Robot bionic sole

Abstract

The utility model provides a bionic foot sole of a robot, which comprises a rear foot sole, a front foot sole and a rear foot sole, the half sole is connected to the rear sole through a rotating assembly; the limiting assembly is arranged at the end, close to the front sole, of the rear sole and used for limiting the rotation amplitude between the front sole and the rear sole. The utility model solves the technical problem that the rotation amplitude of the front sole and the rear sole is too large in the advancing process of the existing bionic sole of the robot, so that a rotating component for connecting the front sole and the rear sole can bear stress exceeding the elastic limit under extreme conditions, and the rotating component is irreversibly deformed to fail.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, relate to a robot bionic sole. BACKGROUND

[0002] With the development of robot technology, people find that the robot fixed in a certain position operation cannot fully meet the needs of all aspects. Therefore, the research of mobile robot becomes the main direction of robot technology. Among them, the walking mobile robot is widely concerned due to its good flexibility, strong adaptability and good man-machine interaction. The current robot bionic sole usually adopts the way of front and rear sole activity connection to improve the flexibility of robot bionic foot, so as to adapt to more complex terrain.

[0003] However, there are at least one of the following problems in the related art: the existing robot bionic sole due to the rotation amplitude of the front and rear soles in the process of marching is too large, so that the rotating assembly connecting the front and rear soles will bear stress exceeding the elastic limit under extreme conditions, and then the rotating assembly produces irreversible deformation and fails. SUMMARY

[0004] The technical problem solved by the utility model is that the existing robot bionic sole due to the rotation amplitude of the front and rear soles in the process of marching is too large, so that the rotating assembly connecting the front and rear soles will bear stress exceeding the elastic limit under extreme conditions, and then the rotating assembly produces irreversible deformation and fails.

[0005] To solve the above problems, the utility model provides a robot bionic sole, which comprises: a rear sole, one end of the rear sole is provided with a rotating assembly; a front sole, the front sole is connected to the rear sole through the rotating assembly; a limiting assembly, the limiting assembly is arranged at one end of the rear sole close to the front sole, and is used for limiting the rotation amplitude between the front and rear soles.

[0006] Compared with the prior art, the technical effects reached by adopting the technical scheme are: by arranging the limiting assembly on the rear sole, the rotation amplitude of the front sole relative to the rear sole in the process of marching is limited to a certain extent, so that the problem that the elastic material connecting the front and rear soles bears stress exceeding the elastic limit due to the too large rotation amplitude of the front and rear soles is prevented, irreversible deformation of the elastic material is avoided, and the stability of the robot bionic sole in marching is improved.

[0007] In one example of the utility model, when the rear and front soles are defined to be in the same plane, the front sole is located at the first position; one end of the rear sole connected with the front sole is also provided with a mounting position; the rotating assembly comprises an elastic member, and the elastic member is arranged in the mounting position; wherein the elastic member applies an elastic force to the front sole to maintain the first position.

[0008] Compared with the prior art, the technical effects reached by adopting the technical scheme are: the installation position is arranged at the joint between the rear palm and the front palm, so that an independent installation space is provided for the elastic member, and the elastic member can be replaced during maintenance; and the elastic member can reset the front palm.

[0009] In one example of the utility model, the installation position comprises a rotating space and installation platforms arranged on both sides of the rotating space; and the elastic member comprises: a torsion spring shaft, both ends of the torsion spring shaft being installed on the installation platforms; and a plurality of torsion spring members, the plurality of torsion spring members being sleeved on the torsion spring shaft and rotating around the axis of the torsion spring shaft in the rotating space.

[0010] Compared with the prior art, the technical effects reached by adopting the technical scheme are: the installation platform is arranged, and the torsion spring members are sleeved on the torsion spring shaft, so that the stability of the torsion spring members during operation is improved; in combination with actual working conditions, when the torsion spring shaft needs to be loosened or the torsion spring members need to be replaced, the torsion spring shaft can be conveniently tightened or disassembled by the staff, so that the torsion spring members can be replaced; and the torsion spring shaft can prevent the torsion spring members from deviating in the direction of elastic force during work.

[0011] In one example of the utility model, the installation position further comprises a first matching surface; the front palm is provided with a second matching surface corresponding to the first matching surface; and the torsion spring member comprises: a torsion spring main body, the torsion spring main body being sleeved on the torsion spring shaft; a torsion spring first end, the torsion spring first end being arranged on one side of the torsion spring main body close to the first matching surface and matching the first matching surface; and a torsion spring second end, the torsion spring second end being arranged on one side of the torsion spring main body close to the second matching surface and matching the second matching surface.

[0012] Compared with the prior art, the technical effects reached by adopting the technical scheme are: the first matching surface and the second matching surface are arranged, and the two surfaces respectively match the torsion spring first end and the torsion spring second end, so that the elastic member can stably act on the front palm and the rear palm, and the stable application of elastic force is ensured.

[0013] In one example of the utility model, the limiting assembly and the rear palm form a first limiting included angle.

[0014] Compared with the prior art, the technical effects reached by adopting the technical scheme are: the first limiting included angle is arranged, so that a clear limiting angle is provided for the relative rotation of the front palm, and the elastic member is prevented from being over-limited and invalid due to the excessive relative rotation of the front palm.

[0015] In one example of the utility model, the first limiting included angle is 45 degrees.

[0016] Compared with the prior art, the technical effects reached by adopting the technical scheme are: the first limiting included angle is set to 45 degrees, so that the gait of the robot is more in line with the actual marching situation.

[0017] In one example of the utility model, one side of the limiting assembly abutting against the front sole is provided with a buffer part.

[0018] Compared with the prior art, the technical effects reached by adopting the technical scheme are as follows: the buffer part is arranged to provide a buffering effect when the limiting assembly contacts the front sole, reduce the impact of the front sole of the robot bionic foot on the limiting assembly when the robot bionic foot is walking, and prolong the service life of the robot bionic foot.

[0019] In one example of the utility model, the robot bionic foot further comprises an ankle structure, the ankle structure is arranged on the rear sole, and is arranged away from the front sole.

[0020] Compared with the prior art, the technical effects reached by adopting the technical scheme are as follows: the ankle structure is arranged to further simulate the function of the human ankle.

[0021] In one example of the utility model, the bottom surface of the front sole is provided with wear-resistant and anti-skid material; and / or the bottom surface of the rear sole is provided with wear-resistant and anti-skid material.

[0022] Compared with the prior art, the technical effects reached by adopting the technical scheme are as follows: the wear-resistant and anti-skid material is arranged to increase the friction between the front sole, the rear sole and the ground, adapt to the situation that the ground is wet and slippery, and ensure the stability of the robot bionic foot when walking.

[0023] In one example of the utility model, the bottom of the rear sole is further provided with an arch structure.

[0024] Compared with the prior art, the technical effects reached by adopting the technical scheme are as follows: the arch structure is designed to simulate the support mode of the human foot arch, and improve the stability when walking.

[0025] After the technical scheme of the utility model is adopted, the following technical effects can be achieved:

[0026] (1) the limiting assembly is arranged on the rear sole, so that the rotation range of the front sole relative to the rear sole is limited to a certain extent when the robot bionic foot is walking, the problem that the elastic material between the front sole and the rear sole is deformed irreversibly and fails due to the stress exceeding the elastic limit of the elastic material caused by too large rotation range of the front sole and the rear sole is avoided, and the stability of the robot bionic foot when walking is improved;

[0027] (2) By setting up an installation platform and fitting the torsion spring component onto the torsion spring shaft, the stability of the torsion spring component during operation is improved. In combination with the actual working conditions, when the torsion spring shaft needs to be loosened or the torsion spring component fails, the staff can more easily tighten or disassemble the torsion spring shaft to replace the torsion spring component. At the same time, the torsion spring shaft can prevent the torsion spring component from shifting the direction of elastic force during operation.

[0028] (3) By setting the first mating surface and the second mating surface, and by mating them with the first end and the second end of the torsion spring respectively, the elastic element achieves a stabilizing effect between the forefoot and the heel, thus ensuring the stable application of elastic force. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the structure of a robot's bionic foot provided in an embodiment of this utility model;

[0031] Figure 2 for Figure 1 The diagram shows the structure of the robot's bionic foot from another perspective.

[0032] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0033] Figure 4 for Figure 1 The diagram shows the structure of the robot's bionic foot from another perspective.

[0034] Figure 5 for Figure 1 The diagram shows the structure of the robot's bionic foot from another perspective.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100. Robotic bionic foot; 10. Heel; 11. Arch structure; 20. Forefoot; 30. Limiting component; 31. Buffer section; 40. First pivot; 50. Elastic element; 51. Torsion spring pivot; 52. Torsion spring element; 521. Torsion spring body; 522. First end of torsion spring; 60. Mounting platform; 61. First mating surface; 62. Second mating surface; 70. Ankle structure. Detailed Implementation

[0037] The embodiments of the present application will be described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, and are used to explain the present application, and should not be understood as a limitation to the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between the two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0040] Referring to Figure 1 , which is a structural schematic view of a robot bionic foot sole provided by the embodiment of the present application; in combination with Figures 2 to 5 , specifically, a robot bionic foot sole 100 comprises: a rear sole 10, a front sole 20 and a limiting component 30, one end of the rear sole 10 is provided with a rotating component; the front sole 20 is connected to the rear sole 10 through the rotating component; the limiting component 30 is arranged at one end of the rear sole 10 close to the front sole 20, and is used for limiting the rotation amplitude between the front sole 20 and the rear sole 10.

[0041] Specifically, by arranging the limiting component 30 on the rear sole 10, the rotation amplitude of the front sole 20 relative to the rear sole 10 is limited to a certain extent during the advancing of the robot bionic foot sole 100, which prevents the elastic material between the front sole 20 and the rear sole 10 from bearing stress exceeding the elastic limit due to too large rotation amplitude of the front and rear soles, thereby avoiding the problem of irreversible deformation and failure of the elastic material, and improving the stability of the robot bionic foot sole 100 during advancing.

[0042] Preferably, when the rear sole 10 and the front sole 20 are in the same plane, the front sole 20 is located at the first position; one end of the rear sole 10 connected with the front sole 20 is further provided with a mounting position; the rotating component comprises an elastic member 50, and the elastic member 50 is arranged at the mounting position; wherein the elastic member 50 applies an elastic force to the front sole 20 to maintain the first position.

[0043] Specifically, the mounting position is arranged at the connecting end of the rear palm 10 and the front palm 20, so that the elastic member 50 is provided with an independent mounting space, and the elastic member 50 is convenient to replace during maintenance; meanwhile, the elastic member 50 can reset the front palm 20.

[0044] Further, the rotating assembly further comprises a first rotating shaft 40, and the two sides of the mounting position are provided with shaft holes, and the first rotating shaft 40 is arranged in the shaft holes.

[0045] Preferably, the mounting position comprises a rotating space and mounting platforms 60 arranged on both sides of the rotating space; the elastic member 50 comprises a torsion spring shaft 51 and a plurality of torsion spring members 52, and the two ends of the torsion spring shaft 51 are mounted on the mounting platforms 60; the plurality of torsion spring members 52 are sleeved on the torsion spring shaft 51 and rotate in the rotating space around the axis of the torsion spring shaft 51.

[0046] Specifically, the mounting platforms 60 are arranged, and the torsion spring members 52 are sleeved on the torsion spring shaft 51, so that the stability of the torsion spring members 52 during operation is improved; in combination with the actual working condition, when the torsion spring shaft 51 needs to be loosened or the torsion spring members 52 fail, the torsion spring shaft 51 can be conveniently tightened or disassembled by the worker, so that the torsion spring members 52 can be replaced; meanwhile, the torsion spring shaft 51 can prevent the torsion spring members 52 from deviating in the direction of the elastic force during work.

[0047] Further, the first rotating shaft 40 and the torsion spring shaft 51 are coaxial.

[0048] Preferably, the mounting position further comprises a first matching surface 61; the front palm 20 is provided with a second matching surface 62 corresponding to the first matching surface 61; the torsion spring member 52 comprises a torsion spring main body 521, a torsion spring first end 522 and a torsion spring second end, and the torsion spring main body 521 is sleeved on the torsion spring shaft 51; the torsion spring first end 522 is arranged on the side of the torsion spring main body 521 close to the first matching surface 61 and matches the first matching surface 61; the torsion spring second end is arranged on the side of the torsion spring main body 521 close to the second matching surface 62 and matches the second matching surface 62.

[0049] Specifically, the first matching surface 61 and the second matching surface 62 are arranged and matched with the torsion spring first end 522 and the torsion spring second end respectively, so that the elastic member 50 can realize the stable effect between the front palm 20 and the rear palm 10, and ensure the stable application of the elastic force.

[0050] Further, the first matching surface 61 is arranged at an angle with the top surface of the rear palm 10; and the second matching surface 62 is arranged at an angle with the top surface of the front palm 20.

[0051] Preferably, the first limiting angle a is formed between the limiting assembly 30 and the rear palm 10.

[0052] Specifically, by setting the first limiting angle, the relative rotation of the forepaw 20 is provided with a clear limiting angle, preventing the elastic member 50 from being over-limited and failing due to the excessive relative rotation of the forepaw 20.

[0053] Preferably, the first limiting angle a is 45 degrees.

[0054] Specifically, by setting the first limiting angle a to 45 degrees, the gait of the robot is more in line with the actual walking situation.

[0055] Preferably, the side of the limiting assembly 30 abutting against the forepaw 20 is provided with a buffer portion 31.

[0056] Specifically, by setting the buffer portion 31, a buffering effect is provided when the limiting assembly 30 contacts the forepaw 20, reducing the impact of the forepaw 20 on the limiting assembly 30 when the robot bionic foot 100 is walking, and prolonging the service life of the robot bionic foot 100.

[0057] Preferably, the robot bionic foot 100 further comprises an ankle structure 70, which is arranged on the rear paw 10 and away from the forepaw 20.

[0058] Specifically, by setting the ankle structure 70, the function of the human ankle is further simulated.

[0059] Further, the ankle structure 70 comprises an omnidirectional ankle structure 70 which can be adapted to different robots.

[0060] Preferably, the bottom surface of the forepaw 20 is provided with wear-resistant and anti-skid material; and / or the bottom surface of the rear paw 10 is provided with wear-resistant and anti-skid material.

[0061] Specifically, the setting of the wear-resistant and anti-skid material increases the friction between the forepaw 20 and the rear paw 10 and the ground, which can adapt to the situation of wet and slippery ground, and ensures the stability of the robot bionic foot 100 when walking.

[0062] Preferably, the bottom of the rear paw 10 is further provided with an arch structure 11.

[0063] Specifically, by designing the arch structure 11, the support mode of the human foot arch is simulated, and the stability when walking is improved.

[0064] Although the present utility model is disclosed as above, the present utility model is not limited thereto. Any person skilled in the art, without departing from the spirit and scope of the present utility model, can make various changes and modifications, therefore the protection scope of the present utility model should be subject to the range defined by the claims.

Claims

1. A bionic foot for robots, characterized in that, include: The rear foot (10) has a rotating component at one end; Forefoot (20), the forefoot (20) is connected to the heel (10) via the rotating assembly; A limiting component (30) is provided at one end of the heel (10) near the forefoot (20) to limit the rotation range between the forefoot (20) and the heel (10).

2. The bionic foot of the robot according to claim 1, characterized in that, When the hindfoot (10) and the forefoot (20) are on the same plane, the forefoot (20) is in the first position; The end of the heel (10) that connects to the forefoot (20) is also provided with an installation position; The rotating assembly includes an elastic element (50), which is disposed at the mounting position; The elastic element (50) applies an elastic force to the forefoot (20) to maintain the first position.

3. The bionic foot of the robot according to claim 2, characterized in that, The mounting position includes a rotation space and mounting platforms (60) located on both sides of the rotation space. The elastic element (50) includes: Torsion spring shaft (51), both ends of which are mounted on the mounting platform (60); Multiple torsion springs (52) are sleeved on the torsion spring shaft (51) and rotate around the axis of the torsion spring shaft (51) in the rotation space.

4. The bionic foot of the robot according to claim 3, characterized in that, The mounting position also includes a first mating surface (61); The forefoot (20) has a second mating surface (62) corresponding to the first mating surface (61); The torsion spring (52) includes: Torsion spring body (521), the torsion spring body (521) is sleeved on the torsion spring shaft (51); The first end (522) of the torsion spring is located on the side of the torsion spring body (521) close to the first mating surface (61) and mates with the first mating surface (61); The second end of the torsion spring is located on the side of the torsion spring body (521) near the second mating surface (62) and mates with the second mating surface (62).

5. The bionic foot of the robot according to claim 1, characterized in that, A first limiting angle is formed between the limiting component (30) and the rear foot (10).

6. The bionic foot of the robot according to claim 5, characterized in that, The first limiting angle is 45 degrees.

7. The bionic foot of the robot according to claim 1, characterized in that, The side of the limiting component (30) that abuts against the forefoot (20) is provided with a buffer part (31).

8. The bionic foot of the robot according to claim 1, characterized in that, The bionic foot of the robot also includes an ankle structure (70), which is located on the hind foot (10) and away from the forefoot (20).

9. The bionic foot of the robot according to claim 1, characterized in that, The bottom surface of the forefoot (20) is provided with a wear-resistant and anti-slip material; and / or The bottom surface of the heel (10) is provided with a wear-resistant and anti-slip material.

10. The bionic foot of the robot according to claim 1, characterized in that, The bottom of the heel (10) is also provided with an arch structure (11).

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