A bionic passive stability augmentation anti-skid foot comprises a connector, first bearings on the left side and the right side, first connecting rods on the left side and the right side, second bearings on the left side and the right side, second connecting rods on the left side and the right side, gradient modulus rigid-flexible coupling hoof toes on the left side and the right side, flexible hoof bottoms on the left side and the right side, a ligament between the toes, a front tension spring, a rear tension spring and a reset torsion spring. Each shoe toe is of a rigid-flexible coupling structure with the elasticity modulus being high-low-high-low-high from outside to inside, the bottom face of each shoe toe is of a pit structure, a flexible shoe bottom with bionic protruding stripes on the surface is embedded in each pit, and the flexible shoe bottoms and the shoe toes form the rigid-flexible coupling shoe toes with the pits; the intertoe ligament provides inward pulling force for the hoof toes, so that the hoof toes can tightly grasp the ground or raised rocks; the toes can rotate leftwards and rightwards around the second connecting rod to adapt to more complex ground obstacles, and the road trafficability and stability of the toes are improved; the anti-skid ground gripping performance and the ground touching buffering performance of the bionic foot can be effectively improved, and the ground touching stability of the bionic foot is effectively guaranteed.
一种仿生被动增稳防滑足,包括连接头,左、右两侧第一轴承,左、右两侧第一连杆,左、右两侧第二轴承,左、右两侧第二连杆,左、右两侧梯度模量刚柔耦合蹄趾,左、右两侧柔性蹄底,趾间韧带,前、后拉簧,复位扭簧。蹄趾为由外到内弹性模量呈高‑低‑高‑低‑高的刚柔耦合结构,蹄趾底面为凹坑结构,在凹坑内部嵌有表面带有仿生凸起条纹的柔性蹄底,并与蹄趾形成带有凹坑的刚柔耦合蹄趾;趾间韧带为蹄趾提供向内的拉力,使蹄趾可以紧抓地面或凸起的岩石;蹄趾可绕第二连杆左右旋转以适应更加复杂的地面障碍物,提高蹄趾的路面通过性和稳定性;本发明可以有效提高仿生足的防滑抓地性能和触地缓冲性能,有效保证了仿生足的触地稳定性。
Bionic passive stability augmentation anti-skid foot
一种仿生被动增稳防滑足
2022-07-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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