CN112158274B - Bionic machine foot - Google Patents
Bionic machine foot Download PDFInfo
- Publication number
- CN112158274B CN112158274B CN202011241280.7A CN202011241280A CN112158274B CN 112158274 B CN112158274 B CN 112158274B CN 202011241280 A CN202011241280 A CN 202011241280A CN 112158274 B CN112158274 B CN 112158274B
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- wire drawing
- traction wire
- toe
- adjusting
- toe joint
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 22
- 210000000453 second toe Anatomy 0.000 claims abstract description 125
- 210000001255 hallux Anatomy 0.000 claims abstract description 93
- 210000002683 foot Anatomy 0.000 claims abstract description 66
- 230000035939 shock Effects 0.000 claims abstract description 19
- 210000000431 third toe Anatomy 0.000 claims abstract description 18
- 210000001930 leg bone Anatomy 0.000 claims abstract description 11
- 239000006096 absorbing agent Substances 0.000 claims abstract description 8
- 238000010521 absorption reaction Methods 0.000 claims abstract description 7
- 210000001226 toe joint Anatomy 0.000 claims abstract description 4
- 238000005491 wire drawing Methods 0.000 claims description 189
- 238000013016 damping Methods 0.000 claims description 12
- 230000003592 biomimetic effect Effects 0.000 claims description 6
- 210000003371 toe Anatomy 0.000 abstract description 10
- 230000000694 effects Effects 0.000 description 16
- 230000006870 function Effects 0.000 description 5
- 210000000455 fourth toe Anatomy 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000000454 fifth toe Anatomy 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a bionic machine foot which comprises a machine leg bone, a foot surface movement adjusting structure, a first toe joint movement adjusting structure and a second toe joint movement adjusting structure, wherein the lower end of the machine leg bone is connected with a shock absorption structure, the lower end of the shock absorption structure is connected with a shock absorber base, the foot surface movement adjusting structure is connected to the outer side of the machine leg bone, the first toe joint movement adjusting structure and the second toe joint movement adjusting structure are both arranged on the front end surface of the foot surface structure, the first toe joint movement adjusting structure is positioned on the inner side of the second toe joint movement adjusting structure, and the second toe joint connecting structure is connected with both a first toe joint and a third toe joint in a pin joint manner through connecting toe joint pins. The traction wire in the second toe joint movement adjusting structure is matched with the traction wire in the first toe joint movement adjusting structure in a first retraction mode, so that the function of toe up-down movement can be achieved, and the control accuracy among all joint parts can be ensured.
Description
Technical Field
The invention relates to the technical field of bionic machines, in particular to a bionic machine foot.
Background
Biomimetics are a scientific method to simulate the function and behavior of biological systems to build technical systems. It breaks the boundaries of living beings and machines and communicates various systems. The bionic method can create new machinery, invent modern identification instrument, improve communication system, design novel technique and develop artificial viscera. Such as modern airplanes, polar cross-country vehicles, electronic frog eyes of radar systems, sonar systems of navigation, honeycomb structures of aviation construction engineering, artificial kidneys, artificial hearts and the like, are all bionic crystals. The shape, structure and control principle of the simulated living beings are designed and the manufactured machinery has more concentrated functions, higher efficiency and biological characteristics. The discipline of studying biomimetic machinery is called biomimetics and is a marginal discipline formed by the mutual penetration and combination of the disciplines of biology, biomechanics, medicine, mechanical engineering, control theory, electronic technology and the like at the end of the 60 th century. In nature, living things bid for daily selection and self evolution for a long time have high adaptability to natural environment. Their perception, decision-making, instruction, feedback, motor etc. functions and organ structures are far more perfect than the machines ever made by humans.
The bionic machine foot has the advantages that the effect of perfect control cannot be achieved among all parts when the bionic machine foot is used, and the problem of inconvenience in assembly, disassembly and maintenance exists among all parts of the bionic machine foot.
Disclosure of Invention
The invention aims to provide a bionic machine foot, which solves the problems that the prior bionic machine foot cannot achieve the perfect control effect among all parts and is inconvenient to assemble, disassemble and maintain among all parts of the bionic machine foot.
In order to achieve the above purpose, the present invention provides the following technical solutions: the bionic machine foot comprises a machine leg bone, a pedal surface motion adjusting structure, a first toe joint motion adjusting structure and a second toe joint motion adjusting structure, wherein the lower end of the machine leg bone is connected with a shock absorption structure, the lower end of the shock absorption structure is connected with a shock absorber base, one side of the lower end of the shock absorber base is connected with a heel, the upper end of the heel is connected with the pedal surface structure through a bolt, the front end of the pedal surface structure is provided with a first toe joint, the front end of the first toe joint is connected with a second toe joint connecting structure, the front end of the second toe joint connecting structure is connected with a third toe joint, the outer side of the pedal surface structure is connected with a traction wire drawing hole, the pedal surface motion adjusting structure is connected to the outer side of the machine leg bone, the first toe joint motion adjusting structure and the second toe joint motion adjusting structure are both arranged on the front end face of the pedal surface structure, the first toe joint motion adjusting structure is located on the inner side of the second toe joint motion adjusting structure, and the second toe joint connecting structure is connected with the first toe joint pin joint and the first toe joint pin.
Preferably, the shock-absorbing structure includes damping spring, heel traction wire drawing fixer, fixer groove and location screw hole, and damping spring's outside is provided with the heel traction wire drawing fixer to the location screw hole has been seted up to the inside of heel traction wire drawing fixer, and the inboard of heel traction wire drawing fixer is provided with the fixer groove simultaneously.
Preferably, the instep structure comprises an instep and an instep connecting shaft groove, the front end of the instep is internally provided with the instep connecting shaft groove, and the instep is movably connected with the first toe joint through the instep connecting shaft groove.
Preferably, the second toe section connecting structure comprises a second toe section and a second toe section connecting shaft groove, wherein the front end and the rear end of the second toe section are both provided with the second toe section connecting shaft groove, the second toe section is movably connected with the first toe section through the second toe section connecting shaft groove, and meanwhile, the second toe section is movably connected with the third toe section through the second toe section connecting shaft groove.
Preferably, the pedal movement adjusting structure comprises a first pedal adjusting traction wire drawing, a second pedal adjusting traction wire drawing, a third pedal adjusting traction wire drawing, a fourth pedal adjusting traction wire drawing, a fifth pedal adjusting traction wire drawing and a sixth pedal adjusting traction wire drawing, wherein the second pedal adjusting traction wire drawing is arranged on one side of the first pedal adjusting traction wire drawing, the third pedal adjusting traction wire drawing is arranged on one side of the second pedal adjusting traction wire drawing, the fourth pedal adjusting traction wire drawing is arranged on one side of the third pedal adjusting traction wire drawing, the fifth pedal adjusting traction wire drawing is arranged on one side of the fourth pedal adjusting traction wire drawing, and the sixth pedal adjusting traction wire drawing is arranged on one side of the fifth pedal adjusting traction wire drawing.
Preferably, the first toe section movement adjusting structure comprises a first toe section adjusting traction wire drawing, a second toe section adjusting traction wire drawing, a third toe section adjusting traction wire drawing, a fourth first toe section adjusting traction wire drawing and a fifth first toe section adjusting traction wire drawing, one side of the first toe section adjusting traction wire drawing is provided with the second toe section adjusting traction wire drawing, one side of the second toe section adjusting traction wire drawing is provided with the third toe section adjusting traction wire drawing, one side of the third toe section adjusting traction wire drawing is provided with the fourth toe section adjusting traction wire drawing, and one side of the fourth toe section adjusting traction wire drawing is provided with the fifth toe section adjusting traction wire drawing.
Preferably, the second toe motion adjusting structure comprises a first second toe adjusting traction wire, a second toe adjusting traction wire, a third second toe adjusting traction wire, a fourth second toe adjusting traction wire and a fifth second toe adjusting traction wire, one side of the first second toe adjusting traction wire is provided with the second toe adjusting traction wire, one side of the second toe adjusting traction wire is provided with the third second toe adjusting traction wire, one side of the third second toe adjusting traction wire is provided with the fourth second toe adjusting traction wire, and one side of the fourth second toe adjusting traction wire is provided with the fifth second toe adjusting traction wire.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the first foot surface adjusting traction wire drawing, the second foot surface adjusting traction wire drawing, the third foot surface adjusting traction wire drawing, the fourth foot surface adjusting traction wire drawing, the fifth foot surface adjusting traction wire drawing and the sixth foot surface adjusting traction wire drawing are arranged to move mutually, so that the effect of foot surface up-and-down movement can be achieved between one winding and one unwinding; the effect of turning the feet inside and outside can be achieved through the first retraction and the first retraction between the traction wire drawing and the fourth traction wire drawing and the first retraction between the traction wire drawing and the sixth traction wire drawing.
2. According to the invention, the first toe section adjusting traction wire drawing, the second toe section adjusting traction wire drawing, the third toe section adjusting traction wire drawing, the fourth first toe section adjusting traction wire drawing and the fifth first toe section adjusting traction wire drawing which are not affected by each other can be mutually matched and connected with the five first toe sections, so that the effect of controlling the movement of the first toe sections can be achieved.
3. The first second toe adjusting traction wire drawing, the second toe adjusting traction wire drawing, the third second toe adjusting traction wire drawing, the fourth second toe adjusting traction wire drawing and the fifth second toe adjusting traction wire drawing which are not affected by each other can be connected with the fifth second toe in a matched mode, and therefore the effect of controlling movement of the second toe can be achieved.
4. The traction wire in the second toe joint movement adjusting structure is matched with the traction wire in the first toe joint movement adjusting structure in a first retraction mode, so that the function of toe up-down movement can be achieved, and the control accuracy among all joint parts can be ensured.
5. According to the bionic machine foot, the effects of assembly and disassembly can be achieved through the movable connection of the parts in the damping structure, the movable connection of the parts in the foot surface structure and the movable connection of the parts in the second toe joint connecting structure, so that convenience in assembly and maintenance of the device can be improved, and the practicability of the bionic machine foot is greatly improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a toe adjustment linkage of the present invention;
FIG. 3 is a right side view of the present invention;
FIG. 4 is a schematic view of a shock absorbing structure of the present invention;
FIG. 5 is a schematic view of the instep structure of the present invention;
FIG. 6 is a schematic view of a second toe joint connection structure according to the present invention.
In the figure: 1. a machine leg bone; 2. a shock absorbing structure; 201. a damping spring; 202. a heel traction wire drawing fixer; 203. a holder slot; 204. positioning screw holes; 3. a shock absorber base; 4. a heel; 5. a instep structure; 501. a foot surface; 502. the foot surface is connected with the shaft groove; 6. a first toe knuckle; 7. a second toe joint connection structure; 701. a second toe segment; 702. the second toe joint is connected with the shaft groove; 8. a third toe segment; 9. drawing and wiredrawing; 10. drawing the wire drawing hole; 11. a instep movement adjusting structure; 111. the first foot surface is adjusted to draw and wire; 112. the second foot surface is adjusted to draw and wire; 113. the third instep is adjusted to draw and wire; 114. fourth instep adjustment traction wire drawing; 115. fifth instep adjustment traction wire drawing; 116. a sixth instep is adjusted, pulled and drawn; 12. a first toe joint movement adjustment structure; 121. the first toe joint adjusts and pulls the first wire drawing; 122. the first toe joint adjusts and pulls the second wire drawing; 123. the first toe section is used for adjusting traction and wiredrawing III; 124. the first toe section is used for adjusting traction and wire drawing; 125. the first toe joint adjusts and pulls the fifth wire drawing; 13. a second toe joint motion adjustment structure; 131. the second toe joint adjusts the traction wire drawing one; 132. the second toe joint adjusts the traction wire drawing II; 133. the second toe joint adjusts the traction wire drawing III; 134. the second toe joint adjusts the traction wire drawing IV; 135. the second toe joint adjusts the traction wire drawing step five; 14. and the toe joint pin is connected.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-6, a bionic machine foot comprises a machine leg 1, a foot surface motion adjusting structure 11, a first toe joint motion adjusting structure 12 and a second toe joint motion adjusting structure 13, wherein the lower end of the machine leg 1 is connected with a shock absorbing structure 2, the lower end of the shock absorbing structure 2 is connected with a shock absorber base 3, one side of the lower end of the shock absorber base 3 is connected with a heel 4, the upper end of the heel 4 is connected with a foot surface structure 5 through a bolt, the front end of the foot surface structure 5 is provided with a first toe joint 6, the front end of the first toe joint 6 is connected with a second toe joint connecting structure 7, the front end of the second toe joint connecting structure 7 is connected with a third toe joint 8, the outer side of the foot surface structure 5 is connected with a traction wire drawing 9, the outer side of the traction wire drawing hole 10 is arranged on the outer side of the foot surface structure 5, the first toe joint motion adjusting structure 12 and the second toe joint motion adjusting structure 13 are both arranged on the front end surface of the foot surface structure 5, the first toe joint motion adjusting structure 12 and the second toe joint motion adjusting structure 12 are connected with the third toe joint connecting structure 14 through the first toe joint pin joint connecting structure 6 and the third toe joint connecting structure 8.
In the invention, the following components are added: the damping structure 2 comprises a damping spring 201, a heel traction wire drawing fixer 202, a fixer groove 203 and a positioning screw hole 204, wherein the heel traction wire drawing fixer 202 is arranged on the outer side of the damping spring 201, the positioning screw hole 204 is formed in the heel traction wire drawing fixer 202, meanwhile, the fixer groove 203 is arranged on the inner side of the heel traction wire drawing fixer 202, the instep structure 5 comprises an instep 501 and an instep connecting shaft groove 502, the instep connecting shaft groove 502 is formed in the inner part of the front end of the instep 501, the instep 501 is movably connected with the first toe joint 6 through the instep connecting shaft groove 502, the second toe joint connecting structure 7 comprises a second toe joint 701 and a second toe joint connecting shaft groove 702, the front end and the rear end of the second toe joint 701 are respectively provided with the second toe joint connecting shaft groove 702, the second toe joint 701 is movably connected with the first toe joint 6 through the second toe joint connecting shaft groove 702, and the second toe joint 701 is movably connected with the third toe joint 8 through the second toe joint connecting shaft groove 702; the effect of assembly and disassembly can be achieved through the movable connection of the parts inside the shock absorption structure 2, the movable connection of the parts inside the instep structure 5 and the movable connection of the parts inside the second toe joint connecting structure 7, so that the convenience of assembly and maintenance of the device can be improved, and the practicability of the bionic machine foot is greatly improved.
In the invention, the following components are added: the foot surface movement adjusting structure 11 comprises a first foot surface adjusting traction wire drawing 111, a second foot surface adjusting traction wire drawing 112, a third foot surface adjusting traction wire drawing 113, a fourth foot surface adjusting traction wire drawing 114, a fifth foot surface adjusting traction wire drawing 115 and a sixth foot surface adjusting traction wire drawing 116, wherein one side of the first foot surface adjusting traction wire drawing 111 is provided with the second foot surface adjusting traction wire drawing 112, one side of the second foot surface adjusting traction wire drawing 112 is provided with the third foot surface adjusting traction wire drawing 113, one side of the third foot surface adjusting traction wire drawing 113 is provided with the fourth foot surface adjusting traction wire drawing 114, one side of the fourth foot surface adjusting traction wire drawing 114 is provided with the fifth foot surface adjusting traction wire drawing 115, one side of the fifth foot surface adjusting traction wire drawing 115 is provided with the sixth foot surface adjusting traction wire drawing 116, and the mutual movement among the first foot surface adjusting traction wire drawing 111, the second foot surface adjusting traction wire drawing 112, the third foot surface adjusting traction wire drawing 113 and the fourth foot surface adjusting traction wire drawing 114, the fifth foot surface adjusting traction wire drawing 115 and the sixth foot surface adjusting wire drawing 116 can achieve the effect of the upward and downward movement between the first surface adjusting wire drawing 501; the effect of turning inside and outside the foot can be achieved through the retraction and the extension between the third foot surface adjusting traction wire drawing 113 and the fourth foot surface adjusting traction wire drawing 114 and the retraction and the extension between the first foot surface adjusting traction wire drawing 111 and the sixth foot surface adjusting traction wire drawing 116;
In the invention, the following components are added: the first toe joint movement adjusting structure 12 comprises a first toe joint adjusting traction wire drawing 121, a second toe joint adjusting traction wire drawing 122, a first toe joint adjusting traction wire drawing three 123, a first toe joint adjusting traction wire drawing four 124 and a first toe joint adjusting traction wire drawing five 125, wherein the first toe joint adjusting traction wire drawing two 122 is arranged on one side of the first toe joint adjusting traction wire drawing 121, the first toe joint adjusting traction wire drawing three 123 is arranged on one side of the first toe joint adjusting traction wire drawing two 122, the first toe joint adjusting traction wire drawing four 124 is arranged on one side of the first toe joint adjusting traction wire drawing three 123, the first toe joint adjusting traction wire drawing five 125 is arranged on one side of the first toe joint adjusting traction wire drawing four 124, the first toe joint adjusting traction wire drawing two 122, the first toe joint adjusting traction wire drawing three 123, the first toe joint traction wire drawing four 124 and the first toe joint adjusting traction wire drawing five 125, five non-interactive traction 9 feet can be connected with five first toe joints, and thus the first control joint movement can achieve a first control effect; the second toe motion adjustment structure 13 comprises a first second toe adjustment traction wire 131, a second toe adjustment traction wire 132, a third second toe adjustment traction wire 133, a fourth second toe adjustment traction wire 134 and a fifth second toe adjustment traction wire 135, wherein the second toe adjustment traction wire 132 is arranged on one side of the first second toe adjustment traction wire 131, the third second toe adjustment traction wire 133 is arranged on one side of the second toe adjustment traction wire 132, the fourth second toe adjustment traction wire 134 is arranged on one side of the third second toe adjustment traction wire 133, and the fifth second toe adjustment traction wire 135 is arranged on one side of the fourth second toe adjustment traction wire 134; the first toe adjustment traction wire drawing 131, the second toe adjustment traction wire drawing 132, the third toe adjustment traction wire drawing 133, the fourth toe adjustment traction wire drawing 134 and the fifth toe adjustment traction wire drawing 135 are mutually independent traction wire drawing 9 and can be mutually matched and connected with the five second toe joints, so that the effect of controlling the movement of the second toe joints can be achieved; the traction threads in the second toe joint movement adjusting structure 13 are mutually matched with the traction threads in the first toe joint movement adjusting structure 12 in a first retraction mode, so that the function of toe up-and-down movement can be achieved, and the control accuracy among all joint parts can be ensured.
Working principle: for the bionic machine foot, firstly, the machine leg bone 1 is arranged on the damping spring 201, so that the damping effect can be achieved, the starting heel traction wire drawing fixer 202 can be connected together through the alignment between the fixer groove 203 and the positioning screw hole 204 by using screws, the damping structure 2, the damper base 3, the heel 4 and the instep structure 5 are all connected through bolts, one end of the five first toe joints 6 can be inserted into the instep connecting shaft groove 502, the other end of the first toe joints 6 can be connected to the second toe joints 701 through the connecting toe joint pins 14 and the second toe joint connecting shaft groove 702, the second toe section 701 can be connected with the third toe section 8 through the second toe section connecting shaft groove 702 and the connecting toe section pin 14, a plurality of traction wire drawing holes 10 are formed in a machine foot according to requirements, traction wire drawing 9 is arranged in each traction wire drawing hole 10, the movement of the machine foot can be controlled through the traction wire drawing 9, and when the bionic machine foot is required to move, the effect of up-and-down movement of the foot surface 501 can be achieved between the first foot surface adjusting traction wire drawing 111, the second foot surface adjusting traction wire drawing 112, the third foot surface adjusting traction wire drawing 113, the fourth foot surface adjusting traction wire drawing 114, the fifth foot surface adjusting traction wire drawing 115 and the sixth foot surface adjusting traction wire drawing 116; the effect of turning the feet inside and outside can be achieved through the retraction between the third foot surface adjusting traction wire 113 and the fourth foot surface adjusting traction wire 114 and the retraction between the first foot surface adjusting traction wire 111 and the sixth foot surface adjusting traction wire 116, the effect of up-and-down movement of the toes can be achieved through the retraction and the mutual cooperation of the first toe adjusting traction wire 121, the first toe adjusting traction wire 122, the first toe adjusting traction wire three 123, the first toe adjusting traction wire four 124 and the first toe adjusting traction wire five 125, the first toe joint 6, the second toe joint connecting structure 7 and the third toe joint 8 can form a complete toe, the machine foot is composed of five toes, each toe is connected by four traction wires, the four traction wires are respectively a fourth instep adjusting traction wire drawing 114, a fifth instep adjusting traction wire drawing 115, a first toe joint movement adjusting structure 12 and a second toe joint movement adjusting structure 13, one toe can be controlled to move through the four traction wires, the fourth instep adjusting traction wire drawing 114 and the fifth instep adjusting traction wire drawing 115 are driven to be retracted by a motor, the first toe joint movement adjusting structure 12 and the second toe joint movement adjusting structure 13 are connected with springs, and the springs guarantee the return after external force is applied, so that the whole bionic machine foot is used.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. Bionic machine foot, including machine leg bone (1), instep motion control structure (11), first toe festival motion control structure (12) and second toe festival motion control structure (13), its characterized in that: the lower end of the machine leg bone (1) is connected with a shock absorption structure (2), the lower end of the shock absorption structure (2) is connected with a shock absorber base (3), one side of the lower end of the shock absorber base (3) is connected with a heel (4), the upper end of the heel (4) is connected with a pedal structure (5) through a bolt, the front end of the pedal structure (5) is provided with a first toe joint (6), the front end of the first toe joint (6) is connected with a second toe joint connecting structure (7), the front end of the second toe joint connecting structure (7) is connected with a third toe joint (8), the outer side of the pedal structure (5) is connected with a traction wire drawing (9), the outer side of the traction wire drawing (9) is provided with a traction wire drawing hole (10), the pedal movement adjusting structure (11) is connected to the outer side of the machine leg bone (1), the first toe joint movement adjusting structure (12) and the toe joint movement adjusting structure (13) are both arranged on the front end surface of the pedal structure (5), the first toe joint and the second toe joint (6) are connected with the first toe joint pin joint (14) through the first toe joint pin joint movement adjusting structure (14) and the third toe joint (7);
The pedal movement adjusting structure (11) comprises a first pedal adjusting traction wire drawing (111), a second pedal adjusting traction wire drawing (112), a third pedal adjusting traction wire drawing (113), a fourth pedal adjusting traction wire drawing (114), a fifth pedal adjusting traction wire drawing (115) and a sixth pedal adjusting traction wire drawing (116), wherein the second pedal adjusting traction wire drawing (112) is arranged on one side of the first pedal adjusting traction wire drawing (111), the third pedal adjusting traction wire drawing (113) is arranged on one side of the second pedal adjusting traction wire drawing (112), the fourth pedal adjusting traction wire drawing (114) is arranged on one side of the third pedal adjusting traction wire drawing (113), the fifth pedal adjusting traction wire drawing (115) is arranged on one side of the fourth pedal adjusting traction wire drawing (114), and the sixth pedal adjusting traction wire drawing (116) is arranged on one side of the fifth pedal adjusting traction wire drawing (115);
The first toe joint movement adjusting structure (12) comprises a first toe joint adjusting traction wire drawing one (121), a first toe joint adjusting traction wire drawing two (122), a first toe joint adjusting traction wire drawing three (123), a first toe joint adjusting traction wire drawing four (124) and a first toe joint adjusting traction wire drawing five (125), wherein the first toe joint adjusting traction wire drawing two (122) is arranged on one side of the first toe joint adjusting traction wire drawing one (121), the first toe joint adjusting traction wire drawing three (123) is arranged on one side of the first toe joint adjusting traction wire drawing two (122), the first toe joint adjusting traction wire drawing four (124) is arranged on one side of the first toe joint adjusting traction wire drawing three (123), and the first toe joint adjusting traction wire drawing five (125) is arranged on one side of the first toe joint adjusting traction wire drawing four (124);
The second toe motion adjusting structure (13) comprises a first second toe adjustment traction wire drawing (131), a second toe adjustment traction wire drawing (132), a third second toe adjustment traction wire drawing (133), a fourth second toe adjustment traction wire drawing (134) and a fifth second toe adjustment traction wire drawing (135), one side of the first second toe adjustment traction wire drawing (131) is provided with the second toe adjustment traction wire drawing (132), one side of the second toe adjustment traction wire drawing (132) is provided with the third second toe adjustment traction wire drawing (133), one side of the third second toe adjustment traction wire drawing (133) is provided with the fourth second toe adjustment traction wire drawing (134), and one side of the fourth second toe adjustment traction wire drawing (134) is provided with the fifth second toe adjustment traction wire drawing (135).
2. The biomimetic robotic foot of claim 1, wherein: shock-absorbing structure (2) are including damping spring (201), heel traction wire drawing fixer (202), fixer groove (203) and location screw hole (204), and the outside of damping spring (201) is provided with heel traction wire drawing fixer (202) to location screw hole (204) have been seted up to the inside of heel traction wire drawing fixer (202), and the inboard of heel traction wire drawing fixer (202) is provided with fixer groove (203) simultaneously.
3. The biomimetic robotic foot of claim 1, wherein: the instep structure (5) comprises an instep (501) and an instep connecting shaft groove (502), the instep connecting shaft groove (502) is formed in the front end of the instep (501), and the instep (501) is movably connected with the first toe joint (6) through the instep connecting shaft groove (502).
4. The biomimetic robotic foot of claim 1, wherein: the second toe section connecting structure (7) comprises a second toe section (701) and a second toe section connecting shaft groove (702), the front end and the rear end of the second toe section (701) are respectively provided with the second toe section connecting shaft groove (702), the second toe section (701) is movably connected with the first toe section (6) through the second toe section connecting shaft groove (702), and meanwhile, the second toe section (701) is movably connected with the third toe section (8) through the second toe section connecting shaft groove (702).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241280.7A CN112158274B (en) | 2020-11-09 | 2020-11-09 | Bionic machine foot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241280.7A CN112158274B (en) | 2020-11-09 | 2020-11-09 | Bionic machine foot |
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| Publication Number | Publication Date |
|---|---|
| CN112158274A CN112158274A (en) | 2021-01-01 |
| CN112158274B true CN112158274B (en) | 2024-08-16 |
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| CN202011241280.7A Active CN112158274B (en) | 2020-11-09 | 2020-11-09 | Bionic machine foot |
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| CN115009390B (en) * | 2022-08-09 | 2022-11-15 | 瑞基机器人有限公司 | Simulation foot suitable for walking on various terrains |
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|---|---|---|---|---|
| CN213384505U (en) * | 2020-11-09 | 2021-06-08 | 倪学分 | Bionic machine foot |
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|---|---|---|---|---|
| CN2385692Y (en) * | 1999-03-01 | 2000-07-05 | 陈伯恒 | Self-service manipulator |
| US6602295B1 (en) * | 1999-05-24 | 2003-08-05 | Ohio Willow Wood Company | Prosthetic foot having shock absorption |
| KR100977348B1 (en) * | 2002-03-15 | 2010-08-20 | 소니 주식회사 | Motion control device and motion control method for legged mobile robot and robot device |
| CN210364125U (en) * | 2019-07-12 | 2020-04-21 | 沈阳城市学院 | Biped robot bionic foot capable of improving walking stability and gait naturality |
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2020
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213384505U (en) * | 2020-11-09 | 2021-06-08 | 倪学分 | Bionic machine foot |
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