The robot bionic foot simulating the human arch structure comprises a foot sole mechanism, the foot sole mechanism comprises a front foot sole, a middle foot sole and a rear foot sole which are movably connected front and back in sequence, and the bottom of a shank rod is movably connected with the middle foot sole of the foot sole mechanism through an ankle ball joint; the front end of the rear sole is rotationally connected to the rear end of the middle sole through a rear rotating shaft, the bottom of the rear sole is elastically connected with the bottom of the middle sole through a rear extension spring, and the rear sole is elastically pulled up through a rear elastic supporting mechanism rotationally connected with the shank rod; the front sole comprises a left front fork and a right front fork, the rear ends of the two front forks are rotationally connected to the front end of the middle sole through front rotating shafts respectively, the two front forks are elastically connected through a front extension spring, and the tops of the two front forks are connected with the shank rod through a front elastic supporting mechanism. The two front forks of the front foot sole are driven by the front elastic supporting mechanism to achieve opening and closing movement. The robot has the advantages that the robot can adapt to complex changing terrains and can walk more stably in a human-simulated gait mode.
本发明公开了一种仿人足弓结构的机器人仿生足,包括脚掌机构,脚掌机构包括前后依次活动连接的前脚掌、中脚掌和后脚掌,小腿杆底部通过脚踝球关节与脚掌机构的中脚掌活动连接;后脚掌前端通过后旋转轴转动连接在中脚掌后端,后脚掌底部通过后拉伸弹簧与中脚掌底部实现弹性连接,通过与小腿杆转动连接的后弹性支撑机构实现对后脚掌的弹性上拉;前脚掌包括左右两个前叉,两个前叉后端分别通过前旋转轴转动连接在中脚掌前端,两个前叉之间通过前拉伸弹簧实现弹性连接,两个前叉顶部通过前弹性支撑机构与小腿杆相连接,通过前弹性支撑机构带动前脚掌的两个前叉实现开合运动。本发明的优点:能适应复杂变化的地形,能以拟人步态更平稳地行走。
Robot bionic foot with humanoid foot arch structure
一种仿人足弓结构的机器人仿生足
2024-08-20
Patent
Electronic Resource
Chinese