 3 and a controller; the walking wheel flange 1 is provided with a plurality of walking wheel leg foot units 2 in the circumferential direction; the walking wheel leg foot unit 2 comprises a bionic tendon-bone cooperative mechanism 21 and a bionic tendon driving mechanism 22; the bionic tendon driving mechanism 22 is arranged on the bionic tendon-bone cooperative mechanism 21, and the bionic tendon driving mechanism 22 can open and close the bionic tendon-bone cooperative mechanism 21; the pose perception system 3 is installed on the walking wheel flange 1, which is used to monitor the walking wheel flange 1 to ground elevation signal and transmit to the controller; the controller is connected with the pose perception system 3 and the bionic tendon driving mechanism 22 respectively, the controller compares the height signal with the preset value, and controls the bionic tendon driving mechanism 22 to open and close the bionic tendon-bone cooperative mechanism 21 according to the comparison result.

[0060] The bionic tendon-bone coordination mechanism 21 comprises a bionic metatarsal bone 211, a bionic extensor tendon 212, a bionic flexor tendon 213, a bearing support 214, a bionic second toe 215, a bionic third toe 216, a bionic fourth toe 217, a bionic foot web 218 and a base 219; the bearing support 214 is arranged on the base 219, the bionic metatarsal bone 211 is sleeved on the bearing support 214 through a bolt, the bionic flexor tendon 213 is divided into left and right ends below, one end of the bionic flexor tendon 213 is connected with the bionic second toe 215, the other end of the bionic flexor tendon 213 is connected with the bionic fourth toe 217, and the upper part of the bionic flexor tendon 213 is connected with the rear side of the bionic metatarsal bone 211; the bionic extensor tendon 212 is divided into left and right ends below, one end of the bionic extensor tendon 212 is connected with the bionic second toe 215, the other end of the bionic extensor tendon 212 is connected with the bionic fourth toe 217, and the upper part of the bionic extensor tendon 212 is connected with the front side of the bionic metatarsal bone 211; the bionic second toe 215, the bionic fourth toe 217 and the bionic third toe 216 are connected on the base 219 respectively, and the bionic second toe 215 and the bionic fourth toe 217 are located on the left and right sides of the bionic third toe 216 respectively; the bionic foot web 218 is located at the bottom of the bionic second toe 215, the bionic fourth toe 217 and the bionic third toe 216, the middle part of the bionic foot web 218 is connected with the bionic third toe 216, and the left and right sides of the bionic foot web 218 are connected with the bionic second toe 215 and the bionic fourth toe 217 respectively.

[0061] The bionic second toe 215 is a bionic second toe of a green-headed duck, the bionic third toe 216 is a bionic third toe of a green-headed duck, and the bionic fourth toe 217 is a bionic fourth toe of a green-headed duck.

[0062] The bionic second toe 215, the bionic third toe 216 and the bionic fourth toe 217 are all connected with the base 219, wherein the bionic second toe 215 and the bionic fourth toe 217 can rotate inwardly or outwardly around a hinge to realize opening and closing of the toe web, and the bionic third toe 216 and the base 219 remain relatively static to serve as the main support and fulcrum of the foot.

[0063] The bionic tendon driving mechanism 22 comprises a bionic extensor tendon driving motor 222 and a bionic flexor tendon driving motor 223; the bionic extensor tendon driving motor 222 is installed on the front side of the bionic tarsometatarsal bone 211, the power output shaft of the bionic extensor tendon driving motor 222 is connected with the bionic extensor tendon 212, and the bionic extensor tendon driving motor 222 is used for pulling the bionic extensor tendon 212 to drive the second toe 215, the fourth toe 217 and the interdigital bionic foot web 218 to close; the bionic flexor tendon driving motor 223 is installed on the rear side of the bionic tarsometatarsal bone 211, the power output shaft of the bionic flexor tendon driving motor 223 is connected with the bionic flexor tendon 213, and the bionic flexor tendon driving motor 223 is used for pulling the bionic flexor tendon 213 to drive the second toe 215, the fourth toe 217 and the interdigital bionic foot web 218 to open; the controller is connected with the bionic extensor tendon driving motor 222 and the bionic flexor tendon driving motor 223 respectively; the controller compares the height signal of the pose perception system 3 with a preset value, sends a command according to the comparison result to control the bionic extensor tendon driving motor 222 and the bionic flexor tendon driving motor 223 to make corresponding actions, and makes the bionic tendon bone coordination mechanism 21 open and close.

[0064] When the walking wheel leg foot monomer 2 touches the ground, the height of the walking wheel flange plate 1 to the ground monitored by the pose perception system 3 is lower than the preset value, the controller controls the bionic extensor tendon driving motor 222 to rotate reversely, releases the bionic extensor tendon 212, controls the bionic flexor tendon driving motor 223 to rotate forward, pulls the bionic flexor tendon 213 to drive the second toe 215 and the fourth toe 217 to move outward, and thus opens the interdigital bionic foot web 218 to prevent the further sinking of the walking wheel;

[0065] When the walking wheel leg foot monomer 2 starts to leave the ground, the height of the walking wheel flange plate 1 to the ground monitored by the pose perception system 3 is higher than the preset value, the controller controls the bionic flexor tendon driving motor 223 to rotate reversely, releases the bionic flexor tendon 213, controls the bionic extensor tendon driving motor 222 to rotate forward, pulls the bionic extensor tendon 212 to drive the second toe 215 and the fourth toe 217 to move inward, and thus closes the interdigital bionic foot web 218 to reduce the disturbance and resistance of leaving the ground.

[0066] Preferably, when the walking wheel leg foot monomer 2 touches the ground, if the actual height of the walking wheel is found to decrease, the controller sends a signal to the bionic flexor tendon driving motor 223 to rotate, thereby pulling the bionic flexor tendon 213 to drive the second toe 215, the fourth toe 217 and the interdigital bionic foot web 218 to open, and preventing the further sinking of the walking wheel; conversely, when the actual height of the walking wheel is found to increase, it represents that the walking wheel leg foot monomer 2 starts to leave the ground, the controller sends a signal to the bionic extensor tendon driving motor 222 to rotate, thereby pulling the bionic extensor tendon 212 to drive the second toe 215, the fourth toe 217 and the interdigital bionic foot web 218 to close, to reduce the disturbance and resistance of leaving the ground.

[0067] Preferably, the initial angle of the phalangeal bone 211 and the third toe 223 is 120-140°, so as to reduce the closing area and the water and air resistance when the walking wheel leg monomer 2 swings. Further, the minimum angle of the phalangeal bone 211 and the second toe 223 is 90°, so as to ensure that the walking wheel leg monomer 2 has a large supporting force and traction force when landing, and reduce the sinking amount.

[0068] Preferably, the pose perception system 3 is a distance measuring sensor.

[0069] The bearing support 214 is respectively provided with a first limiting mechanism 2141 and a second limiting mechanism 2142; the first limiting mechanism 2141 is higher than the second limiting mechanism 2142 in height, and is used to limit the minimum angle between the phalangeal bone 211 and the third toe 216; the second limiting mechanism 2142 is used to limit the maximum angle between the phalangeal bone 211 and the third toe 216.

[0070] Preferably, the first limiting mechanism 2141 limits the angle between the phalangeal bone 211 and the third toe 216 to 90°; and the second limiting mechanism 2142 limits the angle between the phalangeal bone 211 and the third toe 216 to 130°.

[0071] The base 219 is provided with a first sliding groove 2191 and a second sliding groove 2192; the first sliding groove 2191 is distributed on the side of the second toe 215, and the second sliding groove 2192 is distributed on the side of the fourth toe 217; the first sliding groove 2191 and the second sliding groove 2192 are distributed along the phalangeal bone 211 in axial symmetry; the left side of the starting end of the flexor tendon 213 passes around the first sliding groove 2191, the right side of the starting end of the flexor tendon 213 passes around the second sliding groove 2192, and then converges to pass through the flexor tendon reserved hole 2161 arranged on the third toe 216 and connected to the rear side of the phalangeal bone 211 above.

[0072] Preferably, in order to imitate the toe web opening and closing angle limiting, the extensor tendon 212 and the flexor tendon 213 are made of elastic material; after the phalangeal bone 211 rotates, the flexor tendon 213 tightens to drive the second toe 215 and the fourth toe 217 to open relative to the third toe 216, and the angle between the phalangeal bone 211 and the third toe 216 is reduced to 90° under the limiting action of the bearing base first limiting mechanism 2141, and the flexor tendon 213 no longer tightens; after the walking wheel leg monomer leaves the ground, the phalangeal bone 211 gradually returns to the original position, the extensor tendon 212 relaxes, the flexor tendon 213 gradually tightens, the second toe 215 and the fourth toe 217 gradually return to the original position under the action of the flexor tendon 213, and the angle between the phalangeal bone 211 and the third toe 216 expands to 130° under the limiting action of the bearing base second limiting mechanism 2142, and the extensor tendon 212 no longer tightens.

[0073] Preferably, the second toe 215, the third toe 216, and the fourth toe 217 are in a straightened state, so that the pressure on the ground gradually moves forward when taking off, reducing the disturbance to the soil, reducing soil adhesion, improving the smoothness and stability of the walking wheel leg-foot monomer 2 when walking, and improving the anti-sinking ability of the walking wheel leg-foot monomer 2.

[0074] Preferably, the biomimetic foot web 218 is made of high-performance thermoplastic copolyester TPC. In order to simulate the distribution of the green-headed duck foot web, the biomimetic foot web 218 is attached to the bottom of the second toe 215, the third toe 216, and the fourth toe 217, which facilitates providing a larger contact area when contacting the ground; in terms of material, in order to simulate the high elasticity and foldable effect of the sheet type foot web, high-performance thermoplastic copolyester TPC with a thickness of 1mm is used.

[0075] Preferably, the phalanx is made of aluminum alloy.

[0076] Preferably, the simulating extensor tendon 212 is divided into two parts to simulate the structure of the green-headed duck extensor tendon and is connected to the second toe 215 and the fourth toe 217, respectively; the simulating flexor tendon 213 is divided into two parts to simulate the structure of the green-headed duck flexor tendon and is connected to the second toe 215 and the fourth toe 217, respectively.

[0077] The simulating extensor tendon 212 is a fiber woven structure, including a plurality of longitudinally spirally arranged fibers 2121 and transversely arranged fibers 2122, the longitudinally spirally arranged fibers 2121 and the transversely arranged fibers 2122 are interlaced to form a fiber rope structure 2124, which simulates the arrangement and distribution of the green-headed duck foot muscle tendon fiber bundle; a plurality of springs 2123 are arranged to form a flexible expansion structure 2125, which simulates the energy storage and shock absorption effect of the green-headed duck foot muscle tendon fiber bundle, the fiber rope structure 2124 and the flexible expansion structure 2125 are longitudinally arranged and connected by gluing or hanging to form a biomimetic tendon unit 2126, a plurality of biomimetic tendon units 2126 are longitudinally arranged, and the outside is wrapped with a nylon shell 2127 to form the simulating extensor tendon 212. The structure of the simulating extensor tendon 212 and the simulating flexor tendon 213 is the same.

[0078] Preferably, the third toe 216 mainly supports the toes, which is conducive to the balance of the walking wheel leg-foot monomer.

[0079] Preferably, the bionic web 218 in the bionic tendon-bone coordination mechanism 21 is made of flexible material, and the rest is made of rigid material, and the rigid material and the flexible material together form a rigid-flexible coupling bionic design, through which the bionic tendon-bone coordination mechanism 21 increases the contact area when the walking wheel leg foot monomer 2 touches the ground, plays a role in anti-sinking, and reduces the area when leaving the ground to reduce air resistance; the bionic tendon driving mechanism 22 reduces disturbance and damage to the ground; and the bionic web 218 reduces vibration when touching the ground. The application can be applied to traditional rice transplanter and other paddy field operation vehicles to improve the vehicle speed, anti-sinking performance and reduce damage to the ground, and has practical application value.

[0080] The engineering bionic principle of the application is as follows:

[0081] The application takes the greenhead duck foot as a bionic prototype. The greenhead duck is a semi-aquatic bird with good walking ability on soft ground such as paddy fields and mudflats, which is mainly due to the joint action and movement mode of the second to fourth toes and the interdigital web. During the process of touching the ground, the pressure is distributed on the web with a large area, so the amount of sinking is very small; during the process of leaving the ground, the toe bones are lifted off one by one, so the adhesion is very small; during the swing period after leaving the ground, the web is closed, so the air resistance is very small. During walking or running, the greenhead duck's extensor tendon and flexor tendon work coordinately to realize the bending and stretching of the toes. Based on the above characteristics of the greenhead duck foot, the application starts from the biological prototype and focuses on designing the bionic tendon-bone coordination mechanism 21 and the bionic tendon driving mechanism 22, thereby providing a new design idea and reference scheme for the design of a walking mechanism on soft ground such as paddy fields.

[0082] When the greenhead duck foot touches the ground, the toe tip touches the ground first, then the whole palm touches the ground, the second toe and the fourth toe drive the interdigital web to open, the third toe touches the ground first due to being the longest, and then the palm rotates quickly around the third toe tip, the metatarsal bone rotates gradually forward around the metatarsophalangeal joint during the process of touching the ground, so the metatarsophalangeal joint angle decreases; during the process of leaving the ground, the metatarsal bone is lifted, the metatarsophalangeal joint is also lifted, so the rear palm starts to leave the ground, and the metatarsophalangeal joint angle gradually increases, each segment of the toe bone is lifted off one by one from the proximal end, until the distal end leaves the ground, and thus the process of leaving the ground is completed; during the swing period, the second toe and the fourth toe gradually start to close and drive the web to close, and straighten the toes before the next step, drive the web to open, and thus a stride cycle is completed.

[0083] As Figure 7As shown, in order to imitate the green-headed duck foot to open the foot web by the second toe and the fourth toe when landing and close the foot web after taking off, the bionic tendon bone coordination mechanism 21 is designed. Through the monitoring of the height by the posture sensing system 3 during the landing process, the bionic flexor tendon driving motor 223 pulls the bionic flexor tendon 213 to tighten, and then drives the bionic second toe 215 and the bionic fourth toe 217 to open outward, and then the bionic foot web 218 is driven by the bionic second toe 215 and the fourth toe 217 to open, the landing area increases, which increases the anti-sinking performance of the bionic foot; during the process of taking off, the bionic extensor tendon driving motor 222 pulls the bionic extensor tendon 212 to tighten, and then drives the bionic second toe 215 and the bionic fourth toe 217 to close inward, and then the bionic foot web 218 is driven by the bionic second toe 215 and the fourth toe 217 to close, the landing area decreases, which reduces the water and air resistance of the walking wheel leg foot monomer when moving.

[0084] The hind limb tendon system of the green-headed duck is complex, and the muscles provide power for walking and running, and long and light tendons provide traction for other movements. Muscles are mainly concentrated on the femur and tibiotarsus, and there are fewer muscles below the tarsal joint, and movement mainly depends on tendon traction, which reduces the weight of the tarsometatarsal bones and the sole, and improves the endurance performance of the green-headed duck when walking and swimming. Tendon is a connective tissue composed of collagen, connecting muscle and bone, and bearing tension. The tendon tissue of the green-headed duck is divided into tendon bundle and endotenon, and the tendon bundle is composed of collagen fibers. The tendon diameter is about 1-2mm, the internal structure is complex, the primary fiber bundle is arranged closely to form the secondary fiber bundle, the secondary fiber bundle is roughly parallel to form the tertiary fiber bundle, and the tertiary fiber bundle is arranged and combined into a cylindrical outer tendon outer layer to form the tendon. This multi-level structure significantly enhances the strength of the tendon. During walking or running, the extensor tendon and the flexor tendon of the green-headed duck work coordinately to realize the bending and stretching of the toes. The support band of the metatarsophalangeal joint helps to change the direction of the tendon force and constrain its position. When the foot just touches the ground, the extensor tendon is stretched and the flexor tendon is relaxed, and the toes are straightened; in the middle of landing, the extensor tendon continues to be stretched, and the flexor tendon is reversely stretched, and the toes remain straight; when taking off, the extensor tendon is relaxed, and the flexor tendon is stretched, and the toes are gradually bent.

[0085] In order to imitate the muscle-driven green-headed duck foot, the tendon traction muscle is moved, the bionic tendon driving mechanism 22 is designed, which completely corresponds to the structure of the green-headed duck foot, realizes the self-adaptive sensing function of the road condition, and enhances the actual passing performance of the walking wheel. In order to imitate the multi-stage and multi-beam structure, high strength, low sliding resistance, energy storage and shock absorption and other characteristics of the green-headed duck muscle tendon, a bionic muscle tendon with multi-strand weaving and elastic expansion structure is designed. In order to imitate the arrangement and distribution of the muscle tendon fiber bundle of the green-headed duck foot, the longitudinally spiral arranged fiber 2121 and the transversely arranged fiber 2122 form a fiber rope structure 2124; in order to imitate the energy storage and shock absorption effect of the muscle tendon fiber bundle of the green-headed duck foot, a plurality of springs 2123 are arranged to form a flexible expansion structure 2125, the fiber rope structure 2124 and the flexible expansion structure 2125 are connected by gluing or hanging to form a bionic muscle tendon unit 2126, a plurality of bionic muscle tendon units 2126 are arranged longitudinally, in order to imitate the smooth surface of the muscle tendon of the green-headed duck foot, the sliding resistance is small, a nylon shell 2127 is designed to wrap the outside of the bionic muscle tendon unit to form a bionic muscle tendon 212, which greatly improves the structural strength of the bionic muscle tendon, and improves the flexibility and low sliding resistance of the green-headed duck foot web driving.

[0086] Working process:

[0087] When the walking wheel leg foot monomer 2 touches the ground, because the center of gravity is relatively forward and the initial angle of the imitation metatarsophalangeal joint, the walking wheel leg foot monomer 2 touches the ground first, then the whole palm touches the ground, through the imitation flexor tendon driving motor 223, the imitation flexor tendon 213 is stretched backward, while stretching, the imitation second toe 215 and the imitation fourth toe 217 are opened outward, the imitation second toe 215 and the imitation fourth toe 217 drive the imitation foot web 218 to open, which increases the contact area and reduces the subsidence;

[0088] When the walking wheel leg foot monomer 2 begins to leave the ground, through the imitation extensor tendon driving motor 222, the imitation extensor tendon 212 is stretched backward, while stretching, the imitation second toe 215 and the imitation fourth toe 217 are closed inward, the imitation second toe 215 and the imitation fourth toe 217 drive the imitation foot web 218 to close, so that the area of the imitation foot web 218 is reduced, and the contact area with the ground is also gradually reduced, thereby reducing the adhesion of the take-off and the disturbance to the ground;

[0089] When the walking wheel leg-foot monomer 2 swings, the extension tendon driving motor 222 is driven to pull the extension tendon 212 to stretch backward, the second toe 215 and the fourth toe 217 are gradually closed, the area of the foot web 218 is minimized, the contact area with water and air is also minimized, and the closing of the foot web 218 releases the elastic potential energy, so that the closing of the foot web 218 is realized, thereby reducing the resistance when the foot advances in water and air. Thus, the walking wheel leg-foot monomer 2 completes a step cycle movement. The walking wheel leg-foot monomer 2 alternately contacts the ground, so that the walking wheel rolls forward.

[0090] As shown in Figure 14 A control method of the adaptive anti-sinking walking wheel, comprising the following steps:

[0091] The pose perception system 3 monitors the walking wheel flange 1 to ground elevation signal and transmits it to the controller;

[0092] The controller compares the height signal with the preset value, and controls the opening and closing of the tendon-bone coordination mechanism 21 according to the comparison result;

[0093] When the walking wheel leg-foot monomer 2 contacts the ground, the walking wheel flange 1 to ground elevation monitored by the pose perception system 3 is lower than the preset value, the controller controls the extension tendon driving motor 222 to rotate reversely, so that the extension tendon 212 is released, and the flexor tendon driving motor 223 is controlled to rotate forward, so that the second toe 215 and the fourth toe 217 are moved outward, thereby opening the toe web 218 and preventing the further sinking of the walking wheel;

[0094] When the walking wheel leg-foot monomer 2 leaves the ground, the walking wheel flange 1 to ground elevation monitored by the pose perception system 3 is higher than the preset value, the controller controls the flexor tendon driving motor 223 to rotate reversely, so that the flexor tendon 213 is released, and the extension tendon driving motor 222 is controlled to rotate forward, so that the second toe 215 and the fourth toe 217 are moved inward, thereby closing the toe web 218 to reduce the disturbance and resistance when leaving the ground.

[0095] Preferably, when the pose perception system 3 monitors that the ground elevation h gradually decreases, the controller controls the flexor tendon driving motor 223 to contract the flexor tendon 213, and controls the extension tendon driving motor 222 to rotate reversely by the same angle, so that the toe web opening and closing angle gradually increases;

[0096] When the pose perception system 3 monitors that the ground elevation h no longer decreases, i.e. contacts the ground, the controller controls the flexor tendon driving motor 223 to stop rotating, and the toe web opening and closing angle is recorded as , until the walking wheel leg monomer 2 off the ground or the ground elevation h increases, the controller controls the extension tendon drive motor 222 driven by the contraction of the extension tendon, control the flexor tendon drive motor 223 reverse the same angle.

[0097] The present application when the walking wheel leg monomer 2 touches the ground, the actual elevation of the walking wheel is monitored to decrease, at this time the bionic tendon driving mechanism 22 will pull the toe web open, increasing the contact area to reduce the amount of subsidence; conversely, when the actual elevation of the walking wheel is monitored to begin to increase, it represents that the walking wheel leg monomer 2 begins to off the ground, at this time the bionic tendon driving mechanism 22 will pull the toe web close, thereby reducing the adhesion force and the disturbance to the ground when the walking wheel leg monomer 2 off the ground, and produces the energy saving effect; when swinging, the second toe 215 and the fourth toe 217 are completely closed under the action of the bionic tendon driving mechanism 22, realizing the closure of the web and reducing the resistance when the foot advances in water and air. The walking wheel leg monomer alternately contacts the ground, thereby realizing the rolling advancement of the walking wheel.

[0098] It should be understood that although the present specification is described in accordance with various embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0099] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present application, and are not used to limit the protection scope of the present application, and any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A bionic self-adaptive anti-sink walking wheel, characterized in that, The walking wheel flange plate (1), the walking wheel leg foot monomer (2), the pose perception system (3) and the controller are included. The walking wheel flange plate (1) is provided with a plurality of walking wheel leg foot monomers (2) in the circumferential direction. The walking wheel leg foot monomer (2) includes a bionic tendon-bone coordination mechanism (21) and a bionic muscle tendon driving mechanism (22); the bionic muscle tendon driving mechanism (22) is arranged on the bionic tendon-bone coordination mechanism (21), and the bionic muscle tendon driving mechanism (22) can open and close the bionic tendon-bone coordination mechanism (21). The pose perception system (3) is installed on the walking wheel flange plate (1) and is used for detecting a ground elevation signal of the walking wheel flange plate (1) and transmitting the ground elevation signal to the controller. The controller is connected with the pose perception system (3) and the bionic muscle tendon driving mechanism (22) respectively, compares the ground elevation signal with a preset value, and controls the bionic muscle tendon driving mechanism (22) to open and close the bionic tendon-bone coordination mechanism (21) according to a comparison result. The bionic tendon-bone coordination mechanism (21) includes a bionic metatarsal bone (211), a bionic extensor tendon (212), a bionic flexor tendon (213), a bearing support (214), a bionic second toe (215), a bionic third toe (216), a bionic fourth toe (217), a bionic foot web (218) and a base (219). The bearing support (214) is arranged on the base (219), the bionic metatarsal bone (211) is sleeved on the bearing support (214), the bionic flexor tendon (213) is divided into left and right ends below, one end of the bionic flexor tendon (213) is connected with the bionic second toe (215), the other end of the bionic flexor tendon (213) is connected with the bionic fourth toe (217), and the upper part of the bionic flexor tendon (213) is connected with the rear side of the bionic metatarsal bone (211); the bionic extensor tendon (212) is divided into left and right ends below, one end of the bionic extensor tendon (212) is connected with the bionic second toe (215), the other end of the bionic extensor tendon (212) is connected with the bionic fourth toe (217), and the upper part of the bionic extensor tendon (212) is connected with the front side of the bionic metatarsal bone (211); the bionic second toe (215), the bionic fourth toe (217) and the bionic third toe (216) are connected on the base (219), and the bionic second toe (215) and the bionic fourth toe (217) are respectively located on the two sides of the bionic third toe (216); the bionic foot web (218) is located at the bottom of the bionic second toe (215), the bionic fourth toe (217) and the bionic third toe (216), the middle part of the bionic foot web (218) is connected with the bionic third toe (216), and the two sides of the bionic foot web (218) are respectively connected with the bionic second toe (215) and the bionic fourth toe (217).

2. The bionic self-adaptive anti-sink walking wheel according to claim 1, characterized in that, The bionic muscle tendon driving mechanism (22) includes a bionic extensor tendon driving motor (222) and a bionic flexor tendon driving motor (223); the bionic extensor tendon driving motor (222) is installed on the front side of the bionic metatarsal bone (211), the power output shaft of the bionic extensor tendon driving motor (222) is connected with the bionic extensor tendon (212), and the bionic extensor tendon driving motor (222) is used for driving the bionic extensor tendon (212) to drive the second toe (215) and the fourth toe (217) and the interdigital bionic foot web (218) to close. The flexor tendon driving motor (223) is installed on the rear side of the metatarsal bone (211), the power output shaft of the flexor tendon driving motor (223) is connected with the flexor tendon (213), and the flexor tendon (213) is used to drive the second toe (215) and the fourth toe (217) and the interdigital webbing (218) to open; The controller is connected with the extensor tendon driving motor (222) and the flexor tendon driving motor (223); the controller compares the height signal of the posture sensing system (3) with a preset value, and sends a command to control the extensor tendon driving motor (222) and the flexor tendon driving motor (223) to make corresponding actions, so that the bionic tendon bone cooperative mechanism (21) is opened and closed.

3. The bionic self-adaptive anti-sink walking wheel according to claim 2, characterized in that, When the walking wheel leg foot monomer (2) touches the ground, the height of the walking wheel flange (1) to the ground monitored by the posture sensing system (3) is lower than the preset value, the controller controls the extensor tendon driving motor (222) to rotate reversely, so that the extensor tendon (212) is released, the flexor tendon driving motor (223) is controlled to rotate forward, the flexor tendon (213) is pulled to drive the second toe (215) and the fourth toe (217) to move outward, so that the interdigital webbing (218) is opened; When the walking wheel leg foot monomer (2) starts to leave the ground, the height of the walking wheel flange (1) to the ground monitored by the posture sensing system (3) is higher than the preset value, the controller controls the flexor tendon driving motor (223) to rotate reversely, so that the flexor tendon (213) is released, the extensor tendon driving motor (222) is controlled to rotate forward, the extensor tendon (212) is pulled to drive the second toe (215) and the fourth toe (217) to move inward, so that the interdigital webbing (218) is closed, so as to reduce the disturbance and resistance when leaving the ground.

4. The bionic self-adaptive anti-sink walking wheel according to claim 1, characterized in that, The posture sensing system (3) is a distance measuring sensor.

5. The bionic self-adaptive anti-sink walking wheel according to claim 1, characterized in that, The extensor tendon (212) is a fiber woven structure, which comprises a fiber rope structure (2124), a flexible expansion structure (2125) and an outer shell (2127); The fiber rope structure (2124) comprises a plurality of longitudinally spirally arranged fibers (2121) and transversely arranged fibers (2122), and the longitudinally spirally arranged fibers (2121) and the transversely arranged fibers (2122) are interlaced to form the fiber rope structure (2124); The flexible expansion structure (2125) comprises a plurality of springs (2123), and the plurality of springs (2123) are arranged to form the flexible expansion structure (2125); The fiber rope structure (2124) and the flexible expansion structure (2125) are longitudinally arranged and connected to form a bionic tendon unit (2126), a plurality of bionic tendon units (2126) are longitudinally arranged, and the outside is wrapped with a nylon outer shell (2127) to form the extensor tendon (212); the structure of the extensor tendon (212) and the flexor tendon (213) is the same.

6. The bionic self-adaptive anti-sink walking wheel according to claim 1, characterized in that, The bearing support (214) is respectively provided with a first limiting mechanism (2141) and a second limiting mechanism (2142) on both sides; the first limiting mechanism (2141) is higher than the second limiting mechanism (2142) in height, and the first limiting mechanism (2141) is used for limiting the minimum angle between the metatarsal bone (211) and the third toe (216); the second limiting mechanism (2142) is used for limiting the maximum angle between the metatarsal bone (211) and the third toe (216).

7. The bionic self-adaptive anti-sink walking wheel according to claim 1, characterized in that, The base (219) is provided with a first sliding groove (2191) and a second sliding groove (2192); the first sliding groove (2191) is distributed on the side of the second toe (215), and the second sliding groove (2192) is distributed on the side of the fourth toe (217); the first sliding groove (2191) and the second sliding groove (2192) are distributed in axial symmetry along the metatarsal bone (211); one side of the starting end of the flexor tendon (213) passes through the first sliding groove (2191), the other side of the starting end of the flexor tendon (213) passes through the second sliding groove (2192), and then converges to pass through the flexor tendon reserved hole (2161) arranged on the third toe (216) and is connected to the rear side of the metatarsal bone (211) above.

8. The control method of the self-adaptive anti-sink walking wheel according to any one of claims 1-7, characterized in that, The method comprises the following steps: The pose perception system (3) monitors the height h signal of the walking wheel flange (1) to the ground and transmits it to the controller; The controller compares the height h signal with the preset value and controls the bionic tendon driving mechanism (22) to open and close the bionic tendon-bone coordination mechanism (21) according to the comparison result; When the walking wheel leg-foot monomer (2) touches the ground, the height h of the walking wheel flange (1) to the ground monitored by the pose perception system (3) is lower than the preset value, the controller controls the bionic extensor tendon driving motor (222) to rotate reversely, so that the bionic extensor tendon (212) is released, and the bionic flexor tendon driving motor (223) is controlled to rotate forward, so that the bionic flexor tendon (213) drives the second toe (215) and the fourth toe (217) to move outward, thereby opening the interdigital bionic foot web (218); When the walking wheel leg-foot monomer (2) leaves the ground, the height h of the walking wheel flange (1) to the ground monitored by the pose perception system (3) is higher than the preset value, the controller controls the bionic flexor tendon driving motor (223) to rotate reversely, so that the bionic flexor tendon (213) is released, and the bionic extensor tendon driving motor (222) is controlled to rotate forward, so that the bionic extensor tendon (212) drives the second toe (215) and the fourth toe (217) to move inward, thereby closing the interdigital bionic foot web (218).

9. The control method of the bionic self-adaptive anti-sink walking wheel according to claim 8, characterized in that, When the pose perception system (3) monitors that the ground height h gradually decreases, the controller controls the flexor tendon driving motor (223) to drive the flexor tendon (213) to contract, controls the extensor tendon driving motor (222) to reverse the same angle, so that the toe web opening and closing angle gradually increases; When the pose perception system (3) monitors that the ground height h is no longer reduced, the controller controls the emulated flexor tendon driving motor (223) to stop rotating, at which time the toe web opening and closing angle is recorded as , until the walking wheel leg foot monomer (2) is off the ground or the ground height h increases, the controller controls the emulated extensor tendon driving motor (222) to drive the emulated extensor tendon to contract, and controls the emulated flexor tendon driving motor (223) to reverse the same angle.

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