The invention provides a coupling linkage variable-posture anti-subsidence bionic foot and a coupling linkage walking wheel. The coupling linkage variable-posture anti-subsidence bionic foot comprises bionic foot single bodies. Each bionic foot single body comprises a bionic tarsal and metatarsal bone unit, a bionic tarsal and metatarsal bone tendon unit and a bionic toe unit; each tarsal and metatarsal bone imitating unit comprises a vertical rod and an elastic component; the toe-imitating unit comprises a second toe, a third toe, a fourth toe, a left web and a right web; the tarsal and metatarsal bone tendon imitating unit and the elastic component are arranged on the vertical rod in a sleeving mode, and the lower end of the vertical rod is connected with the toe root of the third toe. The elastic component is positioned between the tarsal and metatarsal bone tendon imitating unit and the toe root of the third toe; the tarsal and metatarsal bone tendon imitating unit can rotate and move up and down along the vertical rod, and the tarsal and metatarsal bone tendon imitating unit moves up and down to drive the toe II and the toe IV to be opened and closed at the same time. According to the invention, the mallard foot is used as a bionic prototype, the design is developed on the basis of a mallard toe-web opening and closing mode and a coupling linkage mechanism of the tarsal and metatarsal bones, tarsal and metatarsal bone tendons and toe metatarsophalangeal joints, and the trafficability of a moving mechanism on soft ground such as mud flat and the like is improved.

    本发明提供了一种耦合联动变姿态抗沉陷仿生足及耦合联动步行轮,包括仿生足单体;仿生足单体包括仿跗跖骨单元、仿跗跖骨肌腱单元和仿足趾单元;仿跗跖骨单元包括竖直杆和弹性部件;仿足趾单元包括第Ⅱ趾、第Ⅲ趾、第Ⅳ趾、左蹼和右蹼;仿跗跖骨肌腱单元与弹性部件都套在竖直杆上,竖直杆的下端与第Ⅲ趾的趾根连接;弹性部件位于仿跗跖骨肌腱单元和第Ⅲ趾的趾根之间;仿跗跖骨肌腱单元能够沿竖直杆上下旋转移动,仿跗跖骨肌腱单元上下移动带动第Ⅱ趾与第Ⅳ趾的同时开闭。本发明将绿头鸭足作为仿生原型,基于绿头鸭足趾‑蹼的开闭方式与跗跖骨、跗跖骨肌腱、足趾跖趾关节的耦合联动机制展开设计,提高滩涂等松软地面移动机构的通过性。


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    Title :

    Coupling linkage variable-posture anti-subsidence bionic foot and coupling linkage walking wheel


    Additional title:

    一种耦合联动变姿态抗沉陷仿生足及耦合联动步行轮


    Contributors:
    HAN DIANLEI (author) / PAN JIAHANG (author) / DU SHUAI (author) / LIU QIANHAO (author) / TONG ZHIQIAN (author) / LIU HAIRUI (author) / YANG QIZHI (author)

    Publication date :

    2023-08-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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