CN114044066B - Human foot-like mechanism and device based on octahedral mast-type tensegrity structure - Google Patents

Abstract

The invention relates to a humanoid foot type mechanism and a humanoid foot type mechanism device based on an octahedral mast type stretching integral structure. The invention overcomes the defects of heavy weight, huge volume, complex control system, poor flexibility, single movement and the like of the traditional humanoid foot mechanism, has a compliant and stable structure, simple structure and simple manufacturing process, and can realize the self-locking of the humanoid foot mechanism by combining the octahedral mast type stretching integral structure with the locking mechanism component without realizing the self-locking through control, thereby ensuring the simultaneous bionic property and the mechanical property of the foot robot. The invention has simple structure, can simulate the biological movement characteristics of dorsiflexion, plantarflexion, varus and valgus of the ankle joint in the movement process of the mechanism, is hopeful to develop greatly, and realizes the application value in multiple fields.

Description

Human foot-like mechanism and device based on octahedral mast-type tensegrity structure

technical field

The invention relates to the technical field of bionic engineering, and can be applied to the fields of robots and wearables, and more specifically relates to a human foot-like mechanism and device based on an octahedral mast-type tensioned integral structure.

Background technique

Humanoid footed robots have the characteristics of high motion compliance and strong self-adaptability, and can realize stable and self-adaptive walking in unstructured environments during the motion process. Compared with traditional industrial robots and wheeled robots, humanoid footed robots can adjust their joint angles to improve their ability to communicate with different environments, such as narrow spaces, rough roads, crossing ravines, and post-disaster rescue. Interactivity in structured environments.

However, the existing humanoid foot mechanism only considers the functions of some biological tissues of the human foot, so it can only imitate the simple biological characteristics of the human foot. Although the humanoid foot mechanism has made a breakthrough in walking, compared with the human foot structure, the humanoid robot foot mechanism has disadvantages such as heavy weight, bulky volume, complex control system, poor flexibility, and single movement. , especially the function of adaptive unstructured terrain walking still has great deficiencies.

Therefore, how to develop a humanoid foot mechanism with flexibility, stability and mechanical self-locking is an urgent problem to be solved by those skilled in the art.

Contents of the invention

Therefore, an object of the present invention is to propose a human foot-like mechanism based on an octahedral mast-type tensegrity structure, which overcomes the shortcomings of the existing human-foot-like mechanism.

The invention provides a human foot-like mechanism based on an octahedral mast-type tensegrity structure, comprising:

a base plate that acts as a contact portion with the unstructured topography;

a steering mechanism assembly, the steering mechanism assembly is fixedly connected to the middle part of the top of the bottom plate, and rotates following the state change of the bottom plate;

A locking mechanism assembly, the locking mechanism assembly is connected to the steering mechanism assembly, and is located above the steering mechanism assembly, and has a first locking component on it, and the first locking component receives the power from the steering mechanism assembly rotational force, and is able to rotate following the rotational force;

a top plate assembly, the top plate assembly is located on the locking mechanism assembly, and its bottom end has a second locking part that can be locked or unlocked with the first locking part;

An octahedral mast-type tensegrity structure, the octahedral mast-type tensegrity structure includes four sets of tension springs and four sets of compression springs connected between the bottom plate and the top plate assembly, and the four sets of tension springs The tension springs and the four sets of compression springs are arranged in parallel and alternately;

When the bottom plate is walking on unstructured terrain and there is no load on the top plate assembly, the overall mechanism changes from a self-stable state to a flexible adaptive state according to terrain changes, forming a flexible adaptive mechanism and simulating the kinematic characteristics of the ankle joint , when an external load acts on the roof assembly, the entire mechanism is locked by the first locking part and the second locking part to form a rigid load-bearing mechanism.

It can be seen from the above-mentioned technical solutions that, compared with the prior art, the present invention discloses a human foot-like mechanism based on an octahedral mast-type tensegrity structure, which overcomes the heavy weight and bulky nature of the traditional human-foot-like mechanism , the control system is complicated, the flexibility is poor, and the movement is single. It has both compliance and stability structure. The self-locking of the human-foot mechanism does not need to be controlled to achieve self-locking, which can ensure that the footed robot has both bionic and mechanical characteristics.

Further, the first ends of each set of tension springs are connected to the bottom plate through eyebolts, and the second ends thereof are connected to the bottom of the roof assembly through eyebolts; there are eight sets of eyebolts , four sets of eyebolts are symmetrically connected to the four corners of the bottom plate, and the other four sets of eyebolts are symmetrically connected to the bottom four corners of the top plate assembly; the first end of each set of compression springs is connected to the four corners of the bottom plate through a connecting piece The bottom plate is connected, and its second end is connected to the bottom of the top plate assembly through the connecting piece; there are eight sets of connecting pieces, four sets of connecting pieces are symmetrically connected to the four corners of the bottom plate, and the other four sets of connecting pieces are connected The pieces are symmetrically connected to the bottom four corners of the top plate assembly.

Further, the steering mechanism assembly includes: a first shaft seat, a cross shaft and a second shaft seat; the first shaft seats are in two groups, and are symmetrically connected to the bottom plate, and each group of the first shaft An inner hole is provided on the seat; the second shaft seat is divided into two groups, and is symmetrically connected to the bottom of the locking mechanism assembly, each group of the second shaft seat is provided with an inner hole, and the second shaft seat The axis of the inner hole of the seat is perpendicular to the axis of the inner hole of the first shaft seat; the shaft ends of the cross shaft are respectively connected with the inner holes of the two groups of the first shaft seat and the two groups of the second shaft seat.

Further, the locking mechanism assembly includes: a locking mechanism top plate, a first connecting shaft, and a ratchet support base; the ratchet support base is fixed above two sets of the second shaft bases, and the first connecting shafts are in two groups. The first end of each group of first connecting shafts is connected to the top plate of the locking mechanism, and the second end thereof is connected to the ratchet support seat. The first connecting shafts of the two groups are distributed symmetrically about the center, and the The plane where the axis of the first connecting shaft is located forms an included angle with the plane where the bottom plate is located; the first locking component is arranged on the ratchet support seat.

Further, the top board assembly includes a first top board, a second connecting shaft and a second top board; the second connecting shafts are in two groups, and each group of the first end of the second connecting shaft is connected to the first top board. The second end is connected to the second top plate, the two sets of second connecting shafts are symmetrically distributed about the center, the plane where the axes of the second connecting shafts of the two groups is located is the same as the plane where the axes of the first connecting shafts are located in the two groups The included angle is 100°; the second locking component is arranged at the bottom of the second top board.

Further, the locking mechanism assembly further includes: an annular ratchet, a ratchet, a first transmission rope, a ratchet shaft and a second transmission rope; the first locking component is a ratchet, and the second locking component is an annular ratchet There are four groups of ratchets, and each group of ratchets is connected to the ratchet support seat through the ratchet shaft; the two groups of ratchets with parallel axes are a pair; the first transmission rope is two groups, Each pair of the ratchets is connected through the first transmission rope; the second transmission ropes are in four groups, and each group of the ratchets is connected with the bottom plate through the second transmission rope; the annular ratchet and The second top plate in the top plate assembly is connected, and the ring-shaped ratchet is located above the four sets of ratchet wheels.

Further, two through holes are set on the top plate of the locking mechanism, the axis of each through hole coincides with the axis of each group of the second connecting shafts, and the diameter of the through holes is larger than that of the second connecting shafts. diameter; two through holes 2 are provided on the annular ratchet, the axis of each through hole 2 coincides with the axis of each group of the first connecting shafts, and the diameter of the through holes 2 is larger than the shaft diameter of the first connecting shaft Two through holes three are opened on the second top plate, the axis of each through hole three coincides with the axis of each group of the first connecting shafts, and the diameter of the three through holes is larger than the shaft diameter of the first connecting shafts.

Further, the installation method of connecting each pair of the ratchets through each group of the first transmission ropes is a symmetrical installation, and the movement mode of each pair of the ratchets connected through the first transmission ropes is the same speed and the same direction at the same time turn.

Another object of the present invention is to provide a device with a human foot-like mechanism based on an octahedral mast-type tensegrity structure, including a device body and the above-mentioned octahedral mast-based tensioner that is mated and connected to it. A humanoid foot-like mechanism that pulls the overall structure.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Accompanying drawing of Fig. 1 is a kind of schematic diagram of imitation human foot mechanism based on octahedral mast type tensegrity structure provided by the present invention;

Figure 2 is a schematic view of the roof assembly in a human foot-like mechanism based on an octahedral mast-type tensegrity structure provided by the present invention;

Figure 3 is a schematic diagram of the locking mechanism assembly in the human foot-like mechanism based on the octahedral mast type tensegrity structure provided by the present invention;

Figure 4 is a schematic diagram of a steering mechanism assembly in a human foot-like mechanism based on an octahedral mast-type tensegrity structure provided by the present invention;

Fig. 5 accompanying drawing shows the state diagram of top board assembly and locking mechanism assembly in self-stabilizing state;

The accompanying drawing of Fig. 6 shows a schematic diagram of the state of the roof assembly and the locking mechanism assembly in the self-adaptive state;

Fig. 7 accompanying drawing shows the schematic view of the state of the top plate assembly and the locking mechanism assembly in the locked state under load;

Among them, 100-base plate; 200-eye bolt; 300-tension spring; 400-compression spring; 500-top plate assembly; 501-first top plate; 502-second connecting shaft; 503-second top plate; 600-connection 700-locking mechanism assembly; 701-locking mechanism top plate; 702-ring ratchet; 703-first connecting shaft; 704-ratchet; 705-first transmission rope; 706-ratchet shaft; 800-steering mechanism assembly; 801-first shaft seat; 802-cross shaft; 803-second shaft seat.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or positional relationship. Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

The existing humanoid foot mechanism only considers the functions of the biological tissues of the human foot, but has the disadvantages of heavy weight, bulky volume, complex control system, poor flexibility, single movement, etc., especially the function of adaptive unstructured terrain walking There are still big deficiencies.

In view of this, the embodiment of the present invention discloses a human foot-like mechanism based on an octahedral mast-type tensegrity structure, referring to Figures 1-4 for details, including: a bottom plate 100, a steering mechanism assembly 800, a top plate assembly 500 and Octahedral mast type tensegrity structure. The bottom plate 100 is used as a contact part in contact with unstructured terrain; the steering mechanism assembly 800 is fixedly connected to the middle part of the top of the bottom plate 100, and rotates following the state change of the bottom plate 100; the locking mechanism assembly 700 is connected to the steering The mechanism assembly 800 is connected and located above the steering mechanism assembly 800, and has a first locking part on it. The first locking part receives the rotational force from the steering mechanism assembly 800 and can follow the rotational force to generate Rotation; the top plate assembly 500 is located on the locking mechanism assembly 700, and its bottom end has a second locking part that can be locked or unlocked with the first locking part; the octahedral mast type tensioned integral structure It includes four sets of tension springs 300 and four sets of compression springs 400 connected between the bottom plate 100 and the top plate assembly 500, and the four sets of tension springs 300 and the four sets of compression springs 400 are parallel in pairs , and staggered arrangement.

In the embodiment of the present invention, when the bottom plate 100 is walking on unstructured terrain and there is no load on the top plate assembly 500, the overall mechanism changes from a self-stable state to a flexible adaptive state according to terrain changes, forming a flexible adaptive state. The mechanism simulates the kinematic characteristics of the ankle joint. When an external load acts on the top plate assembly 500, the first locking part and the second locking part are locked, and the whole mechanism is locked under load to form a rigid load-bearing mechanism. .

Advantageously, the octahedral mast-type tensegrity structure composed of four sets of tension springs 300 and four sets of compression springs 400, in a stable state, the intersection of the central axes of the four sets of tension springs 300 and the four sets of compression springs The intersection points of the central axes of the springs 400 are all on the vertical centerline of the human foot mechanism based on the octahedral mast type tensegrity structure.

Referring to accompanying drawing 1, in a preferred solution of the present invention, the first end of each set of tension springs 300 is connected to the bottom plate 100 through eyebolts 200, and the second ends thereof are connected through the eyebolts. 200 is connected to the bottom of the roof assembly 500; the eye bolts 200 are eight groups, four groups of eye bolts 200 are symmetrically connected to the four corners of the bottom plate 100, and the remaining four groups of eye bolts 200 are symmetrically connected to the roof assembly 500 bottom four corners; the first end of each group of the compression spring 400 is connected to the bottom plate 100 through the connector 600, and its second end is connected to the bottom of the top plate assembly 500 through the connector 600; There are eight sets of connecting pieces 600 , four sets of connecting pieces 600 are symmetrically connected to the four corners of the bottom plate 100 , and the other four sets of connecting pieces 600 are symmetrically connected to the bottom four corners of the top plate assembly 500 .

In a preferred solution of the present invention, the steering mechanism assembly 800 includes: a first shaft seat 801, a cross shaft 802 and a second shaft seat 803; the first shaft seat 801 is in two groups, and is symmetrically connected to the On the bottom plate 100, an inner hole is provided in each group of the first shaft seats 801; the second shaft seats 803 are in two groups, and are symmetrically connected to the bottom of the locking mechanism assembly 700, and each group of the first shaft seats 803 An inner hole is provided on the two shaft seats 803, and the axis of the inner hole of the second shaft seat 803 is vertically distributed with the axis of the inner hole of the first shaft seat 801; The inner holes of the first shaft seat 801 and two groups of the second shaft seat 803 are connected. The steering mechanism assembly 800 realizes the movement of two degrees of freedom, simulating the biological movement characteristics of the ankle joint of the human foot.

Referring to accompanying drawings 3, 5-7, in a preferred embodiment of the present invention, the locking mechanism assembly 700 includes: a locking mechanism top plate 701, a first connecting shaft 703, and a ratchet support seat 707; the ratchet support seat 707 is fixed on Above the two groups of second shaft seats 803, the first connecting shaft 703 is divided into two groups, and the first end of each group of the first connecting shaft 703 is connected to the top plate 701 of the locking mechanism, and its second end is connected to the top plate 701 of the locking mechanism. The ratchet support seat 707 is connected, and the two groups of first connecting shafts 703 are symmetrically distributed about the center, and the plane where the axes of the two groups of first connecting shafts 703 are located is at an angle of 45 degrees to the plane where the bottom plate 100 is located; A locking component is arranged on the ratchet support base 707 .

Referring to accompanying drawing 2, it is advantageous that the top board assembly 500 includes a first top board 501, a second connecting shaft 502 and a second top board 503; the second connecting shafts 502 are in two groups, each group of the second connecting The first end of the shaft 502 is connected to the first top plate 501, and its second end is connected to the second top plate 503. The two groups of the second connection shafts 502 are symmetrically distributed about the center, and the two groups of the second connection shafts The plane where the axis of 502 is located is at an angle of 90 degrees to the plane where the axes of the two groups of first connecting shafts 703 are located; the second locking component is arranged at the bottom of the second top plate 503 .

Referring to Figure 3, the locking mechanism assembly 700 also includes: an annular ratchet 702, a ratchet wheel 704, a first transmission rope 705, a ratchet shaft 706 and a second transmission rope 708; the first locking component is the ratchet wheel 704, and the The second locking component is an annular ratchet 702; the ratchets 704 are in four groups, and each group of the ratchets 704 is connected to the ratchet support seat 707 through the ratchet rotating shaft 706; the two groups of ratchets with parallel axes 704 is a pair; the first transmission rope 705 is two groups, and each pair of ratchet wheels 704 is connected by the first transmission rope 705; the second transmission rope 708 is four groups, each group of the ratchet wheel 704 is connected with the bottom plate 100 through the second transmission rope 708; the annular ratchet 702 is connected with the second top plate 503 in the top plate assembly 500, and the annular ratchet 702 is located in four groups of the ratchet 704 above.

Specifically, two through holes 1 are set on the top plate 701 of the locking mechanism, the axis of each through hole coincides with the axis of each group of the second connecting shafts 502, and the diameter of the through hole 1 is larger than that of the second connecting shafts. The shaft diameter of the shaft 502 is to ensure that the second connecting shaft 502 can pass through the through hole 1 smoothly, and the axis of the through hole 1 and the axis of the second connecting shaft 502 should always be kept on the same straight line during the movement process; Two through holes 2 are provided on the tooth 702, the axis of each through hole 2 coincides with the axis of each group of the first connecting shaft 703, and the diameter of the through hole 2 is larger than the shaft diameter of the first connecting shaft 703 to ensure The first connecting shaft 703 can pass through smoothly, and the axis of the through hole 2 and the axis of the first connecting shaft 703 should always be kept on the same straight line during the movement. Two through holes 3 are set on the second top plate 503, the axis of each through hole 3 coincides with the axis of each group of the first connecting shaft 703, and the diameter of the through hole 3 is larger than the axis of the first connecting shaft 703 In order to ensure that the first connecting shaft 703 can pass through smoothly, the axis of the through hole 3 and the axis of the first connecting shaft 703 should always be kept on the same straight line during the movement.

Advantageously, in the above embodiment, the installation method of connecting each pair of the ratchets 704 through each set of the first transmission ropes 705 is a symmetrical installation, and connecting each pair of the ratchets through the first transmission ropes 705 The 704 movement mode is to rotate at the same speed and in the same direction at the same time.

In the embodiment of the present invention, the two through holes 4 provided on the top plate 701 of the locking mechanism can be equipped with linear bearings in the holes to ensure that the top plate 701 of the locking mechanism slides and runs smoothly along the second connecting shaft 502; the second top plate 503 The two through-holes 3 opened on the hole are equipped with linear bearings to ensure that the second top plate 503 slides and runs smoothly along the first connecting shaft 703; Both the inner hole and the hole can be equipped with deep groove ball bearings to ensure the smoothness of the rotation of the cross shaft 802 .

The present invention also provides a device with a human foot-like mechanism based on an octahedral mast-type tensioned overall structure, including a device body and an octahedral mast-type tensioned The human foot-like mechanism of the overall structure. Except for two sets of first connecting shafts 703 and two groups of second connecting shafts 502, the device has a symmetrical structure.

The working mode of this embodiment provided by the present invention can be: before this embodiment walks on unstructured terrain, an octahedral mast-type tensioned monolithic structure consisting of four sets of tension springs 300 and four sets of compression springs 400 is used. , can achieve a symmetrical stable structure; in the process of walking on unstructured terrain in this embodiment, the bottom plate 100 will follow the terrain changes, and the cross shaft in the steering mechanism assembly 800 will rotate, and the second transmission rope 708 will make each Rotation of the ratchet 704 occurs.

The working mode of the locking mechanism assembly 700 of this embodiment provided by the present invention can also be: in the process of walking on unstructured terrain, after each pair of ratchet wheels 704 rotates, this embodiment adapts to the unstructured terrain , the top plate assembly 500 will move downward under the action of external load, and the annular ratchet connected to the second top plate will engage with the four sets of ratchet wheels 704 to complete the locking function.

The working mode of this embodiment provided by the present invention may also include: after the external load acting on the top plate assembly 500 decreases or disappears, the octahedral mast profile composed of four sets of tension springs 300 and four sets of compression springs 400 Under the effect of pulling the overall structure, the top assembly 500 will move upwards, and the annular ratchet 702 connected to the second top plate 503 will disengage from the four sets of ratchets 704 to complete the unlocking function.

The human foot-like mechanism provided by the present invention has three working states through the combination of the octahedral mast-type tensioned integral structure and the ratchet locking mechanism: the first is a self-stable state, the second is an adaptive state, and the second is an adaptive state. The three are load-locked states; during the movement, refer to the state in Figure 5 to change to the state in Figure 6, and the human-like foot mechanism will change from self-stabilizing to self-stabilizing in the process of walking on unstructured terrain. The process of changing the state to an adaptive state can simulate the motion characteristics of the ankle joint and complete the dorsiflexion, plantarflexion, varus and valgus actions of the humanoid foot mechanism; when the humanoid foot mechanism is subjected to external loads, In the adaptive state, the locking function is realized through the engagement of the ring ratchet 702 and the ratchet wheel 704 , and the state shown in FIG. 6 changes to the state in FIG. 7 . The human foot-like mechanism provided by the present invention is a flexible and self-adaptive human-foot-like mechanism before locking, and a rigid human-like foot-like mechanism that can be loaded after locking, and the human-like foot-like mechanism can be realized through the locking mechanism. The rigidity of the mechanism can be freely switched between the load-bearing state and the flexible adaptive state.

The invention has changed the shortcomings of the traditional human-foot-like mechanism, such as heavy mass, bulky volume, complex control system, poor flexibility, and single movement. Compliance, stability and mechanical self-locking can ensure that the legged robot has both bionic and mechanical characteristics, which has important academic significance. The human foot imitation mechanism based on the octahedral mast-type tensegrity structure provided by the present invention has a simple structure, is expected to be vigorously developed, and realizes its application value in many fields.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (9)

1. A human foot-like mechanism based on an octahedral mast type tensegrity structure, characterized in that it comprises: a base plate (100) acting as a contact with the unstructured topography; a steering mechanism assembly (800), the steering mechanism assembly (800) is fixedly connected to the middle part of the top of the bottom plate (100), and rotates following the state change of the bottom plate (100); A locking mechanism assembly (700), the locking mechanism assembly (700) is connected to the steering mechanism assembly (800), and is located above the steering mechanism assembly (800), with a first locking component on it, and the first A locking component receives the rotational force from the steering mechanism assembly (800), and can rotate following the rotational force; a top plate assembly (500), the top plate assembly (500) is located on the locking mechanism assembly (700), and its bottom end has a second locking part that can be locked or unlocked with the first locking part; An octahedral mast-type tensegrity structure, the octahedral mast-type tensegrity structure comprising four sets of tension springs (300) and four sets of The compression springs (400), the four sets of the tension springs (300) and the four sets of the compression springs (400) are arranged in parallel and alternately; When the bottom plate (100) is walking on unstructured terrain and there is no load on the top plate assembly (500), according to terrain changes, the overall mechanism changes from a self-stable state to a flexible adaptive state, forming a flexible adaptive mechanism , simulating the kinematic characteristics of the ankle joint, when an external load acts on the top plate assembly (500), through the locking of the first locking part and the second locking part, the whole mechanism is locked under load, forming a rigid load-bearing mechanism. 2. A humanoid foot-like mechanism based on an octahedral mast-type tensegrity structure according to claim 1, wherein the first ends of each set of tension springs (300) pass through eyebolts. (200) is connected with the bottom plate (100), and its second end is connected with the bottom of the roof assembly (500) through the eyebolts (200); the eyebolts (200) are eight groups, and the four groups are The eyebolts (200) are symmetrically connected to the four corners of the bottom plate (100), and the remaining four groups of eyebolts (200) are symmetrically connected to the bottom four corners of the top plate assembly (500); each group of the compression springs (400 ) first ends are all connected to the bottom plate (100) through the connector (600), and its second ends are connected to the bottom of the top plate assembly (500) through the connector (600); the connector ( 600) is eight groups, four groups of connecting parts (600) are symmetrically connected to the four corners of the bottom plate (100), and the other four groups of connecting parts (600) are symmetrically connected to the bottom four corners of the top plate assembly (500). 3. A humanoid foot mechanism based on an octahedral mast type tensegrity structure according to claim 1, characterized in that, the steering mechanism assembly (800) comprises: a first shaft seat (801), a cross shaft (802) and second shaft seat (803); the first shaft seat (801) is two groups, and is symmetrically connected to the base plate (100), each group of the first shaft seat (801) Each set an inner hole; the second shaft seat (803) is divided into two groups, and is symmetrically connected to the bottom of the locking mechanism assembly (700), and each group of the second shaft seat (803) is provided with a inner hole, the axis of the inner hole of the second shaft seat (803) is vertically distributed to the axis of the inner hole of the first shaft seat (801); One shaft seat (801) is connected with the inner holes of two groups of the second shaft seats (803). 4. A humanoid foot mechanism based on an octahedral mast type tensegrity structure according to claim 3, characterized in that the locking mechanism assembly (700) comprises: a locking mechanism top plate (701), a first connecting shaft (703), ratchet support seat (707); the ratchet support seat (707) is fixed above the two sets of second shaft seats (803), the first connecting shaft (703) is two groups, each The first end of one set of first connecting shafts (703) is connected to the locking mechanism top plate (701), the second end thereof is connected to the ratchet support seat (707), and the first connecting shafts of two groups ( 703) are symmetrically distributed in the center, and the plane where the axis of the first connecting shaft (703) of the two groups is located is at an angle of 45 degrees to the plane where the bottom plate (100) is located; the first locking component is arranged on the ratchet support seat (707) on. 5. A humanoid foot mechanism based on an octahedral mast type tensegrity structure according to claim 4, characterized in that, the top plate assembly (500) comprises a first top plate (501), a second connecting shaft (502) and the second top plate (503); the second connecting shaft (502) is two groups, and the first end of each group of the second connecting shaft (502) is connected with the first top plate (501) , the second end of which is connected to the second top plate (503), the two groups of second connection shafts (502) are symmetrically distributed about the center, the plane where the axes of the two groups of second connection shafts (502) are located is the same as that of the two groups of The plane where the axis of the first connecting shaft (703) is located forms an included angle of 90 degrees; the second locking component is arranged at the bottom of the second top plate (503). 6. A humanoid foot mechanism based on an octahedral mast-type tensegrity structure according to claim 5, characterized in that, the locking mechanism assembly (700) further comprises: an annular ratchet (702), a ratchet (704), the first transmission rope (705), the ratchet rotating shaft (706) and the second transmission rope (708); the first locking component is a ratchet (704), and the second locking component is an annular ratchet (702); the ratchets (704) are four groups, and each group of the ratchets (704) is connected with the ratchet support seat (707) through the ratchet rotating shaft (706); two groups of ratchets with parallel axes (704) is a pair; the first transmission rope (705) is two groups, and each pair of ratchets (704) is connected by the first transmission rope (705); the second transmission rope (708) There are four groups, each group of the ratchet (704) is connected with the bottom plate (100) through the second transmission rope (708); the annular ratchet (702) is connected with the The second top plate (503) is connected, and the ring-shaped ratchet (702) is located above the four sets of ratchet wheels (704). 7. A humanoid foot-like mechanism based on an octahedral mast-type tensioned integral structure according to claim 6, characterized in that two through holes one are provided on the top plate (701) of the locking mechanism, each through The axis of hole 1 coincides with the axis of each group of described second connecting shafts (502), and the diameter of through hole 1 is greater than the shaft diameter of described second connecting shafts (502); Two through holes, the axis of each through hole coincides with the axis of each group of the first connecting shaft (703), and the diameter of the second through hole is larger than the shaft diameter of the first connecting shaft (703); Offer two through holes 3 on the top plate (503), the axis of each through hole 3 coincides with the axis of each group of described first connecting shafts (703), and the diameter of the through holes 3 is larger than that of the first connecting shafts (703) ) shaft diameter. 8. A humanoid foot mechanism based on an octahedral mast type tensegrity structure according to claim 6, characterized in that each pair of said first transmission ropes (705) is connected by each group of The ratchets (704) are installed symmetrically, and each pair of ratchets (704) connected by the first transmission rope (705) moves in the same direction at the same speed. 9. A device with a human foot-like mechanism based on an octahedral mast-type tensegrity structure, characterized in that it includes a device body and a device based on any one of claims 1-8 that is mated and connected to it. A human foot-like mechanism with an octahedral mast-type tensegrity structure.