Foot bearing structure of humanoid robot

Abstract

The invention discloses a humanoid robot foot bearing structure which comprises a front foot bottom plate, a rear foot bottom plate, an imitated foot arch piece and an imitated foot sole fascia, the front foot bottom plate, the rear foot bottom plate and the imitated foot arch piece form a triangular arch support capable of being longitudinally deformed, the imitated foot sole fascia elastically deforms along with the imitated foot arch piece, a flexible rotating mechanism is arranged in the front arch section of the imitated foot arch piece, and the front arch section of the imitated foot arch piece is connected with the imitated foot sole fascia. Therefore, the foot arch imitating piece can transversely rotate, human foot tarsal transverse joint movement is simulated, and transverse disturbance is relieved. The device has the advantages that the front arch section and the rear arch section can rotate inwards and outwards around the rigid connecting shaft by utilizing the flexible rotating mechanism, so that the adaptability to complex terrains and the gait stability are improved; the triangular arch structure composed of the foot arch imitating pieces can be dynamically opened, closed and deformed, the impact force generated when the robot walks is dispersed, the vertical rigidity is reduced, and the buffering time is prolonged. The flexible foot sole imitating fascia simulates a human foot sole fascia mechanism, energy is stored when the foot arch imitating piece is compressed, restoring force is generated when the foot is lifted, and the gait efficiency and foot naturalness of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robot structure design, and in particular to a humanoid robot foot bearing structure. Background Art

[0002] With the improvement of humanoid robots' ability to move in complex environments, the structural bionics and environmental adaptability of foot mechanisms have become research hotspots. The human foot achieves excellent attachment, cushioning, adaptation and stability functions through the complex collaborative structure of bones, ligaments and joints.

[0003] In order to improve the bionic performance of the foot, some existing technologies have introduced an imitation arch structure, that is, a triangular arch load-bearing structure is formed by the front arch segment, the rear arch segment and the midfoot connecting axis. This type of structure can provide a certain longitudinal elastic support in static or small-range dynamic conditions, and improve energy feedback performance. However, it only realizes the bionics of the longitudinal arch structure and fails to cover the lateral torsion ability of the human foot, such as the forward and backward rotation movements achieved by the transverse tarsal joint of the human foot, which limits the flexible deformation ability of the sole of the foot.

[0004] In addition, existing imitation arch structures mostly adopt rigid rotation structures, which only serve as active auxiliary connections and lack active or elastic adjustment capabilities, and cannot adapt to complex ground deformations.

[0005] In announcement number CN113443043B, there is a public technology entitled "A bipedal robot foot structure that can adapt to uneven roads". This technology is to set a spring connection component in the foot structure to achieve automatic adjustment of the robot foot angle, thereby improving the terrain adaptability. Although this mechanism simulates the deformation of the sole of the foot to a certain extent, its foot only has the elastic deformation ability in the vertical direction and lacks structural design for the movement of the transverse tarsal joint, making it difficult to achieve three-dimensional deformation support and dynamic stability of the sole of the foot.

[0006] Therefore, there is an urgent need for a robotic foot load-bearing structure with a reasonable structure, flexible connections, and the ability to effectively simulate the coordinated work of the transverse tarsal joint and plantar fascia of the human foot. This structure aims to address the common problems in existing technologies, such as insufficient structural biomimetic properties, difficulty in coordinated control of multiple degrees of freedom, and lack of dynamic limit design. The structure also ignores the torsional degree of freedom of the foot, making it impossible to effectively simulate the internal and external rotation and torsional deformation process of the human foot, and insufficient modeling of the plantar stress conduction path and energy feedback mechanism, so as to achieve a gait response and terrain adaptability that is closer to human body mechanics. Summary of the Invention

[0007] The technical problem to be solved by the present invention is that the existing robot foot load-bearing structure mentioned in the background technology lacks effective simulation of the torsion function of the tarsal transverse joint of the human foot, and the existing structure adopts rigid connection, lacks structural coupling and angle control capabilities, and is difficult to achieve multi-degree-of-freedom linkage deformation of the bionic plantar foot, and cannot reasonably simulate the flexible limiting function of the human foot fascia.

[0008] In response to the above technical problems, a foot-bearing structure for a humanoid robot is proposed; it is achieved by the following technical solutions: a foot-bearing structure for a humanoid robot, comprising a front foot sole, a rear foot sole, an imitation arch piece and an imitation plantar fascia, the imitation arch piece comprising a front arch section and a rear arch section, one end of the front arch section being movably hinged to the front foot sole, and the other end being movably hinged to the rear arch section, the other end of the rear arch section being movably hinged to the rear foot sole, the front foot sole, the rear foot sole and the imitation arch piece together forming a triangular arch support that deforms longitudinally along the hinge; the imitation plantar fascia connects the front foot sole and the rear foot sole, the imitation plantar fascia deforms with the imitation arch piece, and stretches and rebounds synchronously; the imitation arch piece also comprises a flexible rotating mechanism, which is arranged in the front arch section and can rotate laterally relative to the imitation arch piece to simulate the movement of the transverse tarsal joint of the human foot and alleviate lateral disturbance when the robot foot lands; the flexible rotating mechanism comprises a rigid connecting shaft and a rotary damper, both of which are connected to the front arch section.

[0009] Preferably, the technical solution of the present invention is that the front bow segment includes a front bow segment front member and a front bow segment rear member, and the front bow segment front member and the front bow segment rear member are connected by a flexible rotation mechanism, the front bow segment front member includes a second hinged support, and the front bow segment front member is hinged to the front foot sole through the second hinged support, the front bow segment rear member includes a third hinged support, and the front bow segment rear member is hinged to the rear bow segment through the third hinged support. The two-stage design of the front bow segment facilitates the installation of the flexible rotation mechanism, so that the front bow segment undergoes small-angle internal and external rotation movements during landing or support stages, simulating the forward and backward rotation functions of the tarsal transverse joint of the human foot, improving the adaptability of the foot on complex terrain, and enhancing the stability of the robot's gait under lateral disturbances.

[0010] Preferably, the technical solution of the present invention is provided with a connecting shaft mounting hole and a damper mounting hole at one end of the front component of the front bow section away from the second hinged support, and the flexible rotating mechanism is connected to the rear component of the front bow section through the connecting shaft mounting hole and the damper mounting hole. Such an arrangement facilitates the installation of the flexible rotating mechanism.

[0011] In the preferred embodiment of the technical solution of the present invention, the rear arch section includes a second hinge platform and a fourth hinge support. The rear arch section is hinged to the front component of the front arch section through the second hinge platform, and the rear arch section is hinged to the rear foot sole through the fourth hinge support. This arrangement facilitates the front arch section and the rear arch section to form a triangular arch structure, which can undergo dynamic opening and closing deformation when subjected to load in the vertical direction, thereby helping to disperse the impact force. Compared with the rigid fixed structure, the imitation arch structure can reduce the vertical stiffness and prolong the contact buffering time in the initial stage of landing.

[0012] In the preferred embodiment of the technical solution of the present invention, the two ends of the rigid connecting shaft are connected to the front member of the bow segment and the rear member of the front bow segment, the two ends of the rotary damper are connected to the front member of the bow segment and the rear member of the front bow segment, the rear member of the front bow segment rotates relative to the front member of the front bow segment along the rigid connecting shaft, the rotary damper provides a damping torque for the rotation, and the setting of the flexible rotating mechanism enables the front bow segment to undergo small-angle internal and external rotation movements during the landing or support stage, simulating the forward and backward rotation functions of the tarsal transverse joint of the human foot, improving the adaptability of the foot on complex terrain, and enhancing the stability of the robot's gait under lateral disturbances.

[0013] Preferably, the technical solution of the present invention is that the flexible rotation mechanism also includes an elastic limiting device, which includes a limiting spring and a limiting block. The limiting block is fixed on the rotation damper, and the limiting spring is arranged in the limiter mounting hole in the front component of the front bow section. The limiting spring connects the limiting block and the limiter mounting hole. The elastic limiting device limits the lateral rotation angle of the flexible rotation mechanism relative to the imitation arch part, providing a "soft limit" rebound function for the lateral rotation. The setting of the elastic limiting device limits the relative rotation angle of the rotation damper. When the rotation damper rotates beyond the set angle limit, the elastic limiting device is compressed to provide a restoring force for the reverse rotation of the rotation damper.

[0014] In a preferred embodiment of the technical solution of the present invention, the rotary damper includes a connector with an elastic sleeve provided in the connector. The rotary damper is fixed in a damper mounting hole opened in the front component of the front bow section by a pin passing through the elastic sleeve, and the connector can move up and down along the pin in the damper mounting hole. Such an arrangement enables the robot foot to perform small-angle inward and outward rotation movements in the landing or support stage of the front bow section, thereby improving the adaptability of the foot on complex terrain and enhancing the stability of the robot's gait under lateral disturbances.

[0015] In the preferred embodiment of the technical solution of the present invention, the elastic sleeve is made of elastic material and can be deformed when the connecting head moves up and down along the pin. This arrangement facilitates the robot foot to perform small-angle internal and external rotation movements in the front arch section during landing or support phases, thereby improving the adaptability of the foot on complex terrain and enhancing the stability of the robot's gait under lateral disturbances.

[0016] In a preferred embodiment of the technical solution of the present invention, the imitation plantar fascia is made of an elastic material, such as rubber or thermoplastic polyurethane, and connecting pressure plates are provided at both ends of the imitation plantar fascia. The imitation plantar fascia is connected to the front sole and the rear sole respectively through the connecting pressure plates. The setting of the imitation plantar fascia enables the imitation plantar fascia to produce passive stretching during the sinking process of the top end of the imitation arch part under load, thereby simulating the coordinated stabilization mechanism and elastic energy storage and release mechanism of the human plantar fascia, so that the imitation arch part has storage capacity in the compression stage and generates restoring force in the foot lifting stage, thereby improving gait efficiency and naturalness of the foot.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The technical solution of the present invention, by providing a flexible rotation mechanism in the front arch segment, enables the front arch segment to undergo small-angle internal and external rotation during landing or support phases. This structurally simulates the forward and backward rotation functions of the transverse tarsal joint of the human foot, improving the foot's adaptability on complex terrain and enhancing the robot's gait stability under lateral disturbances. The rigid connecting shaft in the flexible rotation mechanism provides the main guiding rotational degree of freedom for the front bow segment. At the same time, the rotation dampers are arranged side by side to achieve a combination of rigid guidance and flexible control, realize structural independence and rotation angle control without interference, and effectively avoid the rigid coupling and misalignment problems commonly found in traditional multi-degree-of-freedom mechanisms. By utilizing the elastic limit device and the simulated plantar fascia, the lateral rotation angle of the arch of the foot is limited through the elastic limit device to prevent excessive internal and external rotation from causing interference or instability of the mechanism. The flexible constraint function of the simulated plantar fascia structure on the transverse tarsal joint is combined to improve the bionics and structural reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional schematic diagram of this application; Figure 2 This is the front view of the front component of the front bow section of this application (including the flexible rotating mechanism); Figure 3 This is the state diagram of the anterior bow segment after right rotation; Figure 4 This is the state diagram of the anterior arch segment after right rotation (stereoscopic diagram); Figure 5 This is the diagram of the anterior bow segment in the left rotation state; Figure 6 A three-dimensional diagram of the anterior arch segment (in perspective state and including a flexible rotating mechanism); Figure 7 It is a schematic diagram of the elastic limiting device in the front bow section; Figure 8 This is a schematic diagram of the connection between the plantar fascia and the front and rear plantar plates; Figure 9 Explosion diagram for this application; Explanation of the accompanying drawings: 1-front sole plate, 11-first articulated support, 2-rear sole plate, 21-first articulated platform, 22-plantar connecting shaft, 3-imitation arch member, 4-front bow segment, 41-front bow segment front component, 42-front bow segment rear component, 43-connecting shaft mounting hole, 44-second articulated support, 45-damper mounting hole, 46-third articulated support, 47-limiter mounting hole, 48-middle connecting shaft, 5-rear bow segment, 51-second articulated platform, 52-fourth articulated support, 6-flexible rotating mechanism, 61-rigid connecting shaft, 62-bearing, 63-rotational damper, 64-limiting spring, 65-limiting block, 66-connecting head, 67-elastic sleeve, 7-imitation plantar fascia, 71-connecting pressure plate. DETAILED DESCRIPTION

[0019] The following is a combination of the embodiments of the present invention Figures 1-9 , the technical solutions in the embodiments of the present invention are described in detail.

[0020] like Figure 1 As shown, a humanoid robot foot support structure includes a front foot sole plate 1, a rear foot sole plate 2, an imitation arch piece 3 and an imitation plantar fascia 7. One end of the imitation arch piece 3 is hinged to the front foot sole plate 1, and the other end is hinged to the rear foot sole plate 2. The imitation plantar fascia 7 connects the front foot sole plate 1 and the rear foot sole plate 2. The imitation arch piece 3, the rear foot sole plate 2 and the front foot sole plate 1 together form a triangular arch support.

[0021] The front sole plate 1 and the rear sole plate 2 are both made of metal plates, and are mainly used as carriers for installing the simulated arch member 3 and the simulated plantar fascia 7.

[0022] The simulated arch piece 3 includes a front arch segment 4 and a rear arch segment 5, which are hinged together by a middle connecting shaft 48. The simulated arch piece 3 cooperates with the front sole plate 1, the rear sole plate 2 and the simulated plantar fascia 7. When the robot foot is loaded in the vertical direction, it can undergo dynamic opening and closing deformation, which helps to disperse the impact force. Compared with a rigid fixed structure, the simulated arch piece 3 can reduce the vertical stiffness and prolong the contact buffering time in the initial stage of the robot foot landing.

[0023] A flexible rotation mechanism 6 is also installed in the front bow segment 4. The flexible rotation mechanism 6 enables the front bow segment 4 to undergo small-angle internal and external rotation movements when the robot foot lands or supports, structurally simulating the forward and backward rotation functions of the tarsal transverse joint of the human foot, thereby improving the adaptability of the robot foot on complex terrain and enhancing the gait stability of the robot under lateral disturbances.

[0024] The main function of the plantar fascia simulation 7 is to simulate the human plantar fascia. When the robot's foot touches the ground, it produces passive stretching, thereby simulating the coordinated stability mechanism and elastic energy storage and release mechanism of the human plantar fascia, so that the arch has storage capacity in the compression stage and generates recovery force in the foot lifting stage, thereby improving gait efficiency and foot naturalness.

[0025] Definition: In this embodiment, the ground is used as the reference. The direction from the ground to the sky is upward, and the opposite direction is downward. The direction from the heel to the toe is longitudinal. In this embodiment, the front sole 1 represents the toe, and the rear sole 2 represents the heel. In the horizontal direction, the direction perpendicular to the longitudinal direction is transverse. The direction from the foot of the humanoid robot to the other foot is inward, and the opposite direction is outward.

[0026] like Figure 1 、 Figure 8 and Figure 9 As shown, the front sole plate 1 and the rear sole plate 2 are both rectangular plates made of metal, and in this embodiment, they are preferably made of aluminum alloy.

[0027] In order to facilitate the connection with the imitation arch piece 3, a "U"-shaped hinge seat is welded on the upper surface of the front sole 1, and this hinge seat is named the first hinge support 11. Hinge holes are opened on the two vertical plates of the first hinge support 11, and the imitation arch piece 3 is hinged to the first hinge support 11 using this hinge hole.

[0028] A rectangular boss is welded in the center of the upper surface of the rear foot sole plate 2, and is named the first hinge platform 21. A hinge hole is opened on the first hinge platform 21, and the imitation arch piece 3 is hinged to the rear foot sole plate 2 through the hinge hole.

[0029] Regarding the hinge connection between the simulated arch piece 3 and the front sole plate 1 and the rear sole plate 2, this embodiment adopts a circular axis hinge, and this axis is named the sole connecting axis 22. After the hinge is completed, the simulated arch piece 3 can rotate along the sole connecting axis 22.

[0030] like Figure 1 、 Figure 4 、 Figure 6 、 Figure 7 and Figure 9 As shown, the imitation arch part 3 includes a front arch section 4 and a rear arch section 5. The front arch section 4 and the rear arch section 5 are hinged by a middle connecting shaft 48, and the front arch section 4 and the rear arch section 5 can rotate along the middle connecting shaft 48.

[0031] The front bow section 4 is a plate with a certain thickness. In order to reduce weight, the front bow section 4 can be made of a lightweight aluminum alloy or carbon fiber reinforced material with a certain rigidity and strength.

[0032] In order to facilitate the hinge connection between the rear arch section 5 and the front foot sole 1, a "U"-shaped hinge support is fixed integrally at each end of the front arch section 4, which are named the second hinge support 44 and the third hinge support 46 respectively. The front arch section 4 is hinged to the first hinge support 11 on the front foot sole 1 through the plantar connecting axis 22 using the second hinge support 44, and the front arch section 4 is hinged to the rear arch section 5 through the middle connecting axis 48 using the third hinge support 46.

[0033] In order to facilitate the installation of the flexible rotating mechanism 6, the front bow section 4 is divided into two sections from the middle, one of which is named the front bow section front component 41, and the other is named the front bow section rear component 42. The second articulated support 44 is located on the front bow section front component 41, and the third articulated support 46 is located on the front bow section rear component 42. The front bow section front component 41 and the front bow section rear component 42 are connected by the flexible rotating mechanism 6.

[0034] In order to facilitate the installation of the flexible rotating mechanism 6, a circular blind hole is opened perpendicular to the center of the end face of the front component 41 of the front bow section away from the second hinged support 44. This hole is named the connecting shaft mounting hole 43. The rigid connecting shaft 61 in the flexible rotating mechanism 6 is installed in this connecting shaft mounting hole 43. At the same time, a connecting shaft mounting hole 43 is also opened on the end face of the rear component 42 of the front bow section away from the third hinged support 46. The two ends of the rigid connecting shaft 61 are respectively fixed in the connecting shaft mounting holes 43 in the front component 41 of the front bow section and the rear component 42 of the front bow section.

[0035] In order to facilitate the installation of the rotary damper 63 in the flexible rotary mechanism 6, a connecting shaft mounting hole 43 is opened on the end face of the front bow section front component 41 and the front bow section rear component 42, and a hole is opened on both sides of the connecting shaft mounting hole 43, which is named as a damper mounting hole 45. The two ends of the rotary damper 63 are fixed in the damper mounting hole 45 by pins.

[0036] In order to limit the external and internal rotation angles of the front bow segment 4, a limiter mounting hole 47 is provided next to the damper mounting hole 45 in the front component 41 of the front bow segment. The elastic limiting device in the flexible rotation mechanism 6 is installed in this limiter mounting hole 47, and the internal / external rotation angles of the front bow segment 4 are limited by the elastic limiting device.

[0037] The rear bow segment 5 is a "T"-shaped block made of a lightweight aluminum alloy or carbon fiber reinforced material with a certain rigidity and strength. A rectangular platform is fixed integrally at a smaller section of the rear bow segment 5. This rectangular platform is named the second hinge platform 51. The second hinge platform 51 can be inserted into the third hinge support 46 in the rear member 42 of the front bow segment. A hinge hole is provided on the second hinge platform 51. The rear bow segment 5 is hinged to the third hinge support 46 using the second hinge platform 51. The hinge axis here is the middle connecting axis 48. The rear bow segment 5 can rotate along the middle connecting axis 48 relative to the rear member 42 of the front bow segment.

[0038] At the other end of the rear arch section 5, a "U"-shaped hinged support is fixed integrally, which is named the fourth hinged support 52. The first hinged platform 21 on the rear foot sole 2 can be inserted into this fourth hinged support 52 and hinged using the sole connecting shaft 22 to realize the hinged connection between the rear arch section 5 and the rear foot sole 2.

[0039] In this embodiment, the front sole plate 1 and the front arch segment front component 41 on the front arch segment 4 are hinged by the first hinge support 11 and the second hinge support 44, the rear sole plate 2 and the rear arch segment 5 are hinged by the fourth hinge support 52 and the first hinge platform 21, and the front arch segment 4 and the rear arch segment 5 are hinged by the third hinge support 46 and the second hinge platform 51 to form a rotating pair, so that the imitation arch member 3 as a whole forms a triangular arch support structure similar to the arch in a plane perpendicular to the sole of the foot, and also forms a three-section joint, so that the front arch segment 4 and the rear arch segment 5 of the foot can rotate in the longitudinal direction around the connecting axis of the hinge, realizing dynamic arch deformation capability.

[0040] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 9 As shown, the flexible rotation mechanism 6 includes a rigid connecting shaft 61, a rotation damper 63 and an elastic limiting device.

[0041] The rigid connecting shaft 61 is a circular shaft made of high-strength stainless steel. The main function of the rigid connecting shaft 61 is to connect the front component 41 of the front bow segment and the rear component 42 of the front bow segment. At the same time, the front component 41 of the front bow segment and the rear component 42 of the front bow segment can also rotate relative to the rigid connecting shaft 61 to realize the internal / external rotation of the front bow segment 4.

[0042] Regarding the connection between the rigid connecting shaft 61 and the front bow segment front component 41 and the front bow segment rear component 42, this embodiment preferably fixes a bearing 62 in the connecting shaft mounting hole 43, and the rigid connecting shaft 61 is fixed on the inner ring of the bearing 62 to achieve smooth rotation, and the rigid connecting shaft 61 cannot slide relative to the bearing 62.

[0043] The rotary damper 63 is an existing shell-solidified rotary viscous damper. The rotary damper 63 includes two inner rods and outer rods that can rotate with each other. A connecting head 66 is fixed on the two ends of the inner rod and the outer rod. A pin connection hole is opened on the connecting head 66. The rotary damper 63 is fixed in the damper mounting holes 45 in the front bow section front component 41 and the front bow section rear component 42 by pins.

[0044] In order to make the artificial foot adapt to the slight axis deviation or angular distortion produced by the front and rear components during the rotation of the transverse tarsal joint, the size of the damper mounting hole 45 opened on the rear component 42 of the front arch section is larger than the size of the connector 66. At the same time, the size of the pin hole opened on this connector 66 is larger than the size of the pin. An elastic sleeve 67 is inserted into the pin hole. The elastic sleeve 67 is a tube made of rubber. The outer wall of the elastic sleeve 67 is fixed to the inner wall of the pin hole with glue. The pin passes through the elastic sleeve 67, and the elastic sleeve 67 is used to absorb the slight axis deviation or angular distortion produced during use. Offset and achieve smooth connection, thereby avoiding shell stress or obstruction of movement caused by rigid fixation. At the same time, the rotation damper 63 is set at one end of the elastic sleeve 67, which can rise and fall during the rotation of the transverse tarsal joint, adapt to the rotation of the transverse tarsal joint within a small angle range, and when the front bow segment 4 rotates around the rigid connection axis 61, the rotation damper 63 provides a smooth and controllable damping torque. The rotation damper 63 makes the rotation return of the front bow segment 4 through viscous damping rather than elastic recovery, so that the rotation return of the front bow segment 4 is smoother and has less vibration.

[0045] The rotary damper 63 and the rigid connecting shaft 61 are arranged side by side and are functionally independent of each other. The rotary damper 63 only needs to reserve a small angle rotation space required by the output shaft rotation angle range, and does not require a large angle or overall shell flipping space.

[0046] When the humanoid foot undergoes internal or external rotation of the tarsal transverse joint, the rotary damper 63 undergoes limited spatial twisting, and one end of the elastic sleeve 67 installed in the rotary damper 63 can rise and fall during the rotation of the tarsal transverse joint, adapting to the rotation of the tarsal transverse joint within a small angle range. In addition, due to the buffering effect of the flexible connection kit and the symmetrical arrangement of the rotary damper 63, the entire structure can still achieve the functions of bionic support and stable control without interference.

[0047] In order to limit the lateral rotation of the foot within a certain angle range and better adapt to the movement pattern of the human foot, an elastic limit device is also installed in the limiter mounting hole 47 in the front bow section front component 41 and the front bow section rear component 42 to limit the rotation angle of the rotation damper 63.

[0048] The elastic limiting device includes a limiting spring 64 and a limiting block 65. The limiting block 65 is a rectangular metal block. The limiting block 65 is welded to the outer wall of the outer rod of the rotary damper 63. One end of the limiting spring 64 is fixed in the limiter mounting hole 47, and the other end is fixed on the limiting block 65. This fixing method is conventional.

[0049] When the rotary damper 63 rotates, when the outer rod in the rotary damper 63 rotates laterally inward or outward around the inner rod, the limit block 65 gradually contacts and compresses the limit spring 64, thereby limiting and buffering the rotation angle. The limit spring 64 allows the rotation angle to be limited to between ±10° (that is, after the limit spring 64 is fully expanded and compressed, the rotation angle of the rotary damper 63 is within ±10°), and when the rotation ends, it can provide flexible return to centering capability without external force.

[0050] In this embodiment, different elastic feedbacks can be achieved by adjusting the spring stiffness or preload on both sides, and the limit angle can be adjusted by replacing limit springs 64 of different specifications.

[0051] like Figure 1 、 Figure 8 and Figure 9 As shown, the simulated plantar fascia 7 is a rectangular sheet made of elastic material, and in this embodiment, it is preferably made of thermoplastic polyurethane material.

[0052] The length of the simulated plantar fascia 7 is customized according to the size of the sole of the foot. The simulated plantar fascia 7 stretches and rebounds during the deformation of the simulated arch part 3, simulating the human foot fascia to coordinately regulate the arch shape and energy storage and release functions.

[0053] The overall structure of the simulated arch member 3 and the front and rear soles 1 and 2 adopts a front-to-back hinged fixation (the simulated arch member 3 is hinged to the front and rear soles 1 and 2) - middle floating (the front arch segment front member 41 and the front arch segment rear member 42 are connected by a flexible rotation mechanism 6), and the simulated plantar fascia 7 is responsible for controlling the rigid-flexible coupling transition.

[0054] Regarding the connection between the simulated plantar fascia 7 and the front foot sole plate 1 and the rear foot sole plate 2, this embodiment adopts a connecting pressing plate 71 for connection. The connecting pressing plate 71 is a stainless steel metal plate, and a threaded hole is opened on the surface of the connecting pressing plate 71. The simulated plantar fascia 7 is placed on the upper surface of the front foot sole plate 1 and the rear foot sole plate 2, and the connecting pressing plate 71 is placed on the upper surface of the simulated plantar fascia 7. The connecting pressing plate 71 is connected to the front foot sole plate 1 and the rear foot sole plate 2 by screws, thereby realizing the connection between the simulated plantar fascia 7 and the front foot sole plate 1 and the rear foot sole plate 2.

[0055] The usage process of this embodiment: When the robot's foot lands on the ground, if there are slight unevenness or lateral slopes on the ground, causing uneven force or lateral disturbance on the contact surface, under the action of the flexible rotation mechanism 6, the front bow segment front component 41 and the front bow segment rear component 42 rotate relative to each other around the rigid connection shaft 61. At this time, the rotation dampers 63 on both sides of the rigid connection shaft 61 deform to generate a damping torque. Under the action of the elastic limit device, deformation within a small angle range is allowed, thereby realizing the micro-amplitude lateral rotation damping adjustment function of the robot's foot, simulating the flexible response movement of the tarsal transverse joint of the foot, thereby adapting to the ground shape. In this process, the simulated plantar fascia 7 twists and deforms with the lateral rotation of the foot, and together with the elastic limit device, limits the rotation of the rotation damper 63.

[0056] When the robot's foot lands on the ground, when the contact surface of the sole of the foot is uneven, the plantar fascia 7 is passively stretched to adapt to the ground. At the same time, it is also twisted and deformed as the foot rotates laterally, taking into account both structural stability and torsional flexibility. The rotation is guided by the rigid connection shaft 61, and the rotation dampers 63 on both sides provide elastic recovery and energy dissipation, achieving a clearer force transmission path, a more stable structure, and a more controllable response.

[0057] During the movement of the robot, the front arch section 4 and the rear arch section 5 undergo a slight opening and closing rotation movement around the middle connecting axis 48, causing the simulated arch piece 3 to undergo compression deformation as a whole. At the same time, the simulated arch piece 3 undergoes a slight angle change relative to the front sole 1 and the rear sole 2 around the foot connecting axis 22, causing the simulated arch piece 3 to contract or expand. The simulated plantar fascia 7 is passively stretched in this process and stores elastic energy. During the foot lifting or load unloading stage, the simulated plantar fascia 7 releases energy to assist the foot in returning to its original state, and the simulated plantar fascia 7 rebounds to provide partial energy feedback for the next stage of the robot.

[0058] The elastic restoring force generated by the simulated plantar fascia 7 can be approximately estimated according to the following formula: , where E f is the elastic modulus of the material of the simulated plantar fascia 7, A is the cross-sectional area of ​​the simulated plantar fascia 7, L0 is the initial length of the simulated plantar fascia 7, K f is the stiffness coefficient of the elastic material, is the elongation of the elastic change (where The value of is in a trigonometric relationship with the lengths of the front arch section 4 and the rear arch section 5 in the imitation arch member 3, as well as the opening angle of the imitation arch member 3).

[0059] The technical solution of this embodiment has "longitudinal elasticity + lateral flexible rotation + fascia-like linkage" at the same time, which enhances the dynamic stability, flexibility and energy utilization efficiency of the robot during walking.

[0060] The above embodiments are only for illustrating the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A humanoid robot foot support structure, characterized by: The invention comprises a front sole plate (1), a rear sole plate (2), an imitation foot arch member (3) and an imitation plantar fascia (7), wherein the imitation foot arch member (3) comprises a front arch section (4) and a rear arch section (5), wherein one end of the front arch section (4) is movably hinged to the front sole plate (1) and the other end is movably hinged to the rear arch section (5), and the other end of the rear arch section (5) is movably hinged to the rear sole plate (2), and the front sole plate (1), the rear sole plate (2) and the imitation foot arch member (3) together form a triangular arch support that is longitudinally deformed along the hinge. The simulated plantar fascia (7) connects the front sole plate (1) and the rear sole plate (2), and the simulated plantar fascia (7) deforms with the simulated arch member (3), stretches and rebounds synchronously; The imitation arch member (3) further includes a flexible rotation mechanism (6), which is arranged in the front arch section (4). The flexible rotation mechanism (6) can rotate laterally relative to the imitation arch member (3) to simulate the movement of the transverse tarsal joint of a human foot and alleviate the lateral disturbance when the robot's foot lands on the ground. The flexible rotation mechanism (6) comprises a rigid connection shaft (61) and a rotation damper (63), and both the rigid connection shaft (61) and the rotation damper (63) are connected to the front bow section (4).

2. The humanoid robot foot support structure according to claim 1, characterized in that: The front bow section (4) includes a front bow section front member (41) and a front bow section rear member (42), the front bow section front member (41) and the front bow section rear member (42) are connected via a flexible rotation mechanism (6), the front bow section front member (41) includes a second hinge support (44), the front bow section front member (41) is hinged to the front foot sole (1) via the second hinge support (44), the front bow section rear member (42) includes a third hinge support (46), the front bow section rear member (42) is hinged to the rear bow section (5) via the third hinge support (46).

3. The humanoid robot foot support structure according to claim 2, wherein: A connecting shaft mounting hole (43) and a damper mounting hole (45) are provided at one end of the front bow section front member (41) away from the second hinged support (44), and the flexible rotation mechanism (6) is connected to the front bow section rear member (42) via the connecting shaft mounting hole (43) and the damper mounting hole (45).

4. The humanoid robot foot support structure according to claim 1, wherein: The rear arch section (5) comprises a second hinge platform (51) and a fourth hinge support (52); the rear arch section (5) is hinged to the front member (41) of the front arch section via the second hinge platform (51); and the rear arch section (5) is hinged to the rear foot sole (2) via the fourth hinge support (52).

5. The humanoid robot foot support structure according to claim 2, wherein: The two ends of the rigid connection shaft (61) are connected to the bow segment front member (41) and the front bow segment rear member (42), and the two ends of the rotation damper (63) are connected to the bow segment front member (41) and the front bow segment rear member (42). The front bow segment rear member (42) rotates relative to the front bow segment front member (41) along the rigid connection shaft (61), and the rotation damper (63) provides a damping torque for the rotation.

6. The humanoid robot foot support structure according to claim 5, characterized in that: The flexible rotation mechanism (6) further includes an elastic limiting device, which includes a limiting spring (64) and a limiting block (65). The limiting block (65) is fixed to the rotation damper (63). The limiting spring (64) is arranged in the limiter mounting hole (47) in the front member (41) of the front arch section. The limiting spring (64) connects the limiting block (65) and the limiter mounting hole (47). The elastic limiting device limits the lateral rotation angle of the flexible rotation mechanism (6) relative to the imitation arch member (3), providing a "soft limit" rebound function for the lateral rotation.

7. The humanoid robot foot support structure according to claim 5, characterized in that: The rotary damper (63) includes a connector (66) in which an elastic sleeve (67) is provided. The rotary damper (63) is fixed in a damper mounting hole (45) provided in the front member (41) of the front bow section via a pin passing through the elastic sleeve (67). The connector (66) can move up and down along the pin in the damper mounting hole (45).

8. The humanoid robot foot support structure according to claim 7, characterized in that: The elastic sleeve (67) is made of an elastic material and can be deformed when the connector (66) moves up and down along the pin.

9. The humanoid robot foot support structure according to claim 1, characterized in that: The simulated plantar fascia (7) is made of an elastic material, such as rubber or thermoplastic polyurethane. Connecting pressing plates (71) are provided at both ends of the simulated plantar fascia (7). The simulated plantar fascia (7) is connected to the front sole plate (1) and the rear sole plate (2) respectively via the connecting pressing plates (71).

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