The invention relates to a coupling bionic foot pad for improving the ground contact stability of the leg-foot type robot, the bionic foot pad can achieve an excellent biomechanical function by simulating a unique compartment structure and material combination of a human heel pad. The bionic foot pad comprises a bionic foot pad base layer, a bionic foot pad middle layer, a bionic foot pad lower layer and a ground contact surface layer which are fixed through flexible adhesives. The bionic foot pad base layer has relatively high hardness; the middle layer of the bionic foot pad is provided with an ellipsoidal compartment and a pinniform compartment, nanofiber bundles coated with viscoelastic filler are embedded in the compartments, the bionic foot pad shows highly anisotropic mechanical properties through the coupling effect of structures and materials, and the lower layer of the bionic foot pad is provided with a honeycomb closed compartment coated with viscoelastic filler. By means of the structure, good shock absorption and energy storage effects can be achieved, and the ground contact stability of a leg-foot type system of the robot can be effectively improved.

    一种提高腿足式机器人触地稳定性的耦合仿生足垫,仿生足垫通过模仿人体足跟垫独特的隔室结构及材料组合,可实现优异的生物力学功能。本发明包括仿生足垫基层、仿生足垫中层、仿生足垫下层和触地表层,各层之间通过柔性粘合剂相固定。仿生足垫基层具有较高的硬度;仿生足垫中层设有椭球状隔室和羽状隔室,隔室内部镶嵌着包覆粘弹性填充物的纳米纤维束,通过结构及材料的耦合作用,仿生足垫呈现出高度各向异性的机械力学特性,仿生足垫下层设有包裹粘弹性填充物的蜂窝状封闭隔室,通过该种结构可实现良好的吸震储能效果,可有效提高机器人腿足式系统的触地稳定性。


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    Titel :

    Coupling bionic foot pad for improving ground contact stability of leg-foot type robot


    Weitere Titelangaben:

    一种提高腿足式机器人触地稳定性的耦合仿生足垫


    Beteiligte:
    QIAN ZHIHUI (Autor:in) / ZHUANG ZHIQIANG (Autor:in) / REN LEI (Autor:in) / WANG KUNYANG (Autor:in) / JIANG ZHENDE (Autor:in) / WANG SHENGLI (Autor:in) / SONG GUANGSHENG (Autor:in) / REN LUQUAN (Autor:in)

    Erscheinungsdatum :

    2021-05-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B32B LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM , Schichtkörper, d.h. aus Ebenen oder gewölbten Schichten, z.B. mit zell- oder wabenförmiger Form, aufgebaute Erzeugnisse



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