Double-leg moving mechanism based on tendon-bone collaborative bionics and robot

Abstract

The invention provides a double-leg moving mechanism based on tendon-bone collaborative bionics and a robot. The double-leg moving mechanism comprises bionic leg-foot single bodies, a driving mechanism and a rack. The bionic leg and foot single bodies are symmetrically installed on the two sides of the rack, and the driving mechanism is installed on the rack. Each bionic leg and foot single body comprises a bionic tendon-bone cooperative walking device and a bionic toe-web; one end of the bionic tendon-bone cooperative walking device is connected with the driving mechanism, and the other end of the bionic tendon-bone cooperative walking device is connected with the bionic toe-web; the driving mechanism drives the bionic leg and foot single bodies on the two sides of the machine frame to walk alternately in a stepping mode. The efficient and stable tendon-bone synergistic bionic leg-foot single body and the double-leg moving mechanism comprising the bionic leg-foot single body are designed by adopting an engineering bionic technology on the basis of the efficient and stable movement characteristics of a mallard, double-leg synergistic walking can be achieved through one driving motor, and by means of the bionic structural design, the leg-bone synergistic bionic leg-foot single body and the double-leg moving mechanism comprising the bionic leg-foot single body can be obtained. And the walking stability and the movement efficiency of the double-leg moving mechanism are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of engineering bionics, and particularly relates to a double-leg moving mechanism and robot based on tendon-bone synergistic bionics. BACKGROUND

[0002] The double-leg moving robot has great development potential and application prospect in many fields such as intertidal resource development, marsh rescue and coastal geological exploration due to its unique walking mode and flexible environmental adaptability. However, the balance control system of the existing double-leg robot is complex, and the walking efficiency is low. How to realize efficient and stable movement under the premise of guaranteeing basic performance requirements has been an important research problem of the double-leg robot. SUMMARY

[0003] The present application aims to at least partially solve the problems of complex balance control system and low walking efficiency of the double-leg robot. To this end, the present application proposes a double-leg moving mechanism and robot based on tendon-bone synergistic bionics, which can realize double-leg coordinated walking by one driving motor, and improve the walking stability and motion efficiency of the double-leg moving mechanism through bionic structure design.

[0004] The mallard is an amphibious bird that lives in the water-land interactive environment for a long time, and often inhabits in intertidal zone and river bend. It has unique leg-foot structure and motion posture, and plays a key role in its various motion modes. The special leg-foot structure enables the mallard to exhibit efficient and stable motion ability in different environments. When walking, the mallard contracts the leg muscles to drive the hind limb joints to flex and extend, and through the synergistic cooperation of the hind limb muscles, tendons, ligaments and bones, it has the characteristics of flexible, stable and efficient motion. At the same time, the special webbed foot structure can provide stable support during motion and has the ability to adapt to complex ground environment. Based on the efficient and stable motion characteristics of the mallard, the present application adopts engineering bionics technology to design an efficient and stable tendon-bone synergistic bionic leg-foot monomer and a double-leg moving mechanism comprising the bionic leg-foot monomer.

[0005] Note that the recitation of these objects does not preclude the presence of other objects. One embodiment of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the recitations of the specification, drawings and claims.

[0006] The present application achieves the above technical objects through the following technical means.

[0007] The double-leg moving mechanism comprises a bionic leg-foot monomer, a driving mechanism and a frame; the bionic leg-foot monomers are symmetrically installed on two sides of the frame, and the driving mechanism is installed on the frame; the bionic leg-foot monomer comprises a bionic tendon-bone cooperative walking device and a bionic toe-web; one end of the bionic tendon-bone cooperative walking device is connected with the driving mechanism, and the other end is connected with the bionic toe-web; the driving mechanism comprises two driving cranks which are symmetrically arranged with a phase difference of 180°, and are used for driving the bionic leg-foot monomers on two sides of the frame to alternately stride walking.

[0008] In the above scheme, the bionic tendon-bone cooperative walking device comprises a bionic tibia component, a bionic fibula component, a bionic tarsometatarsal bone component, a bionic joint ligament connecting rod and a bionic tendon driving rod.

[0009] Both sides of the frame are provided with a driving shaft mounting hole, a bionic tibia component mounting hole and a bionic fibula component mounting hole; the driving shaft mounting hole is located at one end of the frame, and the bionic tibia component mounting hole and the bionic fibula component mounting hole are located at the other end of the frame; the driving shaft mounting hole, the bionic tibia component mounting hole and the bionic fibula component mounting hole are on the same horizontal line.

[0010] One end of the bionic tibia component is hinged to the bionic tibia component mounting hole of the frame, the other end of the bionic tibia component is hinged to one end of the bionic tarsometatarsal bone component, and the other end of the bionic tarsometatarsal bone component is hinged to the bionic toe-web; one end of the bionic fibula component is installed on the bionic fibula component mounting hole of the frame and is kept on the same horizontal line with the installation position of one end of the bionic tibia component, the other end of the bionic fibula component is hinged to the middle mounting hole of the bionic tendon driving rod, and is connected with the bionic tarsometatarsal bone component through the bionic joint ligament connecting rod; one end of the bionic tendon driving rod is hinged to the driving crank of the driving mechanism, and the other end of the bionic tendon driving rod is hinged to the bionic toe-web.

[0011] In the above scheme, the bionic toe-web comprises a toe connecting piece, a bionic toe and a bionic web;

[0012] The bionic toe comprises a first bionic toe, a second bionic toe and a third bionic toe; fan-shaped bionic webs are installed between the first bionic toe and the second bionic toe and between the second bionic toe and the third bionic toe; the first bionic toe, the second bionic toe and the third bionic toe are connected at the end of the bionic toe, and the shape of the end of the bionic toe is similar to a fan; the toe connecting piece is connected to the upper side of the end of the bionic toe.

[0013] Further, the first bionic toe, the second bionic toe and the third bionic toe are in a cylindrical shape, the included angle between the first bionic toe and the third bionic toe is 70°, and the included angle between adjacent bionic toes is 35°, thereby forming a foot contour similar to a fan.

[0014] Further, the bionic toe is provided with a bionic web mounting groove.

[0015] The biomimetic foot web mounting slot is in a cylindrical shape and is designed as a slotted form on a single side, constituting an elastic clamping groove for clamping and fixing the cylindrical mounting end face of the biomimetic foot web;

[0016] The slotted directions of the biomimetic foot web mounting slots on the first biomimetic toe and the third biomimetic toe are mirror-symmetric, and the two side faces of the second biomimetic toe are each provided with the biomimetic foot web mounting slot.

[0017] In the above scheme, the driving mechanism further comprises a driving motor, a driving shaft and a bevel gear set;

[0018] The driving motor is mounted on the upper side of the frame, the driving shaft is mounted in the driving shaft mounting hole on the frame and can rotate relative to the frame, and the driving shaft is connected with the output shaft of the driving motor through the bevel gear set; two driving cranks are symmetrically mounted at the two ends of the driving shaft, and the phase difference is 180°.

[0019] Further, the length L1 of the driving crank is 0.15-0.25 times the length L2 of the tendon-simulating driving rod; the length L1 of the driving crank is 0.3-0.4 times the length L3 of the fibula-simulating member; and the length L1 of the driving crank is 0.2-0.3 times the length L4 of the distance between the fibula-simulating member mounting holes.

[0020] Further, the ratio of the length L1 of the driving crank to the length L2 of the tendon-simulating driving rod is 1:6; the ratio of the length L1 of the driving crank to the length L3 of the fibula-simulating member is 1:3; and the ratio of the length L1 of the driving crank to the length L4 of the distance between the fibula-simulating member mounting holes is 1:4.

[0021] In the above scheme, the area of the biomimetic toe-web satisfies that the ground contact pressure is not less than 0.6 KPa.

[0022] A double-leg mobile robot comprises the double-leg moving mechanism.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1. The present application designs a double-leg moving mechanism for a double-leg mobile robot based on a greenhead duck hind limb as a biomimetic prototype, which has the characteristics of simple structure, convenient control and single driving mechanism, and realizes a striding action by driving the biomimetic skeleton through the driving mechanism, realizes a double-leg coordinated walking process through the phase difference of the double-leg driving mechanism, and combines the structure and appearance of the biomimetic mechanical foot with the double-leg tendon-bone coordinated walking device to improve the stability and smoothness of the double-leg robot in walking and improve the moving efficiency.

[0025] 2. The present application designs a bionic tendon-bone synergistic walking device by imitating the synergistic movement control strategy of the green-headed duck prototype tendon-bone-joint ligament, gives the length proportion relationship range of the bionic bone and the bionic tendon, and according to the ground pressure, the minimum area of the bionic toes-web in the double-leg moving mechanism is specified, which further improves the walking stability.

[0026] 3. The present application can adjust the stride frequency of the double-leg moving mechanism by changing the rotating speed of the driving motor, the stride frequency adjustment mode is simple and reliable, and different stride frequency adjustment can improve the ground environment adaptability and passability of the double-leg moving mechanism. When the driving crank is installed, a specific phase difference is arranged in a symmetrical layout form, the two driving cranks alternately rotate, and the bionic tendon driving rod connected with the driving crank shakes under the driving of the alternating force, which realizes stable and continuous motion transmission, and can also effectively avoid the vibration and wear problems caused by unilateral stress.

[0027] 4. The double-leg moving mechanism disclosed by the present application has the characteristics of simple transmission structure and few power sources, and by performing

[0028] dynamic simulation calculation, the transportation cost CoT of the double-leg moving mechanism is about 3.12 J / kg·m, which has an efficiency advantage compared with existing double-leg robots, and reflects the high efficiency of the double-leg moving mechanism when walking.

[0029] Note that the description of these effects does not hinder the existence of other effects. One embodiment of the present application does not necessarily have all the above-mentioned effects. Effects other than the above-mentioned effects can be easily extracted from the description, drawings, claims, etc.

[0030] BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a perspective view of the double-leg moving mechanism of one embodiment of the present application.

[0032] Figure 2 is a side view of the double-leg moving mechanism of one embodiment of the present application.

[0033] Figure 3 is a perspective view of the bionic tendon-bone synergistic walking device of one embodiment of the present application.

[0034] Figure 4 is a side view of the bionic tendon-bone synergistic walking device of one embodiment of the present application.

[0035] Figure 5 is a schematic view of the bionic toes-web of one embodiment of the present application.

[0036] Figure 6 is a schematic view of the bionic metatarsal bones of one embodiment of the present application. ​

[0037] Figure 7 FIG. 1 is a schematic view of a simulated fibula member according to an embodiment of the present application.

[0038] Figure 8 FIG. 2 is a schematic view of a simulated ligament connecting rod according to an embodiment of the present application.

[0039] Figure 9 FIG. 3 is a schematic view of a simulated tendon drive rod according to an embodiment of the present application.

[0040] Figure 10 FIG. 4 is a schematic view of a simulated tibia member according to an embodiment of the present application.

[0041] Figure 11 FIG. 5 is a schematic view of a simulated foot according to an embodiment of the present application.

[0042] Figure 12 FIG. 6 is a schematic view of a simulated foot web according to an embodiment of the present application.

[0043] Figure 13 FIG. 7 is a schematic view of a first simulated foot according to an embodiment of the present application.

[0044] Figure 14 FIG. 8 is a schematic view of a second simulated foot according to an embodiment of the present application.

[0045] Figure 15 FIG. 9 is a schematic view of a simulated toe connector according to an embodiment of the present application.

[0046] Figure 16 FIG. 10 is a schematic view of a simulated drive mechanism according to an embodiment of the present application.

[0047] Figure 17 FIG. 11 is a schematic view of a simulated frame according to an embodiment of the present application.

[0048] Figure 18 FIG. 12 is a schematic view of a simulated walk through a single stride cycle according to an embodiment of the present application.

[0049] In the figure: 1, bionic tendon-bone collaborative walking device; 11, imitated tibia component; 12, imitated fibula component; 13, imitated tarsometatarsal bone component; 14, imitated joint ligament connecting rod; 15, imitated tendon driving rod; 2, bionic toe-web; 21, toe connecting piece; 211, middle groove of toe connecting piece; 212, imitated tarsometatarsal bone component mounting hole; 213, imitated tendon driving rod mounting hole; 22, bionic toe; 221, first bionic toe; 2211, first bionic toe-web mounting slot; 222, second bionic toe; 2221, second bionic toe-web mounting slot; 223, third bionic toe; 2231, third bionic toe-web mounting slot; 23, bionic toe-web; 231, cylindrical mounting end face; 232, toe-web face; 3, driving mechanism; 31, driving motor; 32, driving shaft; 33, driving crank; 34, bevel gear set; 4, rack; 41, driving shaft mounting hole; 42, imitated tibia component mounting hole; 43, imitated fibula component mounting hole. DETAILED DESCRIPTION

[0050] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein like or similar elements are denoted by the same or similar reference signs throughout the drawings. The embodiments described below are examples for explaining the present application and are not intended to be limiting of the present application.

[0051] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to 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 limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, 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 explicitly or implicitly include 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 specifically limited.

[0052] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, 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 internal communication of two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0053] Embodiment 1

[0054] Figure 1 、 2 As shown in the preferred embodiment of the double-leg moving mechanism, the double-leg moving mechanism comprises a bionic leg

[0055] foot monomer, driving mechanism 3 and rack 4; the bionic leg foot monomer is mirror-symmetrically mounted on both sides of the rack 4, and the driving mechanism 3 is mounted on the rack 4; the bionic leg foot monomer comprises a bionic tendon-bone cooperative walking device 1 and a bionic toe-web 2; one end of the bionic tendon-bone cooperative walking device 1 is connected with the driving mechanism 3, and the other end is connected with the bionic toe-web 2; the driving mechanism 3 drives the bionic leg foot monomers on both sides of the rack 4 to walk alternately. The bionic toe-web 2 serves as a ground contact executor in contact with the ground.

[0056] As shown in the preferred embodiment of the double-leg moving mechanism, the double-leg moving mechanism comprises a bionic leg Figure 3 、 4 and 17, the bionic tendon-bone cooperative walking device 1 comprises a bionic tibia component 11, a bionic fibula component 12, a bionic tarsometatarsal bone component 13, a bionic joint ligament connecting rod 14 and a bionic tendon driving rod 15; both sides of the rack 4 are provided with a driving shaft mounting hole 41, a bionic tibia component mounting hole 42 and a bionic fibula component mounting hole 43; the driving shaft mounting hole 41 is located at one end of the rack 4, the bionic tibia component mounting hole 42 and the bionic fibula component mounting hole 43 are located at the other end of the rack 4, and the driving shaft mounting hole 41, the bionic tibia component mounting hole 42 and the bionic fibula component mounting hole 43 are on the same horizontal line; one end of the bionic tibia component 11 is hinged to the bionic tibia component mounting hole 42 of the rack 4, the other end of the bionic tibia component 11 is hinged to one end of the bionic tarsometatarsal bone component 13, and the other end of the bionic tarsometatarsal bone component 13 is hinged to the bionic toe-web 2; one end of the bionic fibula component 12 is mounted on the bionic fibula component mounting hole 43 of the rack 4 and is kept on the same horizontal line with the mounting position of one end of the bionic tibia component 11, the other end of the bionic fibula component 12 is hinged to the middle mounting hole of the bionic tendon driving rod 15, and is connected with the bionic tarsometatarsal bone component 13 through the bionic joint ligament connecting rod 14, one end of the bionic tendon driving rod 15 is hinged to the driving crank 33 of the driving mechanism 3, and the other end of the bionic tendon driving rod 15 is hinged to the bionic toe-web 2.

[0057] Furthermore, the outer side of the lower end of the imitation fibular component 12 is connected to the mounting hole in the middle of the imitation tendon drive rod 15 to form a rotating pair, ensuring that the torque of the imitation tendon drive rod 15 can be accurately and smoothly transmitted to the imitation fibular component 12 when it is rocked; the inner side of the imitation fibular component 12 is hinged to one end of the imitation joint ligament connecting rod 14, and the other end of the imitation joint ligament connecting rod 14 is rotatably connected to the lower end of the imitation tibia component 11. When the imitation tendon drive rod 15 is rocked, the imitation fibular component 12 and the imitation tibia component 11 are linked through the imitation joint ligament connecting rod 14. The triangular structure formed by the three dynamically adjusts the angle during the movement, which limits the range of motion of the joint. The outer side of the connection between the simulated tibia component 11 and the simulated joint ligament connecting rod 14 is further rotatably connected to the upper end of the simulated tarsometatarsal component 13. This connection point serves as the end hub of the kinetic chain, transmitting the swinging power from the simulated tibia component 11 to the simulated tarsometatarsal component 13, thereby driving the bionic toe-web 2 to complete the movement.

[0058] The simulated tendon drive rod 15 serves as the core driving component during walking, and its rocking process is subject to structural constraints and linkage control. When the simulated tendon drive rod 15 rocks, its middle part forms a rotational connection node with the simulated fibular component 12. This node, due to its limiting function, sets the swing angle range through mechanical constraints, preventing excessive movement that could lead to walking function failure. The fixation effect of the simulated joint ligament connecting rod 15 enables the simulated tibia component 11 and the simulated tarsometatarsal component 13 to achieve biomimetic joint angle changes, completing the full movement of pushing off the ground during the ground contact phase and taking a step during the take-off phase.

[0059] like Figure 5 As shown, the bionic toe-web 2 includes a toe connector 21, bionic toes 22, and bionic webs 23; the bionic toe 22 includes a first bionic toe 221, a second bionic toe 222, and a third bionic toe 223; fan-shaped bionic webs 23 are installed between the first bionic toe 221 and the second bionic toe 222, and between the second bionic toe 222 and the third bionic toe 223; the ends of the first bionic toe 221, the second bionic toe 222, and the third bionic toe 223 converge and connect in a fan-like shape; the toe connector 21 is connected to the upper side of the convergence point of the ends of the bionic toes 22.

[0060] The first bionic toe 221, the second bionic toe 222 and the third bionic toe 223 are cylindrical, the included angle between the first bionic toe 221 and the third bionic toe 223 is 70°, and the angle is the optimal solution based on the study of the foot morphology of green-headed ducks and the dynamic simulation. The adjacent bionic toes form an included angle of 35°, which together construct a fan-shaped foot contour. The included angle between the first bionic toe 221 and the third bionic toe 223 is 70°, which can form a stable triangular support structure, effectively reducing the gravity offset. The included angle of 35° between adjacent bionic toes maximizes the contact area of the toes with the ground while ensuring compact foot structure. When the mechanism is walking, the fan-shaped foot shape can evenly transmit the ground reaction force to each toe, avoiding local stress concentration, and achieving the balance between stability and maneuverability through the action between the toes, providing reliable protection for the efficient operation of the double-leg moving mechanism.

[0061] As shown in Figure 12 The bionic foot web 23 includes a cylindrical mounting end surface 231 and a web surface 232; the cylindrical mounting end surface 231 is arranged vertically to the side of the fan-shaped web surface 232, and has a standard cylindrical shape. The mounting end surface and the fan-shaped web surface are made of flexible rubber material and are processed by one-piece molding process. The one-piece molding process ensures seamless connection between the two, avoids weak links caused by splicing, and enhances the structural strength. The flexible rubber material gives the component good flexibility and cushioning performance, allowing it to deform flexibly during movement and resist external impact to some extent, improving the adaptability of the overall ground environment.

[0062] Preferably, the area of the bionic toe-web 2 is related to the overall mass of the double-leg moving mechanism. To ensure that the double-leg moving mechanism remains stable and maintains the center of gravity balance during movement, the control of the ground pressure ratio is crucial. According to the dynamic simulation test verification, the ground pressure ratio of the bionic toe-web 2 of the double-leg moving mechanism needs to reach at least 0.6 KPa. This value is determined by fully considering various complex working conditions: at the critical value of 0.6 KPa, the bionic toe-web 2 can generate sufficient friction with the ground to avoid sliding during walking, and effectively disperse the gravity of the mechanism to prevent attitude imbalance caused by local pressure concentration. When the double legs alternate with ground contact, ground contact and stride, the ground pressure ratio within the stable range of 0.6 KPa or more can ensure that the center of gravity of the mechanism is always within a reasonable support range, avoiding the problem of overturning caused by the center of gravity offset. In the fast movement on flat ground or slow walking on complex terrain, maintaining the ground pressure ratio within the specified range is the design criterion for ensuring the efficient and stable walking of the double-leg moving mechanism.

[0063] Preferably, the first bionic toe 221, the second bionic toe 222 and the third bionic toe 223 are made of rigid material and their ends are fixedly connected together. The toe connector 21 is fixedly connected to the upper side of the junction of the ends of the bionic toe 22, and the bionic web 23 is installed on the side of the bionic toe 22.

[0064] The first bionic toe 221, the second bionic toe 222, and the third bionic toe 223 are all provided with bionic web mounting grooves; the bionic web mounting grooves are cylindrical and have a slotted design on one side, forming an elastic locking groove for locking and fixing the cylindrical mounting end face 231 of the bionic web 23; the slotting directions of the bionic web mounting grooves on the first bionic toe 221 and the third bionic toe 223 are mirror symmetrical, and the bionic web mounting grooves are provided on both sides of the second bionic toe 222, which makes the web mounting more secure.

[0065] like Figure 13 As shown, preferably, the first bionic toe 221 includes a first bionic web mounting groove 2211; preferably, the bionic web 23 is made of flexible material and mounted on the bionic toe 22, the right side of the first bionic toe 221 is provided with a bionic web 23 mounting groove, the first bionic web mounting groove 2211 is located on the first bionic toe 221 and is cylindrical with one side designed as a slot.

[0066] like Figure 14 As shown, preferably, the second bionic toe 222 includes a second bionic web mounting groove 2221; preferably, both sides of the second bionic toe 222 are provided with bionic web 23 mounting grooves, and the second bionic web mounting groove 2221 is cylindrical on the second bionic toe 221 and is designed as a slot near the surface of the second bionic toe 221.

[0067] Preferably, the third bionic toe 223 includes a third bionic web mounting groove 2231. The left side of the third bionic toe 223 is provided with a bionic web mounting groove 223. The third bionic web mounting groove 2231 is located on the third bionic toe 223 and is cylindrical with one side designed as a slot.

[0068] Preferably, the third bionic toe 223 and the first bionic toe 221 are highly consistent in structural design. The two are installed in opposite directions. The first bionic toe 221 follows the inward layout of the first bionic web mounting groove 2211, while the third bionic toe 223 is installed in the reverse direction in a mirror-symmetrical manner.

[0069] like Figure 15 As shown, preferably, the toe connector 21 includes a toe connector central groove 211, a tarsal bone component mounting hole 212, and a tendon drive rod mounting hole 213;

[0070] In one embodiment of the present invention, preferably, the biomimetic tarsometatarsal bone component 13 and the biomimetic tendon drive rod 15 in the biomimetic tendon-bone co-walking device 1 are installed in the groove 211 between the toe connector and are rotatably connected through the mounting hole 212 of the biomimetic tarsometatarsal bone component and the mounting hole 213 of the biomimetic tendon drive rod. The biomimetic tendon-bone co-walking device 1 and the biomimetic toe-web 2 form a biomimetic leg and foot unit.

[0071] As a key component in direct contact with the ground, the stable posture of the bionic toe-web 2 is crucial for achieving efficient and smooth movement. The bionic toe-web 2 is securely connected to the lower ends of the simulated tarsometatarsal bone component 13 and the simulated tendon drive rod 15 via toe connectors 21. The power generated by the simulated tendon drive rod 15 can be precisely transmitted to the bionic toe-web 2 through the toe connectors 21, while the simulated tarsometatarsal bone component 13 provides structural support and motion guidance. During the ground contact phase, push-off phase, and airborne phase of walking, the bionic toe-web 2 maintains a horizontal position with the ground throughout complex movements through the coordinated movement of its components.

[0072] The bionic toe-web 2 forms a rigid-flexible coupled ground contact form, and ensures that the bionic toe-web 2 always remains parallel to the ground when walking.

[0073] like Figure 16 As shown, the drive mechanism 3 includes a drive motor 31, a drive shaft 32, drive cranks 33, and a bevel gear set 34. The drive motor 31 is mounted on the upper side of the frame 4, and the drive shaft 32 is mounted in the drive shaft mounting hole 41 on the frame 4. The drive shaft 32 can rotate relative to the frame 4. The drive shaft 32 is connected to the output shaft of the drive motor 31 through the bevel gear set 34. Two drive cranks 33 are symmetrically mounted at both ends of the drive shaft 32 with a phase difference of 180°, which is used to realize alternating walking with both legs.

[0074] The drive motor 31 serves as a power source, continuously outputting rotational power. A bevel gear set 34 is provided. The bevel gear set 34 consists of meshing conical gears, which convert power into vertical torque output. The power is transmitted to the drive shaft 32, which serves as the key hub for power transmission. After receiving power, the drive shaft 32 begins to rotate, thereby driving the drive crank 33 connected to it to perform circular motion.

[0075] Preferably, the two drive cranks 33 on both sides of the drive shaft 32 have a phase difference during installation. The two drive cranks 33 are installed symmetrically. When one drive crank 33 is at its highest position, the other side is at its lowest position. The two drive cranks 33 alternately rotate, causing the tendon-like drive rod 15 connected to them to rock.

[0076] Preferably, the driving crank 33 on both sides of the driving shaft 32 is installed in a symmetrical layout with a specific phase difference. The phase difference between the left and right driving cranks of the bionic leg is designed to be 180°. When the left driving crank is at the top dead center (driving the left leg to the direction of the ground), the right driving crank is at the bottom dead center (driving the right leg to the ground). This forms an alternating step gait cycle. Under the alternating driving force, the rocking motion is achieved, which realizes stable and continuous motion transmission and effectively avoids vibration and wear caused by single-sided force. Figure 18 As shown in FIG. 8, in a complete motion cycle, the driving crank 33 at a certain phase drives the foot member connected thereto to complete the touch-down and ground-pushing action first, providing a forward thrust for the mechanism. At the same time, the driving crank 33 with a phase difference synchronously controls the corresponding foot to complete the take-off and step action, realizing the alternating gait during walking. When one side of the driving crank 33 reaches the highest position in the rotary motion, the other side of the driving crank 33 is at the lowest position. With the continuous rotation of the driving shaft, the two driving cranks 33 alternately rotate, and the tendon-like driving rod connected to the driving crank rocks under the alternating driving force. The driving motor 31 as a power source is installed on the frame 4, and the rotary power is transmitted to the bevel gear set 34 to change the rotation direction of the power, and then transmitted to the driving shaft 32. The driving crank 33 is installed at both ends of the driving shaft 32 by key connection, which ensures the synchronous rotation between the driving crank and the driving shaft. When the driving shaft 32 rotates, the driving crank 33 also rotates, and its motion trajectory and angle change can produce a specific driving force acting on the bionic leg, which converts the circular motion of the driving crank 33 into the forward and backward swinging and up and down motion of the bionic leg, thereby accurately controlling the bionic leg to complete a series of walking actions such as ground-pushing, stepping, and taking-off.

[0077] Preferably, the length ratio of the driving crank 33 to the tendon-like driving rod 15 is one of the key parameters affecting the performance of the system. When the length of the driving crank 33 is set to be 0.15-0.25 times the length of the tendon-like driving rod 15, the double-leg moving mechanism can obtain ideal motion characteristics and power transmission efficiency. This ratio interval can effectively balance the relationship between the driving torque and the transmission stroke. When the length ratio of the driving crank 33 L1 to the tendon-like driving rod 15 L2 is 1:6, the double-leg moving mechanism performs particularly outstanding in terms of running stability, energy consumption control, and load capacity. At this time, the overall mechanism reaches the optimal state, which can maximize the precise transmission demand under complex working conditions.

[0078] Preferably, the driving crank 33 is set to 0.3-0.4 times the length of the fibular bone member 12, which can effectively ensure the stable stride length and stride angle of the double-leg moving mechanism. When the length L1 of the driving crank 33 and the length L3 of the fibular bone member 12 are set to a ratio of 1:3, the stride walking stability of the double-leg moving mechanism is in the optimal state.

[0079] The upper end of the tibial bone member 11 is rotationally connected with the fibular bone member mounting hole 43 in the rack 4, allowing the tibial bone member 11 to swing within a certain angle range. The upper end of the fibular bone member 12 is mounted in the tibial bone member mounting hole 42 on the rack 4 to form a rotational pair structure, so that the fibular bone member 12 simulates the coordinated motion characteristics of biological bones when cooperating with the motion of the tibial bone member 11. The upper end of the tendon driving rod 15 is rotationally connected with the driving crank 33, which drives the tendon driving rod 15 to periodically swing under the rotary drive of the driving crank 33.

[0080] The area of the bionic toes-web 2 satisfies the ground pressure ratio of not less than 0.6 KPa.

[0081] Preferably, the driving crank 33 is set to 0.2-0.3 times the length between the driving shaft mounting hole 41 and the fibular bone member mounting hole 43, which not only ensures the compactness of the double-leg moving mechanism, but also avoids transmission failure caused by insufficient torque. When the length ratio is set to 1:4, the overall size ratio of the double-leg moving mechanism is optimal, thereby ensuring the stability of walking.

[0082] Preferably, the distance between the tibial bone member mounting hole 42 and the fibular bone member mounting hole 43 on the rack 4 is consistent with the length of the joint ligament connecting rod 14. The joint ligament connecting rod 14 simulates the function of biological ligaments, and the consistency of its length and the distance between the mounting holes can accurately reproduce the motion constraint mechanism of biological joints. When the tibial bone member and the fibular bone member move relatively, the joint ligament connecting rod 14 with the appropriate length can provide stable connection support for them. By keeping the length consistent, the joint ligament connecting rod 14 can always be in the best stress working condition in the state of stretching or compression, ensuring that the force transmission path of the bionic joint is clear and efficient during flexion and extension, and realizing the precise cooperation between the bionic components.

[0083] In one embodiment of the present application, the bionic leg-foot monomer adopts a bilateral symmetry layout, and two bionic leg-foot monomers are connected to the two sides of the frame 4 in a mirror-symmetrical manner through the tibia component mounting hole 42 and the fibula component mounting hole 43, respectively. The rotary power output by the driving motor 31 is transmitted to the driving shaft 32 after being reversed by the bevel gear set 34, and the driving cranks 33 (with a phase difference of 180°) at both ends of the driving shaft 32 drive the bionic tendon driving rod 15 to perform periodic swinging, and the tibia component 11 and the fibula component 12 hinged to the frame 4 are driven by the bionic tendon driving rod 15 to perform periodic reciprocating swinging. The rotation of the driving crank 33 drives the bionic toe-web 2 connected to the bionic tendon driving rod 15 and the tarsometatarsal component 13 to complete the alternating touch-ground striding walking action.

[0084] The present application realizes the striding action by the phase difference driving of the driving mechanism, gives the length ratio parameter range of the bionic bone and the bionic tendon, and according to the touch-ground specific pressure, the minimum area of the bionic toe-web in the double-leg moving mechanism is specified, which effectively improves the walking stability and motion efficiency of the double-leg moving mechanism in different terrain environments.

[0085] The bionic principle of the present application is:

[0086] The double-leg moving mechanism of the present application is designed to solve the problems of the existing double-leg robot, such as complex overall structure, complicated control process, poor motion stability during walking, and insufficient passing performance on complex ground, and to achieve the purpose of stable walking of the double-leg moving mechanism by imitating the driving process of tendon-bone coordination movement.

[0087] Through the analysis of the motion posture of the hind limb of the green-headed duck and the tendon-bone coordination driving mode, it is found that the green-headed duck mainly relies on the extension of the knee joint and the tarsal joint to change the striding length to realize the adjustment of the motion speed, and then adjusts the motion stability. The skeleton, as the main rigid structure of the hind limb, has the functions of supporting the body and maintaining the posture. The skeleton provides an attachment point for the muscle tendon, and when the tendon contracts, the skeleton acts as a lever to produce motion of each part of the hind limb. The skeletons of different shapes and structures are connected through joints, and cooperate with the contraction of the tendon to produce various complex motions such as flexion and extension of the limb. The tendon closely connects the muscle and the skeleton together, and when the muscle contracts, the power is transmitted to the skeleton through the tendon, so as to efficiently and accurately drive the skeleton to realize the motion of the limb.

[0088] Based on the above research findings, in order to imitate the half-squatting posture of the walking mallard and the tendon-bone coordinated driving characteristics, the present application designs an imitation tibial component 11 and an imitation tarsometatarsal bone component 13. The imitation tibial component 11 forms an imitation knee joint with the rack 4 and can rotate relative to the rack 4. The imitation tibial component 11 and the imitation tarsometatarsal bone component 13 form an imitation tarsal joint and are connected in a rotating connection form. The half-squatting posture during walking is ensured through fine design of the length proportion of the skeleton. The imitation peroneal bone component 12 is installed on the imitation knee joint and the imitation tarsal joint, and the imitation joint ligament connecting rod 14 is arranged on the imitation tarsal joint, thereby enhancing the stability of the joint during movement.

[0089] A driving mechanism 3 with precise double-leg phase difference is designed to highly restore the biological motion characteristics of the alternating steps of the two legs of the mallard. The mechanism realizes double-leg motion control through the symmetrically arranged driving cranks 33 thereof. The two driving cranks 33 do not rotate coaxially and synchronously in the circumferential direction, but are provided with a specific phase difference angle according to the time sequence law of the alternating steps of the two legs of the mallard during walking. In a complete motion cycle, the driving crank 33 at a certain phase drives the foot component connected thereto to firstly complete the ground-touching and ground-pushing actions, thereby providing a forward thrust for the mechanism. At the same time, the other driving crank with a phase difference synchronously controls the corresponding foot to complete the ground-leaving and step-crossing actions. With the continuous rotation of the driving shaft, the two legs alternately and repeatedly perform the actions of "ground-touching, ground-pushing, ground-leaving and step-crossing" under the accurate regulation of the phase difference, like the dynamic process of the coordinated movement of the two legs of the mallard during walking. Through accurate calculation and optimization of the phase difference parameters of the driving cranks, the mechanism not only can simulate the natural and smooth alternating walking gait of the two legs, but also can effectively improve the motion stability and energy utilization efficiency of the mechanism, so that it can also realize efficient and stable movement in a complex terrain environment.

[0090] In order to imitate the tendon-bone coordinated driving double-leg coordinated motion mode of the hind limbs of the mallard and better realize the step-crossing action of the double-leg moving mechanism, a tendon-bone coordinated connecting rod driving mechanism is designed. The driving crank 33 is driven by the driving mechanism 3 to alternately rotate, and the driving crank 33 drives the imitation tendon driving rod to swing. During the ground-touching process, the imitation tendon driving rod 15 acts as a stretch muscle tendon driving joint to stretch and realize the ground-pushing forward movement. During the ground-leaving process, the imitation tendon driving rod 15 acts as a flexor tendon driving joint to flex and realize the ground-leaving forward step-crossing action.

[0091] In order to imitate the structure and morphology of the foot of the mallard, a bionic toe-web structure is designed through in-depth study of the walking mechanics mechanism of the mallard in water and land environment. The structure takes three rigid toes as the basic skeleton, simulates the supporting function of the toe bone of the mallard, and each toe is made of rigid material to ensure stable mechanical properties when bearing the gravity of the double-leg moving mechanism and the ground reaction force. Meanwhile, high-elastic flexible webbing is installed between adjacent rigid toes, and the material is selected from flexible materials with flexibility and wear resistance, such as rubber or silicone, to restore the softness and extensibility of the toe-web membrane of the mallard. In addition, the coupling effect of rigid toes and flexible webbing can also simulate the cushioning mechanism of the mallard walking - rigid toes provide stable support, and flexible webbing absorbs ground impact, which complements each other, ensures the walking stability of the double-leg moving mechanism in complex terrain, and endows it with flexible mobility comparable to biological movement.

[0092] Working principle of the application:

[0093] When the double-leg moving mechanism walks, the driving mechanism 3 drives the bionic tendon bone cooperative walking device 1 to realize the striding action, the driving motor 31 drives the driving shaft 32 to rotate, and the two driving cranks 33 installed at both ends of the driving shaft 32 rotate alternately with a phase difference of 180°. The rotary motion of the driving crank 33 drives the bionic tendon driving rod 15 to swing, and the bionic fibula component 12 hinged to the rack 4 restricts the bionic toe-web 2 to complete the alternating touch ground striding walking action.

[0094] When the bionic toe-web 2 is in the process of touching the ground, the bionic tendon driving rod 15 connected with the driving crank 33 swings, drives the bionic joint to extend, and the tendon bone cooperative walking device 1 is in the whole state of striding walking. When the phase of the driving crank 33 is 90°, that is, perpendicular to the rack 4, it is in the state of double-leg touching the ground, and with the rotation of the driving crank 33, the bionic toe-web 2 continues to touch the ground to complete the striding action, and the other one is in the state of stepping forward, and the driving crank rotates by 90° in the process of single-foot touching the ground.

[0095] When the bionic toe-web 2 is in the process of touching the ground, the bionic tendon driving rod 15 connected with the driving crank 33 swings, drives the bionic joint to extend, and the tendon bone cooperative walking device 1 is in the whole state of striding walking. When the phase of the driving crank 33 is 90°, that is, perpendicular to the rack 4, it is in the state of double-leg touching the ground, and with the rotation of the driving crank 33, the bionic toe-web 2 continues to touch the ground to complete the striding action, and the other one is in the state of stepping forward, and the driving crank rotates by 90° in the process of single-foot touching the ground.

[0096] When the driving crank 33 rotates one circle, i.e. 360°, the double-leg moving mechanism completes two complete stride walking actions. In order to adapt to the different ground environment states, the stride frequency of the double-leg moving mechanism can be adjusted by changing the rotating speed of the driving motor 31, thereby improving the stability in the walking process. In addition, the length proportion of the simulative peroneal member 12 and the simulative tendon driving rod 15 driving crank 33 can be appropriately adjusted according to the actual needs within the provided range to change the stride length of the double-leg moving mechanism, and the adaptability of the motion posture is realized.

[0097] The preferred driving mechanism 3 is fixed on the frame 4, and the double-leg moving mechanism is driven by the driving motor 31 when walking. The rotating power is converted and transmitted in the direction by the bevel gear set 34, and then transmitted to the driving shaft 32, so as to drive the driving crank 33 to rotate. The double-leg moving mechanism realizes the precise transmission of force and motion through the mutual conversion of the rotating motion and the swing of the bionic tendon bone cooperative walking device 1 by the driving mechanism 3. By reasonably setting the component size proportion, optimizing the swing angle and specifying the minimum ground pressure, the transmission efficiency and stability of the mechanism can be significantly improved.

[0098] The double-leg moving mechanism in the moving mechanism field takes COT (Cost of Transport) as the core index for measuring the moving efficiency, which usually refers to the ratio of the energy consumed in the transportation process to the transportation capacity. The lower the COT value is, the higher the motion energy efficiency is, and the more energy-saving the whole is. The double-leg moving mechanism in the present application can reach 3.12 J / kg·m in the transportation cost COT when walking on the hard flat ground through a large number of kinematic simulation calculations, which has an energy efficiency advantage compared with the existing double-leg robot.

[0099] COT = W / (m*d)

[0100] Wherein, W represents the energy consumption, m represents the mass, and d represents the motion distance. In one specific embodiment of the present application, the COT value is obtained by dynamics simulation under the condition that the walking speed is 0.17 m / s and the load is 3.25 kg on the hard flat ground.

[0101] At present, the existing double-leg moving mechanism is mainly designed by mechanical structure, while bionics provides rich ideas and models for technical innovation by using the structure and function of animals. Animals have formed many efficient survival and activity ways in the evolution process, and bionics can significantly improve the performance and efficiency of the walking device, and the adaptability and reliability in complex environments. Green-headed ducks have significant characteristics in ground environment adaptation because they have lived in complex environments such as beach areas for a long time. The hind limbs of the green-headed duck always keep a half-squat shape during walking, and realize stable and free walking in complex environments through the coordinated cooperation of bones, joints, muscles, tendons and ligaments. Based on the efficient and stable movement characteristics of the green-headed duck, a double-leg moving mechanism is designed to realize efficient and stable walking of the double-leg moving mechanism by analyzing the movement posture and structure of the green-headed duck's hind limbs. The technical solution is provided for the problems of poor stability and low efficiency of the double-leg moving mechanism during walking. The double-leg moving mechanism can be widely used in double-leg moving robots or mobile platforms.

[0102] Embodiment 2

[0103] A double-leg moving robot comprising the double-leg moving mechanism of embodiment 1, thus having the above beneficial effects, which will not be repeated here.

[0104] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be combined appropriately to form other embodiments that those skilled in the art can understand.

[0105] The above series of detailed descriptions are only specific descriptions of the feasible embodiments of the present application, and are not intended to limit the protection scope of the present application. 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 two-legged moving mechanism based on tendon-bone co-bionics, characterized in that, It comprises a bionic leg-foot monomer, a driving mechanism (3) and a frame (4); The bionic leg-foot monomer is symmetrically installed on both sides of the frame (4), and the driving mechanism (3) is installed on the frame (4); the bionic leg-foot monomer comprises a bionic tendon-bone coordinated walking device (1) and a bionic toe-web (2); one end of the bionic tendon-bone coordinated walking device (1) is connected with the driving mechanism (3), and the other end is connected with the bionic toe-web (2); the driving mechanism (3) comprises two driving cranks (33) which are symmetrically arranged with a phase difference of 180°, and is used for driving the bionic leg-foot monomers on both sides of the frame (4) to alternately stride walking.

2. The two-legged moving mechanism based on tendon-bone co-bionics according to claim 1, characterized in that, The bionic tendon-bone coordinated walking device (1) comprises a bionic tibia component (11), a bionic fibula component (12), a bionic tarsometatarsal bone component (13), a bionic joint ligament connecting rod (14) and a bionic tendon driving rod (15); Both sides of the frame (4) are provided with a driving shaft mounting hole (41), a bionic tibia component mounting hole (42) and a bionic fibula component mounting hole (43); the driving shaft mounting hole (41) is located at one end of the frame (4), the bionic tibia component mounting hole (42) and the bionic fibula component mounting hole (43) are located at the other end of the frame (4), and the driving shaft mounting hole (41), the bionic tibia component mounting hole (42) and the bionic fibula component mounting hole (43) are on the same horizontal line; One end of the bionic tibia component (11) is hinged with the bionic tibia component mounting hole (42) of the frame (4), the other end of the bionic tibia component (11) is hinged with one end of the bionic tarsometatarsal bone component (13), the other end of the bionic tarsometatarsal bone component (13) is hinged with the bionic toe-web (2); one end of the bionic fibula component (12) is installed on the bionic fibula component mounting hole (43) of the frame (4) and is kept on the same horizontal line with the installation position of one end of the bionic tibia component (11), the other end of the bionic fibula component (12) is hinged with the middle part of the bionic tendon driving rod (15), and is connected with the bionic tarsometatarsal bone component (13) through the bionic joint ligament connecting rod (14), one end of the bionic tendon driving rod (15) is hinged with the driving crank (33) of the driving mechanism (3), and the other end of the bionic tendon driving rod (15) is hinged with the bionic toe-web (2).

3. The tendon-bone co-bionic based double leg moving mechanism according to claim 1, characterized in that, The bionic toe-web (2) comprises a toe connecting piece (21), a bionic toe (22) and a bionic web (23); The bionic toe (22) comprises a first bionic toe (221), a second bionic toe (222) and a third bionic toe (223); the first bionic toe (221) and the second bionic toe (222) and the second bionic toe (222) and the third bionic toe (223) are all installed with a fan-shaped bionic web (23); the first bionic toe (221), the second bionic toe (222) and the third bionic toe (223) are connected at the end and the shape is similar to a fan; the toe connecting piece (21) is connected on the upper side of the end of the bionic toe (22).

4. The two-legged moving mechanism based on tendon-bone co-bionics according to claim 3, characterized in that, The first bionic toe (221), the second bionic toe (222) and the third bionic toe (223) are cylindrical, the included angle between the first bionic toe (221) and the third bionic toe (223) is 70°, and the included angle between adjacent bionic toes is 35°, which together construct a fan-shaped foot profile.

5. The tendon-bone co-bionic based double leg moving mechanism according to claim 3, characterized in that, The first bionic toe (221), the second bionic toe (222) and the third bionic toe (223) are cylindrical, the included angle between the first bionic toe (221) and the third bionic toe (223) is 70°, and the included angle between adjacent bionic toes is 35°, which together construct a fan-shaped foot profile. The bionic webbed foot mounting groove is in a cylindrical shape and is designed as a slotted form on one side, forming an elastic clamping groove for clamping and fixing the cylindrical mounting end face (231) of the bionic webbed foot (23). The groove directions of the bionic webbed foot mounting grooves on the first bionic toe (221) and the third bionic toe (223) are mirror-symmetric, and the bionic webbed foot mounting grooves are arranged on both sides of the second bionic toe (222).

6. The tendon-bone co-bionic based dual leg moving mechanism according to claim 2, characterized in that, The driving mechanism (3) further comprises a driving motor (31), a driving shaft (32) and a bevel gear set (34). The driving motor (31) is installed on the upper side of the rack (4), the driving shaft (32) is installed in the driving shaft mounting hole (41) on the rack (4), the driving shaft (32) can rotate relative to the rack (4), and the driving shaft (32) is connected with the output shaft of the driving motor (31) through the bevel gear set (34); two driving cranks (33) are symmetrically installed at both ends of the driving shaft (32), and the phase difference is 180°.

7. The tendon-bone co-bionic based double leg moving mechanism according to claim 6, characterized in that, The length L1 of the driving crank (33) is 0.15-0.25 times the length L2 of the tendon-simulating driving rod (15); the length L1 of the driving crank (33) is 0.3-0.4 times the length L3 of the fibula-simulating member (12); and the length L1 of the driving crank (33) is 0.2-0.3 times the distance length L4 of the fibula-simulating member mounting hole (43).

8. The tendon-bone co-bionic based double leg moving mechanism according to claim 7, characterized in that, The ratio of the length L1 of the driving crank (33) to the length L2 of the tendon-simulating driving rod (15) is 1:6; the ratio of the length L1 of the driving crank (33) to the length L3 of the fibula-simulating member (12) is 1:3; and the ratio of the length L1 of the driving crank (33) to the distance length L4 of the fibula-simulating member mounting hole (43) is 1:

4.

9. The tendon-bone co-bionic based dual leg moving mechanism according to claim 1, wherein, The area of the bionic toe-web (2) satisfies that the ground pressure is not less than 0.6 KPa.

10. A two-legged mobile robot, characterized by, The double-leg moving mechanism based on tendon-bone collaborative simulation comprises the bionic toe-web (2) and a double-leg moving mechanism (1).

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