162 results about "Foot structure" patented technology

The invention relates to a humanoid robot foot based on a human arch, and aims to solve the problems that a foot structure of a biped humanoid robot is insufficient in the aspects of stability, rigidity, flexibility, energy efficiency, diversity, ergonomics and the like. The five toes, the first metal vertical plate and the second metal vertical plate are fixed to the sole metal plate, the hallux toe sleeve is sleeved on the toes and connected with the toes through the first elastic metal driving rod, and the final toe sleeve is sleeved on the toes and connected with the toes through the second elastic metal driving rod. A first C-shaped connecting rod connected with a first elastic metal driving rod and a second elastic metal driving rod is inserted into the front portion of an ankle connecting block, the bottom of the ankle connecting block is connected with a heel metal plate through a plurality of spring columns, and a second C-shaped connecting rod is inserted into the rear portion of the ankle connecting block. And the second C-shaped connecting rod is fixed with the heel metal plate through the heel elastic metal driving rod. According to the scheme, the shoe sole has better adaptability and balance.

The invention discloses a leg and foot structure and a humanoid robot, and belongs to the field of humanoid robots. The leg-foot structure comprises a leg component, a foot component, a first driving component, a second driving component and a third driving component, the foot component comprises a heel part and a sole part, the heel part is movably connected with the sole part, and the heel part is movably connected with the leg component; the first driving assembly is arranged on the leg assembly and connected with the heel part, the second driving assembly is arranged on the heel part, the third driving assembly is arranged on the sole part, the first driving assembly is used for driving the foot assembly to do pitching motion relative to the leg assembly, and the second driving assembly is used for driving the heel part to do side-sway motion relative to the leg assembly. The third driving assembly is used for driving the foot sole part to do pitching motion relative to the heel part.

The invention discloses a bionic foot structure, a control method of the bionic foot structure and a bionic robot. The bionic foot structure comprises an ankle; the foot plate is rotationally connected with the ankle; a planetary gear structure; the planetary gear structure comprises a gear ring, a planetary gear and a sun gear, the planetary gear and the sun gear are both located in the gear ring, and the planetary gear is meshed with the sun gear and the gear ring. The planetary gear is rotationally connected with the foot plate, and the ankle is connected with the sun gear; the first end of the damping structure is rotationally connected with the foot plate, and the second end of the damping structure is rotationally connected with the gear ring. The foot plate rotates by a large angle relative to the ankle, and the damping structure has small activity; the rotation speed of the foot plate relative to the ankle is high, and the movement speed of the damping structure is low. The matching between the damping structure and the foot plate is improved through the planetary gear structure, so that the bionic foot structure can rotate similar to a human foot.

A robot foot structure with an active foot pedaling half sole comprises a vertically-arranged supporting leg and a supporting foot arranged at the lower end of the supporting leg, the supporting foot comprises a foot sole arranged at the lower end of the supporting leg, and toes are hinged to the front side of the foot sole; an elastic tensioning piece is further arranged between the toes and the sole, and the front sides of the toes tend to rotate downwards under the action of the elastic tensioning piece; a limiting piece capable of limiting the rotation angle of the toes is further arranged between the toes and the foot sole, the overall motion range of the supporting foot is improved by establishing a linkage structure of the toes and the foot sole, when the robot steps forwards, the toes can be bent in advance, and when the supporting foot is lifted, the toes can be pulled back through an elastic tensioning piece; furthermore, a stable supporting effect is provided for the robot before the toes step, a stepping effect is provided when the toes step, the stability of the robot during action is effectively enhanced, and the walking quality is improved.

The bionic attachment foot structure comprises a connecting assembly and a self-adaption assembly, the connecting assembly comprises a connecting base, the connecting base is used for being connected with the humanoid robot, the connecting base is provided with a first matching part, the self-adaption assembly comprises a rotating base and an attachment part, the rotating base is provided with a first matching part, and the attachment part is provided with a second matching part. The rotating seat is provided with a second matching part, the first matching part is matched with the second matching part, the second matching part can rotate around the center point of the first matching part, the attachment part is detachably connected with the rotating seat and located on the side, close to the bottom face, of the rotating seat, the attachment part has an attachment state and a release state, and in the release state, a gap is formed between the attachment part and the ground; in the attaching state, at least part of the attaching piece makes contact with the ground. According to the bionic auxiliary foot structure, the balance of the humanoid robot can be improved, and the system complexity and cost of the humanoid robot are reduced.

The utility model belongs to the technical field of sewing equipment, and particularly relates to a presser foot structure and a sewing machine, the presser foot structure comprises a presser foot body, a pressing plate is arranged on the rear side surface of the presser foot body, and the pressing plate can press a sewing material without rolling; the presser foot is simple in structure, the pressing plate is arranged on the presser foot body for pressing materials, the material pressing area of the presser foot body is prolonged, fabric is prevented from being rolled after an elastic band is sewn, a cutter of the thread cutting structure can conveniently cut off a sewing thread and the elastic band, the situation that the work efficiency is affected due to mistaken cutting or empty cutting is avoided, and the working efficiency is improved. And the quality of the machine is improved.

The utility model discloses a tripod supporting leg structure which comprises three base legs installed on a base, snowfield inserts are installed at the bottoms of the base legs, the upper ends of the snowfield inserts are fixedly connected in pipe holes of the base legs, and the tip ends of the snowfield inserts protrude out of the lower end faces of the base legs. A sheath capable of moving up and down is further arranged at the bottom of the pin, the snowfield plug is wrapped in the sheath, and a friction block is arranged between the snowfield plug and the sheath; by rotating the sheath, the sheath drives the friction block to rotate, so that the friction block is clamped between the snowfield plug and the sheath. The tripod supporting leg structure provided by the utility model can be quickly switched between two supporting modes of a snowfield plug and a foot pad, so that stable supporting on the soft ground is realized.

The utility model provides a controllable micro-motion elastic internal fixation device with a bidirectional locking pressing plate structure, and belongs to the technical field of orthopedic medical instruments. Comprising a plurality of bridging rods; and the two end blocks are arranged at the two ends of the bridging rod. A stable frame structure is constructed through the combination of the bridging rod, the end block and the fixing screw, a fracture part is effectively connected and fixed in the axial direction, then a bidirectional locking mechanism is formed through the upper pressing plate, the lower pressing plate, the adjusting lead screw and the locknut, and the fracture part is locked by screwing the locknut. The distance and pressure between the pressing plates can be accurately adjusted and locked, dynamic force generated by factors such as muscle contraction and limb movement can be effectively resisted in the long-term use process, the pressing plates are prevented from loosening or displacing, and it is ensured that the fixing device always keeps the stable fixing effect; and the problems of poor fracture healing or malformation healing and the like caused by fixation failure are avoided.

The utility model relates to the technical field of hardware feet, in particular to a high-strength hardware foot structure which comprises a transverse supporting concave frame and a longitudinal supporting concave frame, supporting foot plates are connected to the inner side of the transverse supporting concave frame and the inner side of the longitudinal supporting concave frame in a sliding mode, and kidney-shaped grooves extending in the length direction of the supporting foot plates are formed in the supporting foot plates. Hardware supporting feet are installed at the bottom of the supporting foot plate, short bolts are arranged in the transverse supporting concave frame and the longitudinal supporting concave frame, and locking nuts are connected to the ends, extending out of the tops of kidney-shaped grooves, of the short bolts in a threaded and sleeved mode. The stability and the adaptability are improved, and the practicability is improved.

The invention discloses a leg and foot structure and a humanoid robot, and belongs to the field of humanoid robots. The leg-foot structure comprises a leg component, a foot component, a first driving component and a second driving component, the first driving assembly is arranged at one end of the leg assembly, the second driving assembly is arranged on the foot assembly, and the first driving assembly is connected with the second driving assembly; the first driving assembly is used for driving the second driving assembly to do pitching motion relative to the leg assembly, so that the second driving assembly drives the foot assembly to do pitching motion, and the second driving assembly is used for driving the foot assembly to do side-sway motion relative to the leg assembly.

The invention discloses a lower limb rehabilitation auxiliary robot, which relates to the technical field of rehabilitation medical instruments and comprises a waist structure, a crotch structure, a leg structure, a knee joint structure, an ankle structure and a foot structure. The leg structure is provided with an upper plate, a lower plate and a leg limiting structure, the upper plate and the lower plate are arranged up and down, an inserting groove is formed in the lower end of the upper plate, the upper end of the lower plate is inserted into the inserting groove in a sliding fit mode, a clamping groove penetrating into the inserting groove is further formed in the upper plate, and the leg limiting structure is installed at the clamping groove and used for limiting relative sliding of the upper plate and the lower plate during locking. The leg structures and the waist structure have the functions of flexibly adjusting and locking the length and the width respectively, and SEA series elastic actuators in the knee joint structures provide an elastic receding interval within a certain range for a patient on the included angle parameters of the thigh structures and the shank structures. Full-parameter adaptation, safe elastic driving and efficient rehabilitation training of the body type of the patient can be achieved, and the device is suitable for full-process rehabilitation treatment of different dyskinesia patients.

The invention provides a soft crawling robot and a preparation method thereof, and relates to the technical field of robots, the soft crawling robot comprises two spring drivers and two foot structures; each spring driver comprises a rear end cover and a front end cover, a rear end ventilation sleeve is arranged in the rear end cover, a front end ventilation sleeve is arranged in the front end cover, a spring is arranged between the rear end ventilation sleeve and the front end ventilation sleeve, and the rear end ventilation sleeve and the front end ventilation sleeve are arranged outside the spring in a sleeving mode. The rear end ventilation sleeve, the front end ventilation sleeve, the rear end cover and the front end cover are jointly closed to form a vacuum air bag with a sealed cavity. The vacuum air bag is connected with an air pipe and is connected with an external vacuum pump through the air pipe to provide negative pressure; and foot structures are respectively arranged at the bottom of the front end cover and the bottom of the rear end cover of the spring driver. By adopting a double-driver structure and a driving mode that the vacuum air bag is matched with the spring, linear motion and steering motion can be achieved, and motion flexibility and terrain adaptability are remarkably improved.

The utility model provides a combined leisure chair, which relates to the technical field of furniture and comprises a chair cushion and an inner frame, the chair cushion and the inner frame are of a combined structure formed by wrapping and filling, and vertical legs are fixed on the end surfaces of all corners of the inner frame; the stand feet are divided into front and rear specifications according to front and rear distribution positions, the front stand feet are of a ball column type structure, the rear stand feet are of a column rod type structure, and the width spacing of the front stand feet is larger than that of the rear stand feet; a backrest plate is arranged at the rear end part of the inner frame, and back rods are combined and fixed between two ends of the backrest plate and the inner frame; by adjusting the distribution positions of the stand feet in the combined structure and extending the stand foot structure to the outer reinforcing temple of the end face of the backrest structure, the whole front and rear stand feet can effectively support the whole chair, and the horizontal stability of the sitting face is improved.

The invention relates to the technical field of water conservancy projects, and discloses an accropode and scattered riprap combined foot protection structure and a visual underwater construction method, and the foot protection structure comprises an accropode blocking area, a first scattered riprap area and a second scattered riprap area which are sequentially and transversely laid in the direction from a river channel slope toe to a bank slope. According to the accropode and scattered riprap combined foot protection structure and the visual underwater construction method, the accropode and scattered riprap combined foot protection structure is sequentially composed of an accropode blocking area, a first scattered riprap area, a second scattered riprap area, a slope connecting stone area and a grouted building block stone area, the accropode blocking area can effectively block stone blocks in a designated area, and under the condition that water flow continuously scours the stone blocks, the stone blocks can be effectively blocked by the accropode blocking area; according to the technical scheme, riprap rolling and loss can be achieved, throwing missing or repetition can be avoided according to divided grids, throwing uniformity is improved, the forming quality of a throwing section is guaranteed, the block stone loss rate is reduced, and the slope connecting stone area and the grouted building block stone area can effectively slow down water flow scouring and avoid water and soil loss.

The utility model discloses a selfie stick with a telescopic support leg structure, which comprises a main rod and a plurality of support legs, the plurality of support legs are arranged around the peripheral surface of the main rod, and the plurality of support legs can rotate relative to the main rod so as to be unfolded or folded; the clamping part is used for clamping an electronic terminal, the clamping part is fixedly connected with the upper end of the main rod, and the clamping part can rotate around the upper end of the main rod; telescopic supporting legs are arranged at the tail ends of the supporting legs, and the telescopic supporting legs can movably extend relative to the supporting legs. By designing the telescopic supporting leg structure, the length of the selfie stick main rod can be further reduced through the telescopic function of the supporting leg, a user can carry and store the selfie stick conveniently, and the selfie stick has the advantages of being simple in structure and convenient to assemble.

An integral power-assisting exoskeleton device and power-assisting method, wherein the shoulder fixing frame of the shoulder joint assembly realizes free movement of the upper limb exoskeleton through a ball head connector; the forearm support of the upper limb exoskeleton is hinged to the upper arm support, and the upper limb cylinder for driving the forearm support to swing relative to the upper arm support is fixed to the upper arm support; the lower end of the thigh plate is rotatably installed with the knee joint rotation axis, and one end of the piston cylinder assembly for assisting in increasing the angle between the thigh plate and the calf plate is hinged to the large push plate, and the other end is hinged to the cantilever rocker on the outer periphery of the knee joint rotation axis; one end of the connecting plate of the foot exoskeleton is fixedly connected to the calf plate of the lower limb exoskeleton, and the other end is connected to the sole sleeve assembly, and energy is stored through the passive power-assisting component when the human foot structure performs plantar flexion movement for power-assisting walking, and the power-assisting function of the exoskeleton is realized on the basis of reducing system cost by adopting the minimum active power-assisting method, so that the power-assisting effect is better.

The invention belongs to the technical field of soft tissue injury risk assessment, and particularly relates to a deep foot soft tissue injury risk assessment method based on a macro-mesomechanical conduction model. The method comprises the following steps: acquiring plantar multi-dimensional force data in a gait by using a multi-dimensional force plate; the method comprises the steps of dividing a foot structure based on a foot image, establishing a macroscopic foot geometric model, segmenting a mesoscopic geometric model from the macroscopic foot geometric model, establishing a mesoscopic geometric model containing microvessels in the mesoscopic geometric model based on microvessel parameters, and establishing a macroscopic foot model and a mesoscopic microvessel model through a mechanical analysis technology. Carrying out cross-scale coupling and solving calculation on the macroscopic foot model and the mesoscopic capillary model; calculating a capillary closure degree parameter; and evaluating the soft tissue injury risk. The invention further relates to a pelma deep soft tissue injury risk assessment system which specifically comprises four modules. The problems that an existing soft tissue injury risk assessment technology lacks physiological indexes and is not high in accuracy are solved.

The present invention discloses a robot foot structure and a robot. The robot foot structure includes: a bottom plate; two side plates, which are spaced apart and arranged opposite to each other on the bottom plate; a connecting assembly, which is arranged on the side of the side plate facing away from the bottom plate and connects the two side plates. The bottom plate, the side plates and the connecting assembly constitute a foot frame structure with a cavity. The robot foot structure of the present invention, by arranging a bottom plate, a side plate and a connecting assembly, constitutes a foot frame structure with a cavity, forming a humanoid foot structure, omitting a heavy axial support structure, effectively reducing the overall weight of the robot foot structure, facilitating the flexible walking of the foot structure, and ensuring the stability and impact load resistance of the foot structure. The robot foot structure has a cavity inside, which facilitates the routing of internal devices, prevents the wiring harness from being exposed, and ensures the aesthetic appearance.

The invention discloses a robot leg and foot structure capable of reversing front and back based on double-connecting-rod transmission. The leg and foot structure comprises a thigh component, a hip joint, a shank component and a knee joint. The thigh component comprises a thigh component outer side piece and a thigh component inner side piece; the thigh component outer side piece and the thigh component inner side piece are fixedly connected, and other parts in the thigh component are enveloped by the thigh component outer side piece and the thigh component inner side piece; the hip joint is arranged at the upper end of the thigh component and is a rotational degree of freedom joint, and the knee joint is arranged at the lower end of the thigh component and is a rotational degree of freedom joint; the upper end of the shank component is of a three-axis hinged structure connected with the thigh component and the double-connecting-rod structure, the lower end of the shank component is a part making contact with the ground, and the position making contact with the ground is a semi-cylinder. The large-range forward and backward movement of the shank component relative to the thigh component is achieved through the double-connecting-rod structure, that is, the knee joint can bend forwards or backwards, and no dead point position exists.

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot leg structure which comprises a hip structure and further comprises a thigh structure which comprises a rotating part and an extending part, the rotating part is connected with the hip structure, and the extending part is connected with the rotating part; the rotating part and the extending part are respectively used for driving the thigh to rotate and adjusting the length of the thigh; the knee structure is mounted on the extension part, can rotate relative to the thigh structure and can swing back and forth along the thigh structure; the shank structure is mounted on the knee structure and used for adjusting the length of the shank; the foot structure comprises an autorotation part, an adjusting part and a foot plate, the autorotation part is connected with the shank structure, the adjusting part is connected with the autorotation part, and the foot plate is connected with the adjusting part; according to the robot, more movement automation degrees, variable limb lengths and better bionic characteristics can be realized while compact structure and accurate control are ensured, and the movement performance and adaptive capacity of the robot are improved.

The utility model relates to the technical field of office chair accessories, in particular to a compression-resistant and wear-resistant five-star foot of an office chair. Comprising a five-star foot base, sliding clamping grooves are formed in the bottoms of the ends of five supporting legs of the five-star foot base, trundle top plates are clamped in the sliding clamping grooves, fixing bases are rotationally connected to the bottoms of the trundle top plates through rotating shafts, and movable trundles are installed in the fixing bases; fixing grooves are formed in the tops of the five supporting leg ends of the five-star foot base, and limiting locking mechanisms matched with the trundle top plates are arranged in the fixing grooves. The five-star foot structure provided by the utility model has compression-resistant and wear-resistant characteristics and a convenient disassembly function, and the maintenance process is simplified and the use cost is reduced while the running stability of the trundle is ensured, so that the overall practicability and economical efficiency of the office chair are improved.

The invention discloses a self-adaptive ankle joint mechanism and foot structure for a mobile exoskeleton, which is used for assisting a wearer to realize autonomous movement and comprises a rear insole, a rear cover, a front insole, a front cover, a steel rope buckle, a rotating column, a motor, a rotor connecting piece, a rotor foot connecting piece, a motor mounting plate, a tibia shield, a sliding rod, a telescopic buckle, a spring buckle and a spring, the rear insole, the rear cover, the front insole and the front cover form a bottom plate structure for supporting a foot, the bottom plate structure adopts a double-section split structure and is divided into a front sole area and a heel area, and the front sole area and the heel area are connected through a detachable and deformable soft rubber material. Through one active degree of freedom and a plurality of additional passive degrees of freedom, the movement flexibility of the human body is remarkably improved, and then the walking stability and the adaptability to the uneven ground are enhanced.

The application provides a wide-range rollable humanoid robot ankle-foot structure and robot, and relates to the technical field of robots.The ankle-foot structure comprises two motor connecting rod mechanisms and an ankle-foot structure, one side of a motor base is connected with a thigh, the other side is fixedly connected with a motor, one side of a crank is fixedly connected with an output shaft of the motor, the other side is provided with a first recess for placing a thigh connecting rod, the thigh connecting rod is connected with a lower leg connecting rod through a trapezoidal rod, and the lower leg connecting rod is connected with a first base; the first base is fixedly connected with an ankle-foot bottom plate below, two first through holes are arranged above the first base, a linear bearing is arranged in the first through hole, the linear bearing is sleeved on a foot shaft, and the lower leg connecting rod is sleeved on the foot shaft through a fisheye bearing; a second base is fixedly connected with the ankle-foot bottom plate below, two second through holes are arranged above the second base, a deep groove ball bearing is arranged in the second through hole, the deep groove ball bearing is sleeved on a cross, and a foot rubber is fixedly connected on the ankle-foot bottom plate.

This application discloses a foot structure for a robot and a robot. The foot structure of the robot according to an embodiment of this application includes an elastic foot sole, a mating component, a structural component, and a sensor. The mating component is connected to the foot sole. The mating component is movable according to the elastic deformation of the foot sole. The structural component is independently disposed relative to the foot sole. The sensor is connected to the structural component. The sensor and the mating component are spaced apart, and the sensor is used to detect the distance between the mating component and the sensor. In the foot structure of the robot according to an embodiment of this application, the sensor is disposed on the structural component, which avoids direct contact between the sensor and the foot sole, thus improving the lifespan of the sensor. Furthermore, the sensor and the mating component work together to detect the distance between them, and thus the pressure on the foot sole can be determined based on this distance.

The application discloses a lander foot structure with a foot bottom pattern, comprising a servo electric cylinder and a landing system foot end, the landing system foot end comprising an upper part, a ground contact foot pad and other components, the upper part foot pad is made of a metal rubber material with a porosity gradient distribution, and is constructed into a structure through a laser selective melting technology, and is matched with a reinforcing rib to realize stress redistribution; the foot pad is integrated with a multi-scale topological optimization and a functional modularization, the foot pad is divided into two functional units to disperse stress, prolongs the service life of components, the bottom surface of the ground contact foot pad is provided with a mixed pattern to regulate a friction coefficient, the lander can stably stay on a special-shaped terrain, and can actively cross a complex medium surface together with a landing leg to expand a detection space; when staying on a slope surface, components are coordinately adjusted to accurately constrain an attitude, and safety and stability are ensured; after staying, a spring insertion rod and a telescopic liquid bag are reset to overcome reset obstacles, improve maneuverability, and when the foot pad is separated, the foot pad shakes off lunar dust to maintain performance.

The invention discloses a robot capable of walking linearly through touch and timing. The robot comprises a touch control module, a timing module and a six-foot walking mechanism. Time is set through a knob, starting and stopping are controlled through touch, and stable movement is achieved by combining a six-foot structure driven by a crankshaft. The shell supports magnetic type personalized decoration and is suitable for table top entertainment and pressure relief. The intelligent accompanying device has functionality and interactivity, and overcomes the defects of traditional accompanying equipment.

The utility model relates to an anti-mud-sinking foot structure of a robot dog, which comprises a leg rod and an anti-skidding foot, the leg rod is detachably connected with a shank arm of the robot dog, and the anti-skidding foot is positioned at the bottom end of the leg rod; the umbrella further comprises a lower connecting ring, a flexible umbrella cover, an upper connecting ring and an inclined skirt hem part. The lower connecting ring is located on the leg rod, and the flexible umbrella cover is connected with the lower connecting ring; the flexible umbrella cover comprises a cover body, the cover body is of a flaring structure, and the flaring end faces the anti-skid feet. The upper connecting ring is located on the leg rod, the inclined skirt hemline part is connected with the upper connecting ring, and the inclined skirt hemline part is arranged in an inclined mode relative to the length direction of the leg rod. According to the mud sinking prevention foot structure of the mechanical dog, the foot structure of the mechanical dog is improved, mud sinking prevention components are additionally arranged, an upper-layer mud sinking prevention structure and a lower-layer mud sinking prevention structure are formed, the walking capacity of the mechanical dog in a muddy scene is enhanced, and the probability that the legs of the mechanical dog are trapped due to the fact that the legs sink into mud is reduced.

This utility model relates to the field of machine tool feet, and discloses an embedded machine tool foot structure, including a foot body, two nuts threaded onto the foot body, and two washers disposed between opposite sides of the two nuts; a positioning mechanism is provided on the lower side of the foot body; the positioning mechanism includes a pre-embedded base disposed on the lower side of the foot body, two reinforcing plates fixed on the left and right sides of the pre-embedded base, an assembly groove formed at the center of the upper surface of the pre-embedded base, and a connecting piece for fixing the foot body and the pre-embedded base. This utility model, through the rigid connection between the pre-embedded base and the ground, can withstand greater loads; the four reinforcing plates form a rigid frame with the pre-embedded base, further improving the stability of the pre-embedded base; and fixing the pre-embedded base to the foot body through the connecting piece prevents horizontal displacement of the foot during machine tool operation, thereby avoiding affecting the machining accuracy of the machine tool.

The embodiment of the invention relates to the technical field of robots, and discloses a robot foot structure which comprises a driving mechanism, a sole plate, an ankle, a transmission hinge and a sole elastic element. Wherein the front sole and the rear sole of the sole plate are hinged through a transmission hinge; a rear foot plate is placed on the ankle; the sole elastic element is arranged on the lower surface of the sole plate; the driving mechanism is arranged on the upper surface of the sole plate and comprises a motor, a transmission push rod, a transmission connecting shaft, a transmission connecting rod and a driven shaft; a motor arranged on the rear foot plate is connected with one end of a transmission push rod, the other end of the transmission push rod is connected with a first end of a transmission connecting rod through a transmission connecting shaft, and a second end of the transmission connecting rod is connected with the front foot sole through a driven shaft. The motor drives the transmission push rod to move, and the transmission push rod drives the front sole to rotate around the transmission hinge through the transmission connecting shaft, the transmission connecting rod and the driven shaft. In this way, toes are accurately controlled, self-locking is formed by toe parts of the foot of the robot according to different requirements, and therefore the foot action of the robot is kept.