A method for designing a bionic shoe sole with propulsion performance

Abstract

The present application relates to the field of shoe sole, specifically relates to a kind of bionic shoe sole design method with propulsion performance, comprising the following sequentially executed steps: S1: construct the insect-like foot point lattice single cell structure of quadrat, S2: define design parameter: the side length of the insect-like foot point lattice single cell structure, the diameter of the insect-like structure knuckle, main diagonal deformation coefficient and secondary diagonal deformation coefficient, define total deformation coefficient, S3: with the total deformation coefficient range of preset, construct the topological structure of different structure, obtain topological structure database, S4: obtain or calculate the energy absorption efficiency and peak propulsion of each topological structure in the topological structure database, and construct topological structure preferred function, S5: calculate the preferred function of each topological structure in the topological structure database, according to demand select the topological structure for filling each area of shoe sole, obtain 3D shoe sole printing scheme;The shoe sole is designed using the insect-like foot point lattice single cell structure constructed in the application, and the motion efficiency is improved.

Description

TECHNICAL FIELD

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

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

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

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

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

[0006] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A bionic shoe sole design method with propulsion performance, comprising the following steps executed in sequence:

[0008] S1: Construct a four-square insectoid foot point lattice unit structure, and the construction method is as follows: construct an insectoid structure, which comprises a first bone segment, a second bone segment, a third bone segment and a fourth bone segment connected in sequence, the included angle formed by the first bone segment and the second bone segment is obtuse or acute, the included angle formed by the second bone segment and the third bone segment is greater than 180°, and the included angle formed by the third bone segment and the fourth bone segment is obtuse;

[0009] Two insectoid structures are symmetrically distributed to form a first structure, the connection points of the second bone segment and the third bone segment of the two insectoid structures of the first structure are connected together, two insectoid structures are symmetrically distributed to form a second structure, the connection points of the second bone segment and the third bone segment of the two insectoid structures of the second structure are connected together, the first structure and the second structure are center-symmetric, two second bone segments are connected to the first bone segments of the first structure and the second structure, two third bone segments are connected to the fourth bone segments of the first structure and the second structure, and the second bone segments and the third bone segments between the first structure and the second structure are connected one by one, that is, the four surfaces connected in sequence of the insectoid foot point lattice unit structure are composed of two insectoid structures;

[0010] S2: Define design parameters: the side length of the insectoid foot point lattice unit structure , the bone segment diameter of the insectoid structure , the main diagonal deformation coefficient , the secondary diagonal deformation coefficient , and the total deformation coefficient , the total deformation coefficient is the sum of the main diagonal deformation coefficient and the secondary diagonal deformation coefficient ;

[0011] S3: Construct topological structures of different structures with 0.30 0.70, 0.05 0.25, and obtain a topological structure database;

[0012] S4: Obtain or calculate the energy absorption efficiency and peak propulsion force of each topological structure in the topological structure database, and construct a topological structure optimization function :

[0013] ;

[0014] Wherein, is the preferred value calculated for each topological structure, represents the forefoot region, the midfoot region or the hindfoot region, indicates the preferred factor of energy absorption efficiency, a preferred factor representing peak propulsion force, a preferred factor representing energy absorption efficiency, a preferred factor representing peak propulsion force;

[0015] S5: calculating a preferred function of each topological structure in the topological structure database according to performance requirements of each sub-zone of the shoe sole According to the requirements, the topological structures used to fill the forefoot zone, midfoot zone and hindfoot zone are selected, and the selected topological structures are used to fill the shoe sole to obtain a 3D shoe sole printing scheme.

[0016] Preferably, in step S2, a first diagonal surface is constructed with two first bone joints of the first body and two second bone joints of the second body, two first bone joints symmetrically arranged at the center form a first diagonal line on the first diagonal surface, and the intersection of the first bone joint and the corresponding second bone joint is a first construction point, The ratio of the displacement amount of the first construction point along the first diagonal line direction to the length of the first diagonal line, that is:

[0017] ;

[0018] Wherein, a second diagonal surface is constructed with two fourth bone joints of the first body and two fourth bone joints of the second body, two fourth bone joints symmetrically arranged at the center form a second diagonal line on the second diagonal surface, and the intersection of the fourth bone joint and the third bone joint is a second construction point, The ratio of the displacement amount of the second construction point along the second diagonal line direction to the length of the second diagonal line, that is:

[0019] ;

[0020] Wherein, is the length of the diagonal line, ;

[0021] Total deformation coefficient It is expressed by the following formula:

[0022] .

[0023] Preferably, the insect foot point lattice unit cell structure is projected onto the X-Z plane to obtain a projection structure, and an included angle between two second bone joints on the projection structure is formed, The included angle is calculated by the following formula:

[0024] ;

[0025] The included angle can be used to classify different insect foot point lattice unit cell structures.

[0026] Preferably, the actual volume corresponding to each topology in the topology database is obtained. and equivalent envelope volume And calculate the relative density of each topology. :

[0027] .

[0028] By adopting the aforementioned design scheme, the beneficial effects of the present invention are as follows: This application designs an insect-like foot lattice unit cell structure. By analyzing and obtaining the performance characteristics of different topological structures, and according to the different performance of the foot regions, a suitable insect-like foot lattice unit cell structure is selected for filling the sole, thereby obtaining a complete sole structure. The sole obtained by this design method is used to improve the cushioning and energy absorption capacity and lateral propulsion performance of the sole, which helps to improve the athletic performance of the sole and improve the user's athletic efficiency. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the insect-like structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the insect-like foot lattice unit cell structure of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of the first diagonal surface of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of the second diagonal surface of the present invention;

[0033] Figure 5 These are a three-dimensional and a two-dimensional schematic diagram of the lattice unit cell of the topological structure of the present invention;

[0034] Figure 6 This is a schematic diagram of the external and internal support rods of the topology of the present invention;

[0035] Figure 7 The support length and deformation coefficient of the topological structure of this invention Relationship diagram;

[0036] Figure 8 This is the projection of the insect-like foot lattice unit cell structure of the present invention onto the xz plane;

[0037] Figure 9 For the present invention A schematic diagram illustrating the concavity and convexity of the lattice unit cell structure of insect-like legs;

[0038] Figure 10 The present invention is based on the total deformation coefficient a classification chart of three kinds of insectoid foot point lattice cell structures;

[0039] Figure 11 a structural schematic diagram of three kinds of insectoid foot point lattice cell structures of the application;

[0040] Figure 12 a schematic diagram of propulsion performance of a topological structure of the application;

[0041] Figure 13 a structural schematic diagram of a shoe sole printed according to the design method of the application;

[0042] Figure 14 a relationship diagram between the included angle and the deformation coefficient . DETAILED DESCRIPTION

[0043] In order to make the objects, technical solutions and advantages of the application clearer, the application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0044] The terms "first", "second", "third" and the like in the specification and claims of the application and the above drawings are used to distinguish different objects, but are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0045] A bionic shoe sole design method with propulsion performance, comprising the following steps executed in sequence:

[0046] S1: constructing an insectoid foot point lattice cell structure in the form of a cuboid, as shown in the figure, the construction method of the insectoid foot point lattice cell structure being as follows: constructing an insectoid structure as shown in the figure, the insectoid structure comprising a first bone segment a, a second bone segment b, a third bone segment c and a fourth bone segment d connected in sequence, the included angle Figure 2 between the first bone segment a and the second bone segment b being an obtuse angle or an acute angle, the included angle Figure 1 between the second bone segment b and the third bone segment c being greater than 180°, and the included angle between the third bone segment c and the fourth bone segment d being an obtuse angle. ​​

[0047] In nature, insects have evolved foot structures that can adapt to complex environments. During movement propulsion, different inclined angle parts of the insect foot produce tangential and normal force coupling. The former provides continuous propulsion, and the latter helps support. This force coupling enables insects to achieve maximum forward propulsion with minimal energy loss, reflecting excellent energy utilization efficiency.

[0048] The flexible deformation between the segments of such insect structures can effectively disperse and absorb external impact forces, enhancing their environmental adaptability. During force application, different segments exhibit progressive stiffness changes. This nonlinear deformation feature not only enhances the applicability of the structure to different scenarios but also provides a good foundation for subsequent energy conversion. The connections between the segments can store and release elastic potential energy. During movement, these stored elastic potential energies are efficiently converted into forward kinetic energy, realizing energy recycling, significantly improving movement efficiency and achieving stable movement propulsion.

[0049] The two insect-like structures are symmetrically distributed to form a first structure, and the connection points of the second segments and the third segments of the two insect-like structures of the first structure are connected together. The two insect-like structures are symmetrically distributed to form a second structure, and the connection points of the second segments and the third segments of the two insect-like structures of the second structure are connected together. The first structure and the second structure are center-symmetric, two second segments are connected to the first segments of the first structure and the second structure, two third segments are connected to the fourth segments of the first structure and the second structure, and the second segments and the third segments between the first structure and the second structure are connected one-to-one, that is, the four surfaces connected in turn of the insect-like foot point lattice unit cell structure are composed of two insect-like structures.

[0050] S2: Define design parameters: side length of the insect-like foot point lattice unit cell structure , segment diameter of the insect-like structure , main diagonal deformation coefficient , and secondary diagonal deformation coefficient , wherein the first diagonal surface A is formed by two first segments a of the first structure and two second segments b of the second structure as shown in Figure 3 , the two center-symmetric first segments a form a first diagonal line on the first diagonal surface A, and the intersection of the first segment a and the corresponding second segment b is a first construction point, is the ratio of the displacement amount of the first construction point along the first diagonal line direction to the length of the first diagonal line, that is:

[0051] ;

[0052] wherein the second pair of diagonal faces B is constructed with two fourth struts d of the first body and two fourth struts d of the second body, the two fourth struts d in the center of symmetry form a second diagonal line on the second diagonal face B, and the intersection of the fourth strut d and the third strut c is a second configuration point, Figure 4 is the ratio of the displacement amount of the second configuration point along the direction of the second diagonal line to the length of the second diagonal line, that is:

[0053] ;

[0054] wherein, is the diagonal line length, ;

[0055] The total deformation coefficient is defined as :

[0056] ;

[0057] S3: 0.30 0.70, 0.05 0.25, the topology of different structures is constructed, and a topology database is obtained; in order to facilitate the identification of different structures, the topology is referred to as in the embodiment, for example, when , , the topology is marked as , so as to facilitate the comparative analysis between different design schemes.

[0058] In the embodiment, the topology internally contains four closed-loop quadrilateral links, and the four closed-loop quadrilateral links are sequentially connected at the face centers; when is 0.25, the closed-loop quadrilateral is in an orthogonal relationship with the corresponding body diagonal face; when is less than 0.25, the closed-loop quadrilateral is convex outward in the direction of the body center of the cube; when the deformation coefficient is greater than 0.25, the closed-loop quadrilateral is concave inward in the direction of the body center of the cube, as shown in Figure 5 .

[0059] As shown in Figure 6 and Figure 7 , the influence law of different values of the deformation coefficient on the lengths of the external struts (blue struts in Figure 6 ) and the internal quadrilateral links (purple struts in Figure 6 ) is shown. Under the condition of a constant deformation coefficient , the four external struts on the same diagonal face have equal lengths, and the corresponding internal quadrilateral links also have equal lengths. When the deformation coefficient ​At that time, the outer blue support rod and the inner quadrilateral connecting rod have the same length, and the overall structure presents a state of complete axisymmetry. With... With increasing length, the length of the outer support rod increases linearly, while the length of the inner quadrilateral link exhibits a non-linear characteristic. Specifically, the length of the inner link increases with... The increase shows a parabolic trend of first increasing and then decreasing. It reaches its minimum value at that time. Furthermore, it varies with the deformation coefficient. As the length of the internal quadrilateral link increases, its geometry gradually changes from convex to concave. The variation in the length of the internal and external links significantly affects the mechanical properties of the lattice structure.

[0060] To quantify the degree of concavity and convexity of the closed-loop quadrilateral, this embodiment uses the included angle of the interior. As a characterization metric, in this embodiment, the quadrilateral connecting rod intersecting the first diagonal plane A is taken as an example, such as... Figure 8 As shown, the projection of the insect-like foot lattice unit cell structure onto the xz plane, at which point the closed loop quadrilateral has only two connecting rods remaining, and the included angle of this internal structure... It can be used to reflect the concave and convex characteristics of a closed-loop quadrilateral. Figure 14 Showing the included angle With deformation coefficient The relationship between them shows that, with The increase of the included angle It also gradually increases. When At that time, the included angle When the angle reaches 180°, the four connecting rods of the closed-loop quadrilateral are coplanar; when At 0, the included angle It is a convex angle, that is The closed-loop quadrilateral exhibits an outwardly convex structural feature; while when At that time, the included angle It is a concave angle, that is The closed-loop quadrilateral exhibits a concave structural feature. (Included angle) With deformation coefficient The relational expression is as follows:

[0061] ;

[0062] Using this included angle Different insect-like foot lattice unit cell structures can be classified, and the lattices in different angle ranges exhibit significantly different mechanical properties.

[0063] Under different combinations of deformation coefficients, the insect-like leg lattice unit cell structure exhibits significantly different structural morphologies. Total deformation coefficient The theoretical scope is However, it was found during the process of generating lattice structures from single-cell arrays that when or When the total deformation coefficient .

[0064] In the design process, when the total deformation coefficient , the external convexity and internal concavity of the quadrilateral link inside the insect-like foot point lattice unit structure are the same, reaching a balanced state. For example, when and , the two quadrilateral links intersecting with the first diagonal surface A exhibit external convex deformation, while the two quadrilateral links intersecting with the second diagonal surface B exhibit the same degree of internal concave deformation, as shown in Figure 9 . In addition, when , the sum of the internal angles and is always equal to 360°; when , the sum of the internal angles ; and when , the sum of the internal angles .

[0065] Therefore, based on the numerical characteristics of the sum of the deformation coefficients, this study classifies insect-like foot point lattice unit structures into three types: external convexity-dominant type, i.e., , concave-convex balanced type, i.e. , and internal concave-dominant type, i.e. , as shown in Figure 10 . This classification system based on geometric characteristics not only helps to better understand the configuration characteristics of the lattice structure, but also lays a foundation for subsequent mechanical performance analysis.

[0066] When or , the structure is not included in this embodiment due to the large degree of geometric interference of the structure pillars. Within the effective range of , the geometric form of the lattice structure is completely consistent due to the geometric symmetry of the lattice structure itself, such as , and , , so only half of the symmetric region needs to be analyzed. In this embodiment, the left half of the symmetric structure is selected as the research object. In the selected analysis region of Figure 11 : the green area represents the external convexity-dominant type, where ; the red area represents the concave-convex balanced type, where ; and the blue area represents the internal concave-dominant type, where .

[0067] The relative density of the lattice structure is one of the important indicators for evaluating its design and performance, reflecting the degree of lightweight of the structure. By keeping the rod diameter of the unit cell the same and the overall height of the structure equal, the relative density of each structure can be compared Control within a certain range. The relative density Determined by the ratio of the actual volume of the lattice cell to the corresponding envelope volume, the actual volume of each topology in the topology database is obtained And the equivalent envelope volume And the relative density of each topology is calculated :

[0068] ;

[0069] In this embodiment, the actual volume of the topology is calculated by Catia software The equivalent envelope volume here is the volume of the cube in which the topology is established, and the actual volume is the volume actually occupied by the topology. Because it is hollow, the normal relative density is less than 1. The relative density Is used to evaluate the quality of the sole, and the lower the relative density, the smaller the mass.

[0070] In the performance evaluation of the sole, the propulsion performance is one of the important indicators for measuring its functional performance, directly affecting the running efficiency and sports comfort. For the propulsion performance of the lattice structure of the sole, it mainly refers to the horizontal propulsion effect generated by the lattice structure when subjected to axial compression load. Specifically, this performance can be measured by lateral force and lateral displacement. Lateral force reflects the ability of the lattice structure to convert vertical load into horizontal propulsion force, while lateral propulsion displacement describes the amount of horizontal displacement of the structure under the action of vertical pressure, as shown in Figure 12 .

[0071] Through the analysis of different structural topologies, the present application mainly considers the following types when selecting the lattice cell structure of the sole: in the concave-dominated type And , the concave-convex balanced type , remove , and in the convex-dominated type And , remove And The test results of the 18 topologies in energy absorption and propulsion performance are shown in Table 1. For propulsion performance, the evaluation indexes are maximum propulsion displacement and maximum propulsion force. For energy absorption performance, there are three indexes: volume specific energy absorption, mass specific energy absorption and energy absorption efficiency. According to the analysis in the foregoing, the relative density of the insect-inspired footpad lattice unit cell structures is small, so the law of volume specific energy absorption and mass specific energy absorption is not much different. In order to be consistent with the number of evaluation indexes of propulsion performance, mass specific energy absorption and energy absorption efficiency are selected as the evaluation indexes of energy absorption performance.

[0072] Table 1 Test results of energy absorption and propulsion performance of different types of topologies

[0073]

[0074] The performance requirements of the three regions of the shoe sole, i.e. the forefoot region, the midfoot region and the hindfoot region, are different. The comprehensive performance of the 18 insect-inspired footpad lattice unit cell structures is ranked, and the results are shown in Table 2. It is found that the 6 types of lattice structures dominated by concave are ranked lower as a whole. This is because although the mass specific energy absorption is high, the energy absorption efficiency is low, resulting in poor comprehensive performance of energy absorption, so they have no competitive advantage in the comprehensive score.

[0075] Table 2 Evaluation results of different types of topologies

[0076]

[0077] S4: Obtain or calculate the energy absorption efficiency and peak propulsion force of each topology in the topology database, and construct a topology optimization function :

[0078] ;

[0079] wherein, is the calculated optimization value of each topology, represents the forefoot region, the midfoot region or the hindfoot region, represents the optimization factor of energy absorption efficiency, represents the optimization factor of peak propulsion force, represents the energy absorption efficiency, represents the peak propulsion force. In this embodiment, the energy absorption efficiency and the peak propulsion force can be calculated by conventional software or mechanical performance test.

[0080] S5: According to the performance requirements of each region of the shoe sole, calculate the optimization function of each topology in the topology database , according to the demand, selecting the topology structure for filling the forefoot area, midfoot area and rearfoot area, and filling the sole with the selected topology structure to obtain a 3D sole printing scheme, and the 3D printed sole is as shown in Figure 13 .

[0081] In this embodiment, the preferred factor of energy absorption efficiency is The preferred factor of peak propulsion force is The values of the different regions of the sole are shown in Table 3, and other settings can also be made according to actual needs.

[0082] Table 3: Preferred factor value setting

[0083]

[0084] Through the above formula calculation, the forefoot area is mainly for propulsion performance and secondarily for energy absorption performance, and the optimal structure is , which can meet the propulsion demand while considering energy absorption; the midfoot area needs to balance the propulsion and energy absorption performance, and the optimal structure is , which provides necessary support and stability and ensures smooth transition during movement; the rearfoot area is mainly for energy absorption performance and secondarily for propulsion performance, and the optimal structure is , which effectively absorbs impact force and improves comfort. The selection of the above sole partition structure is based on the actual user's foot bottom, and there are slight differences between different people.

[0085] In summary, the application designs an insect-like foot point array unit cell structure, analyzes the performance characteristics of different topology structures, selects appropriate insect-like foot point array unit cell structures according to the different performance of the foot area, and fills the sole, thereby obtaining a complete sole structure. The sole obtained by the design method improves the shock absorption and energy absorption capacity and transverse propulsion performance of the sole.

[0086] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the application. It should be understood that the above description is only a specific embodiment of the application and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A biomimetic shoe sole design method with propulsive properties, characterized in that: The steps are as follows, performed sequentially: S1: Construct a tetragonal insect-like foot lattice unit cell structure. The construction method of this insect-like foot lattice unit cell structure is as follows: Construct an insect-like structure, which includes a first segment, a second segment, a third segment, and a fourth segment connected in sequence. The angle formed by the first segment and the second segment is an obtuse angle or an acute angle. The angle formed by the second segment and the third segment is greater than 180°. The angle formed by the third segment and the fourth segment is an obtuse angle. The first structure is formed by symmetrically distributing two insect-like structures. The connection points of the second and third segments of the two insect-like structures in the first structure are connected together. The second structure is formed by symmetrically distributing two insect-like structures. The connection points of the second and third segments of the two insect-like structures in the second structure are connected together. The first structure and the second structure are centrally symmetrical. Two second segments are connected to the first segments of the first structure and the first segment of the second structure. Two third segments are connected to the fourth segments of the first structure and the second structure. The second segments and the third segments between the first structure and the second structure are connected one-to-one. That is, the four faces of the insect-like foot lattice unit cell structure are all composed of two insect-like structures. S2: Define design parameters: side length of the foot lattice unit cell structure of this type of insect. The diameter of the segmental bones of the insect-like structure Main diagonal distortion coefficient Secondary diagonal deformation coefficient and total deformation coefficient Total deformation coefficient Main diagonal deformation coefficient With the second diagonal deformation coefficient sum; S3: with 0.30 0.70, 0.05 0.25 Construct topologies with different structures and obtain a topology database; S4: Obtain or calculate the energy absorption efficiency and peak thrust of each topology in the topology database, and construct the topology optimization function. : ； in, These are the optimal values ​​calculated for each topology. Representing the forefoot, midfoot, or hindfoot area. A preferred factor representing energy absorption efficiency. The optimal factor representing peak thrust. Indicates energy absorption efficiency. Indicates peak thrust; S5: Based on the performance requirements of each zone of the shoe sole, calculate the optimal function for each topology in the topology database. Based on the requirements, select the topology structure to fill the forefoot, midfoot, and hindfoot areas, and use the selected topology structure to fill the sole to obtain a 3D sole printing solution.

2. The biomimetic shoe sole design method with propulsion performance as described in claim 1, characterized in that: In step S2, a first diagonal surface is constructed using the two first segments of the first structure and the two second segments of the second structure. The two centrally symmetrical first segments form a first diagonal line on the first diagonal surface, and the intersection of the first segment and the corresponding second segment is the first construction point. The value is the ratio of the displacement of the first construction point along the first diagonal to the length of the first diagonal, i.e.: ； Specifically, a second diagonal plane is constructed using the two fourth segments of the first structure and the two fourth segments of the second structure. Two centrally symmetrical fourth segments form a second diagonal line on the second diagonal plane. The intersection of the fourth segment and the third segment serves as the second construction point. The value is the ratio of the displacement of the second construction point along the second diagonal to the length of the second diagonal, i.e.: ； in, The length of the diagonal. ; Total deformation coefficient It is expressed by the following formula: 。 3. The biomimetic shoe sole design method with propulsive performance as described in claim 2, characterized in that: By projecting the lattice unit cell structure of the insect's leg onto the XZ plane, the projected structure is obtained, showing an angle formed between the two second skeletal segments on this projected structure. included angle The following formula is used for calculation: ； Using this included angle It can classify different insect-like lattice unit cell structures.

4. The biomimetic shoe sole design method with propulsive performance as described in claim 3, characterized in that: Obtain the actual volume corresponding to each topology in the topology database. and equivalent envelope volume And calculate the relative density of each topology. : 。

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