Tendon-coupling linkage type multi-toe segmented electric permanent magnetic composite adsorption foot end mechanism

Abstract

The application discloses a tendon-coupling linkage type multi-toe segmented electric permanent magnetic composite adsorption foot end mechanism in the technical field of robot foot end mechanism, which comprises a foot end base used for being connected with the leg end of a quadruped robot, the foot end base is hinged with three main claw fingers and one rear toe, the three main claw fingers and the one rear toe are arranged in a bionic claw type three front and one rear on the foot end base, an electric permanent magnetic adsorption unit and a tendon linkage mechanism are arranged in each main claw finger, the electric permanent magnetic adsorption unit and the tendon linkage mechanism are matched with a power supply and a control module, and the power supply and the control module are arranged in the middle part of the foot end base. The normal adsorption force and the tangential clamping force are cooperatively locked, and the shear resistance and the curved surface adaptability of the foot end on the metal wall surface are obviously improved.

Description

Technical Field

[0001] This invention relates to a tendon-chord coupled multi-toe segmented electro-permanent magnet composite adsorption foot mechanism in the field of robot foot mechanism technology. Background Technology

[0002] Quadruped robots are required to stably climb and stay on metal walls in scenarios such as steel structure inspection, ship rust removal, large storage tank inspection, and wind turbine tower maintenance. Existing foot adsorption solutions are mainly divided into two categories: one is a single magnetic adsorption foot with an electromagnet or electro-permanent magnet as the core, which has sufficient normal adsorption force but limited ability to resist tangential sliding force, and is prone to slippage failure when on inclined walls or under eccentric loads; the other is a biomimetic gripping foot with mechanical claws or flexible grippers as the core, which has strong adaptability to rough surfaces, but insufficient adhesion on smooth metal surfaces, and the gripping action usually relies on an independent drive source, which is complex in structure and has high energy consumption.

[0003] For example, Chinese patent CN105564529A discloses a chicken claw-like bionic foot mechanism, which uses claw steel plates and foot rubber pads to achieve ground adhesion and shock absorption, but does not involve metal wall adhesion function. Chinese patent CN118404616A discloses a bionic passive claw for quadruped robot climbing, which uses a linkage mechanism to achieve reciprocating motion of the claws to grasp wall protrusions, but its adhesion method relies on mechanical claw insertion, which is not suitable for smooth metal surfaces. Chinese patent CN121019728A discloses an adaptive tube wall obstacle-crossing quadruped robot, whose foot end integrates an electrically controlled permanent magnet suction cup, but its foot end is an integral suction cup structure, lacking the adaptive grasping ability of bionic multi-fingers.

[0004] In summary, existing technologies have not yet provided a foot-end mechanism that can deeply integrate multi-finger adaptive gripping with electro-permanent magnet active adsorption, nor have they provided a chicken claw-like foot-end composite locking solution specifically for the "three main toes and two fingers" configuration. Therefore, there is an urgent need in this field for a biomimetic foot-end mechanism that can provide stable normal adsorption force, effectively resist tangential sliding force, and has a compact structure and low energy consumption. Summary of the Invention

[0005] The purpose of this invention is to provide a tendineae-coupled linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism, which realizes the coordinated locking of normal adsorption force and tangential clamping force, significantly improving the foot end's shear resistance and curved surface adaptability on metal walls.

[0006] To achieve the above objectives, the present invention provides a tendon-chord coupled linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism, including a foot end base for connecting to the end of the leg of a quadruped robot. The foot end base is hinged to three main claw fingers and one hind toe. The three main claw fingers and one hind toe are arranged in a biomimetic chicken claw shape with three front and one rear arrangement on the foot end base. Each main claw finger is provided with an electro-permanent magnet adsorption unit and a tendon-chord linkage mechanism. The electro-permanent magnet adsorption unit and the tendon-chord linkage mechanism are equipped with a power supply and control module, which is located in the middle of the foot end base.

[0007] As a further improvement of the present invention, the main claw finger includes a root segment and a tip segment, the root segment is hinged to the foot base, and the root segment and the tip segment are hinged to each other.

[0008] In this way, the three main claws extend forward and to the side in the loose state through the cooperation of the base and tip segments, while the hind toe extends backward, forming a stable four-point bionic support layout. The three main claws take on the core functions of active adsorption and grasping and locking in segments through the cooperation of the base and tip segments.

[0009] As a further improvement of the present invention, the electro-permanent magnet adsorption unit includes a first electro-permanent magnet adsorption unit, a second electro-permanent magnet adsorption unit, and a third electro-permanent magnet adsorption unit. The first electro-permanent magnet adsorption unit is located at the bottom of the finger root segment; the second electro-permanent magnet adsorption unit is located at the bottom of the fingertip segment; and the third electro-permanent magnet adsorption unit is located at the tip of the fingertip segment. The first electro-permanent magnet adsorption unit, the second electro-permanent magnet adsorption unit, and the third electro-permanent magnet adsorption unit operate independently of each other.

[0010] Thus, the first, second, and third electro-permanent magnet adsorption units are all electro-permanent magnet structures, each independently controlled, to achieve segmented differentiated adsorption.

[0011] As a further improvement of the present invention, the tendon chord linkage mechanism includes a root tendon chord and a tip tendon chord; One end of the finger root tendon is wound around the output shaft of the finger root motor, and the other end is fixedly connected to the finger root seat, which is located at the bottom of the finger root segment. One end of the fingertip tendon is wound around the output shaft of the fingertip motor, and the other end is fixedly connected to the fingertip seat via a pulley. The fingertip seat is set on the bottom inside the fingertip segment, and the pulley is fitted on the hinge shaft between the fingertip segment and the finger root segment. The root motor and the fingertip motor are symmetrically installed in the foot base, with their output shafts positioned opposite each other.

[0012] When the three fingertip motors tighten the fingertip tendons, they distribute the traction force to the corresponding fingertip tendons, pulling the fingertips of the three main claw fingers towards the center of the foot. During tightening, the base of the finger remains in contact with the wall, while the fingertip tightens inward and generates a tangential clamping force. When the three finger root motors tighten the finger root tendons, they distribute the traction force to the corresponding finger root tendons, pulling the base of the three main claw fingers towards the center of the foot. During tightening, the finger root can detach from the wall. Through the cooperation of these two methods, the three main claw fingers can passively and adaptively adjust the tightening amount according to the curvature difference of the wall. Furthermore, when the fingertip is not moving, the cooperation of the motors and tendons can also provide rigid support for the connection between the fingertip and the finger root.

[0013] As a further improvement of the present invention, the hind toe has a single-segment structure with a hollow interior, and a return torsion spring is provided on the hinge axis between the hind toe and the foot base.

[0014] Although the hind toe does not actively adhere or drive, its extended posture makes it a natural reverse support point when the robot is subjected to sliding force, converting part of the tangential force into a stabilizing torque around the center of the foot end, assisting the main claw to maintain the locked state, while the reset torsion spring keeps the hind toe in a backward extended posture without external force.

[0015] As a further improvement of the present invention, locking pins are provided on both sides of the rear part of the fingertip segment. The front end of the locking pin is fixedly connected to one end of the locking spring, and the other end of the locking spring is fixedly connected to the protrusion on the rear side wall of the fingertip segment. The rear end of the locking pin matches the multiple locking grooves opened on the end faces of the front ends of both sides of the finger root segment.

[0016] In this way, when the fingertip rotates around the hinge axis, if the fingertip motor or fingertip tendon malfunctions, the locking pin can instantly insert into the locking groove under the action of the locking spring when it encounters the locking groove during rotation. This prevents the fingertip from continuing to rotate and fixes its state, thus providing rigid support and preventing the robot from falling due to lack of effective support. When the motor and tendon are working normally, the locking spring can be overcome, making the rotation process continuous.

[0017] As a further improvement of the present invention, a pair of high permeability magnetic shielding partitions are provided in the root segment, and the first electro-permanent magnet adsorption unit is located in the pair of high permeability magnetic shielding partitions. A pair of high-permeability magnetic shielding partitions are provided inside the fingertip segment, and the second electro-permanent magnet adsorption unit is located inside the pair of high-permeability magnetic shielding partitions.

[0018] This allows the three adsorption units to be isolated from each other by two pairs of high-permeability magnetic shielding plates, preventing interference between the permanent magnet fields at the base and tip of the finger, ensuring precise and controllable adsorption in each zone, and preventing the adsorption force from weakening.

[0019] As a further improvement of the present invention, a biomimetic keratin anti-slip texture is provided on the lower surface of the base of the finger and the tip of the finger.

[0020] This can be used to provide passive anti-slip support when in contact with a wall surface, relying on clamping and electro-permanent magnetic coupling adsorption.

[0021] Compared with the prior art, the beneficial effects of the present invention are that the foot base is hinged to three main claw fingers and one hind toe. An electro-permanent magnet adsorption unit is set inside the main claw fingers, while no electro-permanent magnet adsorption unit is set inside the hind toe. The three main claw fingers are distributed in a fan shape on the front side of the foot base, and the hind toe is located on the rear side of the foot base, forming a biomimetic chicken claw layout of three front and one rear. Each electro-permanent magnet adsorption unit is independently controlled to achieve adsorption and detachment. The tendon cable linkage mechanism is used to adapt to the walking and climbing gait of the quadruped robot.

[0022] 1. The three main claws work together in a compact and functionally complete manner: the three main claws are responsible for the core functions of active adsorption and grasping and locking, while the hind toe only serves as a passive support fulcrum. There is no need to configure an electro-permanent magnet unit and tendon cable drive, which significantly simplifies the rear structure, reduces the overall weight and wiring complexity, and at the same time retains the stability of the chicken claw bionic layout.

[0023] 2. Segmented independent adsorption of the main claw finger to resist flexion-detachment torque: By embedding independent electro-permanent magnetic adsorption units in the base and tip segments of the finger, when the tendineae pull the fingertip flex, the adsorption unit in the tip segment can provide additional normal adsorption force, effectively resisting the tendency of the fingertip to warp and detach due to flexion. The adsorption unit in the base segment ensures continuous adhesion between the base of the main claw finger and the wall surface. The two work together to achieve the technical effect of "flexion without detachment".

[0024] 3. Passive support of the hind toe provides a reverse torque: Although the hind toe has no active adsorption or drive, its extended posture makes it a natural reverse support point when the robot is subjected to sliding force, converting part of the tangential force into a stabilizing torque around the center of the foot, assisting the main claw to maintain the locked state.

[0025] 4. The three primary toe tendineae maintain adaptive capability: The three primary claw toes still achieve dual-source drive linkage tightening and passive surface adaptation through the cross tendineae network.

[0026] 5. Energy consumption and weight optimization: The hind toe has no electromagnetic permanent magnet module and drive tendon cable, which reduces the total weight of the foot and the energy consumption for charging and demagnetizing. It can be used as a normal support toe when not climbing and walking, which improves the robot's multi-mode movement efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2This is a schematic diagram of the internal structure of the main claw finger of the present invention. Figure 1 .

[0029] Figure 3 This is a schematic diagram of the internal structure of the main claw finger of the present invention. Figure 2 .

[0030] Figure 4 This is a schematic diagram of the main claw structure of the present invention.

[0031] Figure 5 for Figure 4 A sectional view of AA.

[0032] Among them, 1 is the fingertip segment, 2 is the finger root segment, 3 is the foot base, 4 is the hind toe, 5 is the return torsion spring, 6 is the fingertip motor, 7 is the fingertip tendon, 8 is the finger root tendon, 9 is the finger root motor, 10 is the high permeability magnetic shielding partition, 11 is the first electro-permanent magnet adsorption unit, 12 is the fingertip seat, 13 is the second electro-permanent magnet adsorption unit, 14 is the third electro-permanent magnet adsorption unit, 15 is the finger root seat, 16 is the hinge shaft, 17 is the pulley, 18 is the locking groove, 19 is the locking pin, 20 is the locking spring, and 21 is the protrusion. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings: like Figure 1-5 The illustrated tendon-chord coupled linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism includes a foot end base 3 for connecting to the end of the legs of a quadruped robot. The foot end base 3 is hinged to three main claw fingers and one hind toe 4. The three main claw fingers and one hind toe 4 are arranged in a biomimetic chicken claw shape with three front and one rear arrangement on the foot end base 3. Each main claw finger is provided with an electro-permanent magnet adsorption unit and a tendon-chord linkage mechanism. The electro-permanent magnet adsorption unit and the tendon-chord linkage mechanism are equipped with a power supply and control module, which is located in the middle of the foot end base 3.

[0034] The main claw finger includes a base segment 2 and a tip segment 1. The base segment 2 is hinged to the foot base 3, and the base segment 2 is hinged to the tip segment 1.

[0035] The electro-permanent magnet adsorption unit includes a first electro-permanent magnet adsorption unit 11, a second electro-permanent magnet adsorption unit 13, and a third electro-permanent magnet adsorption unit 14. The first electro-permanent magnet adsorption unit 11 is disposed at the bottom of the finger root segment 2; the second electro-permanent magnet adsorption unit 13 is disposed at the bottom of the fingertip segment 1; and the third electro-permanent magnet adsorption unit 14 is disposed at the tip of the fingertip segment 1. The first electro-permanent magnet adsorption unit 11, the second electro-permanent magnet adsorption unit 13, and the third electro-permanent magnet adsorption unit 14 work independently of each other.

[0036] The tendon linkage mechanism includes a root tendon 8 and a tip tendon 7; one end of the root tendon 8 is wound around the output shaft of the root motor 9, and the other end is fixedly connected to the root seat 15, which is located at the bottom of the root segment 2; one end of the tip tendon 7 is wound around the output shaft of the tip motor 6, and the other end is fixedly connected to the tip seat 12 via a pulley 17, which is located at the bottom of the tip segment 1, and the pulley 17 is mounted on the hinge shaft between the tip segment 1 and the root segment 2. The root motor 9 and the tip motor 6 are symmetrically installed inside the foot base 3, with their output shafts facing each other. The hind toe 4 is a single-segment structure with a hollow interior, and a return torsion spring 5 is installed on its hinge shaft with the foot base 3.

[0037] Locking pins 19 are provided on both sides of the rear part of the fingertip segment 1. The front end of the locking pin 19 is fixedly connected to one end of the locking spring 20, and the other end of the locking spring 20 is fixedly connected to the protrusion 21 on the rear side wall of the fingertip segment 1. The rear end of the locking pin 19 matches the multiple locking grooves 18 opened on the end face of the front ends of both sides of the finger root segment 2.

[0038] A pair of high permeability magnetic shielding partitions 10 are provided in the root segment 2, and the first electro-permanent magnet adsorption unit 11 is located in the pair of high permeability magnetic shielding partitions 10; a pair of high permeability magnetic shielding partitions 10 are provided in the fingertip segment 1, and the second electro-permanent magnet adsorption unit 13 is located in the pair of high permeability magnetic shielding partitions 10.

[0039] The lower surfaces of the base segment 2 and the tip segment 1 are provided with biomimetic keratin anti-slip textures.

[0040] In this invention, the top of the foot base 3 is equipped with a standard flange, which is directly and rigidly connected to the ankle joint of the quadruped robot. The four claws consist of three main claws and a hind toe 4. The three main claws are distributed in a fan shape on the front side of the foot base 3, with two extending forward and to the sides of the foot base 3, and the third extending forward and to the center of the front side of the foot base 3. The hind toe 4 is located on the rear side of the foot base 3 and extends backward. This "three-front-one-rear" layout is consistent with the anatomical morphology of a chicken foot, providing stable four-point support.

[0041] The main claw finger includes a base segment 2 and a tip segment 1, which are hinged together by a hinge shaft 16. A pulley 17 is provided on the hinge shaft 16 to guide the fingertip tendon 7. The base segment 2 and the foot base 3 are hinged together by the hinge shaft 16.

[0042] The first electro-permanent magnet adsorption unit 11 is embedded in the bottom side (i.e. the side facing the adsorption wall) of the finger root segment 2.

[0043] The second electro-permanent magnet adsorption unit 13 is embedded in the ventral side of the fingertip segment 1.

[0044] The third electro-permanent magnet adsorption single 14-element embedded installation is installed in the tip of the fingertip segment 1.

[0045] The first electro-permanent magnet adsorption unit 11, the second electro-permanent magnet adsorption unit 13, and the third electro-permanent magnet adsorption unit 14 are ultra-thin, flat electro-permanent magnet modules, each with its own independent charging and demagnetizing control channel, controlled separately by a power supply and control module located at the foot end. This achieves adsorption from the base of the finger to the tip, and demagnetization from the tip to the base of the finger during detachment, conforming to the gripping force sequence of the toe joints of a chicken claw.

[0046] The magnetic adsorption force meets the load-bearing and climbing requirements of the quadruped robot; the adsorption end face is flush with the claw finger surface, and there is no gap when they fit together. The magnetic field is perpendicular to the contact surface, maximizing the adsorption efficiency.

[0047] The hind toe 4 is a single-section structure, and a return torsion spring 5 is installed on the hinge shaft 16 at the hinge point where it is hinged to the foot base 3.

[0048] The hind toe 4 is hollow inside and does not have an electromagnetic adsorption unit or connect to the tendon cable transmission network. The return torsion spring 5 keeps the hind toe 4 in a rearward extended posture when there is no external force, and also provides passive support at the contact wall surface.

[0049] The tendon chord linkage mechanism is only connected to the three main claw fingers, not to the hind toe 4. The fingertip tendon chord 7 and the finger root tendon chord 8 can be steel wire ropes.

[0050] When the three fingertip motors 6 tighten the fingertip tendons 7, they distribute the traction force to the corresponding fingertip tendons 7, pulling the fingertip segments 1 of the three main claw fingers towards the center of the foot. During the tightening process, the finger root segments 2 remain in contact with the wall surface, and the fingertip segments 1 tighten inward and generate tangential clamping force. When the three finger root motors 9 tighten the finger root tendons 8, they distribute the traction force to the corresponding finger root tendons 8, pulling the finger root segments 2 of the three main claw fingers towards the center of the foot. During the tightening process, the finger roots can be separated from the wall surface. Through the cooperation of the two methods, the three main claw fingers can passively and adaptively adjust the tightening amount according to the curvature difference of the wall surface.

[0051] Walking on a perfectly flat magnetic wall, the specific working process is as follows: Before the foot mechanism contacts the perfectly flat magnetic wall, the power supply and control module sends a magnetizing pulse to the third electro-permanent magnet adsorption unit 14 to establish a basic pre-adsorption force. At this time, the second electro-permanent magnet adsorption unit 13 remains in a demagnetized state, and the hind toe 4 hangs down naturally.

[0052] When the foot end mechanism comes into contact with the magnetic wall, the tips of the three fingertips 1 contact the magnetic wall and are attracted to it through the third electro-permanent magnet adsorption unit 14. At the same time, the power supply and control module sends a magnetizing pulse to the second electro-permanent magnet adsorption unit 13 and the first electro-permanent magnet adsorption unit 11. The power supply and control module drives the fingertip motor 6 and the finger root motor 9 to release the fingertip tendon 7 and the finger root tendon 8 respectively, so that the fingertip segment 1 and the finger root segment 2 extend outward. In this way, the fingertips of the fingertip segment 1 and the finger root segment 2 will eventually come into contact with the magnetic wall and be attracted to it by the second electro-permanent magnet adsorption unit 13 and the first electro-permanent magnet adsorption unit 11.

[0053] When the fingertip segment 1 and the finger root segment 2 are fully in contact with the magnetic wall, the hind toe 4 receives the reverse force of the magnetic wall, overcomes the effect of the reset torsion spring 5, and flips towards the top of the foot mechanism. In this way, the hind toe 4 will support the robot together with the main claw finger under the action of the torsion spring.

[0054] If the wall is tilted or vertical, the fingertip segment 1 and the finger base segment 2 will be passively supported by the biomimetic keratin anti-slip texture when they contact the wall, thus working with the magnetic adsorption force to ensure that the robot will not slide down the wall.

[0055] When the foot mechanism needs to be lifted off the magnetic wall, the first electro-permanent magnet adsorption unit 11 and the first electro-permanent magnet adsorption unit 11 are de-energized and demagnetized. The power supply and control module drive the finger root motor 9 to rotate, tighten the finger root tendon 8, so that the finger root segment 2 rotates upward around the hinge axis 16 and lifts off the wall. At the same time, the fingertip segment 1 is driven to rotate downward around the hinge axis 16, forming an angle with the finger root segment 2, thereby detaching from the wall. Finally, the third electro-permanent magnet adsorption unit 14 is de-energized and demagnetized, and the foot mechanism is fully lifted off the wall.

[0056] Walking on a curved magnetic wall, the specific working process is as follows: Before the foot mechanism contacts the curved magnetic wall, the power supply and control module sends a magnetizing pulse to the third electro-permanent magnet adsorption unit 14 to establish a basic pre-adsorption force. At this time, the second electro-permanent magnet adsorption unit 13 remains in a demagnetized state, and the hind toe 4 hangs down naturally.

[0057] When the foot-end mechanism contacts the magnetic wall, the tips of the three fingertips 1 contact the magnetic wall and are attracted to it through the third electro-permanent magnet adsorption unit 14. Simultaneously, the power supply and control module sends magnetizing pulses to the second electro-permanent magnet adsorption unit 13 and the first electro-permanent magnet adsorption unit 11. The power supply and control module drives the fingertip motor 6 and the finger root motor 9 to release the fingertip tendon cord 7 and the finger root tendon cord 8 respectively, causing the fingertip segment 1 and the finger root segment 2 to extend outwards. Thus, the fingertips of the fingertip segment 1 and the finger root segment 2 will eventually contact the magnetic wall. Due to the wall... The surface is curved, and the fingertip segment 1 and the finger root segment 2 will not be completely released into a straight line. There is an angle between them, thus preventing the curve from being surrounded and clamped. The first electro-permanent magnet adsorption unit 11 and the second electro-permanent magnet adsorption unit 13 adhere to and adsorb on both sides of the curved wall surface. Furthermore, the finger root motor 9 and the fingertip motor 6 rotate back a little angle, so that the finger root tendon 8 and the fingertip tendon 7 are tightened, providing tangential clamping force. This allows the foot end mechanism to add a clamping force in addition to the magnetic adsorption force, so that the remaining curved wall surfaces can be firmly adsorbed and clamped.

[0058] When the fingertip segment 1 and the finger root segment 2 are fully in contact with the magnetic wall, the hind toe 4 receives the reverse force of the magnetic wall, overcomes the effect of the reset torsion spring 5, and flips towards the top of the foot mechanism. In this way, the hind toe 4 will support the robot together with the main claw finger under the action of the torsion spring.

[0059] If the wall is tilted or vertical, the fingertip segment 1 and the finger base segment 2 will be passively supported by the biomimetic horn anti-slip texture when they contact the wall, which, together with the magnetic adsorption force and clamping force, ensures that the robot will not slide off the wall.

[0060] When the foot mechanism needs to be lifted off the magnetic wall, the first electro-permanent magnet adsorption unit 11 and the first electro-permanent magnet adsorption unit 11 are de-energized and demagnetized. The power supply and control module drives the finger root motor 9 to rotate, tightening the finger root tendon 8, so that the finger root segment 2 rotates upward around the hinge axis 16 and lifts off the wall. At the same time, it drives the fingertip segment 1 to rotate downward around the hinge axis 16, thereby detaching from the wall. Finally, the third electro-permanent magnet adsorption unit 14 is de-energized and demagnetized, and the foot mechanism is fully lifted off the wall.

[0061] This invention provides stable normal adsorption force, effectively resists tangential sliding force, and has a compact structure and low energy consumption.

[0062] This invention is not limited to the above embodiments. Based on the technical solutions disclosed herein, those skilled in the art can make some substitutions and modifications to some of the technical features without creative effort, and all such substitutions and modifications are within the protection scope of this invention.

Claims

1. A tendon-chord coupled multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism, characterized in that: It includes a foot base for connecting to the end of the legs of a quadruped robot. The foot base is hinged to three main claw fingers and one hind toe. The three main claw fingers and one hind toe are arranged in a biomimetic chicken claw shape with three front and one back on the foot base. Each main claw finger is equipped with an electro-permanent magnet adsorption unit and a tendon cable linkage mechanism. The electro-permanent magnet adsorption unit and tendon cable linkage mechanism are equipped with a power supply and control module, which is located in the middle of the foot base.

2. The tendon-chord coupling linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism according to claim 1, characterized in that: The main claw finger consists of a base segment and a tip segment. The base segment is hinged to the foot base, and the base segment is hinged to the tip segment.

3. The tendon-chord coupling linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism according to claim 2, characterized in that: The electro-permanent magnet adsorption unit includes a first electro-permanent magnet adsorption unit, a second electro-permanent magnet adsorption unit, and a third electro-permanent magnet adsorption unit; The first electro-permanent magnet adsorption unit is located at the bottom of the finger root segment; the second electro-permanent magnet adsorption unit is located at the bottom of the fingertip segment. The third electro-permanent magnet adsorption unit is located at the tip of the fingertip segment; The first electro-permanent magnet adsorption unit, the second electro-permanent magnet adsorption unit, and the third electro-permanent magnet adsorption unit operate independently of each other.

4. The tendon-chord coupling linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism according to claim 3, characterized in that: The tendon chordae tendon mechanism includes the pedicle tendon chordae tendon and the apical tendon chordae tendon; One end of the finger root tendon is wound around the output shaft of the finger root motor, and the other end is fixedly connected to the finger root seat, which is located at the bottom of the finger root segment. One end of the fingertip tendon is wound around the output shaft of the fingertip motor, and the other end is fixedly connected to the fingertip seat via a pulley. The fingertip seat is set on the bottom inside the fingertip segment, and the pulley is fitted on the hinge shaft between the fingertip segment and the finger root segment. The root motor and the fingertip motor are symmetrically installed in the foot base, with their output shafts positioned opposite each other.

5. The tendon-chord coupling linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism according to claim 4, characterized in that: The hind toe has a single-segment structure with a hollow interior, and a return torsion spring is installed on the hinge axis between it and the foot base.

6. The tendon-chord coupling linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism according to claim 5, characterized in that: Locking pins are provided on both sides of the rear part of the fingertip segment. The front end of the locking pin is fixedly connected to one end of the locking spring, and the other end of the locking spring is fixedly connected to the protrusion on the rear side wall of the fingertip segment. The rear end of the locking pin matches the multiple locking grooves opened on the end face of the front ends of both sides of the finger root segment.

7. The tendon-chord coupling linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism according to claim 6, characterized in that: A pair of high-permeability magnetic shielding partitions are provided inside the root segment, and the first electro-permanent magnet adsorption unit is located inside the pair of high-permeability magnetic shielding partitions. A pair of high-permeability magnetic shielding partitions are provided inside the fingertip segment, and the second electro-permanent magnet adsorption unit is located inside the pair of high-permeability magnetic shielding partitions.

8. A tendon-chord coupling linkage multi-toe segmented electro-permanent magnet composite adsorption foot end mechanism according to any one of claims 2-7, characterized in that: The lower surfaces of the base and tip of the finger are decorated with biomimetic keratin-like anti-slip textures.

Images