Foot structure and footed robot

Abstract

The present application provides a foot structure and a legged robot, wherein the foot structure includes a sole and a mid-foot; the mid-foot includes a first connecting portion, a second connecting portion, and a storage portion, the storage portion being disposed between the first connecting portion and the second connecting portion, the first connecting portion being detachably connected to the leg of the legged robot, the second connecting portion being detachably connected to the sole, and a sensor being disposed within the storage portion for detecting signals transmitted from the sole. The mid-foot portion of the foot structure provided in the present application detects signals transmitted from the sole via a sensor disposed in the storage portion, is detachably connected to the leg of the legged robot via the first connecting portion, and is detachably connected to the sole via the second connecting portion, thereby meeting the needs of the legged robot for replacing the foot in different scenarios.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a foot structure and a footed robot. Background Art

[0002] With the advancement of technology, the variety of robots has increased. Legged robots, with their superior freedom and flexibility, have attracted attention. They enable bipedal walking and related movements. As mechanically controlled dynamic systems, they possess a rich set of dynamic characteristics. However, the feet of legged robots are often integrally molded with the legs and cannot be replaced, making them difficult to adapt to changing foot configurations in different scenarios. Summary of the Invention

[0003] The present invention provides a foot structure that can meet the needs of a footed robot for replacing feet in different scenarios. The present invention provides a foot structure that includes:

[0004] sole of foot;

[0005] The mid-foot includes a first connecting part, a second connecting part and a storage part, the storage part is arranged between the first connecting part and the second connecting part, the first connecting part is detachably connected to the leg of the foot robot, the second connecting part is detachably connected to the sole of the foot, and a sensor is arranged in the storage part, and the sensor is used to detect the signal transmitted by the sole of the foot.

[0006] The present application also provides a foot-type robot, comprising the foot structure described above.

[0007] The mid-foot part of the foot structure provided in the present application detects the signal transmitted from the sole of the foot through a sensor arranged in the storage part. It is detachably connected to the leg of the foot-type robot through a first connection part, and is detachably connected to the sole of the foot through a second connection part, which can meet the needs of the foot-type robot to replace the feet in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0009] Figure 1 Schematic diagram of the structure of the foot-type structure and part of the leg of the foot-type robot provided in the embodiment of the present application.

[0010] Figure 2 for Figure 1Structural exploded view of the structure shown.

[0011] Figure 3 This is a schematic structural diagram of the midfoot from a first perspective provided in an embodiment of the present application.

[0012] Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure of the structure shown.

[0013] Figure 5 This is a schematic structural diagram of the midfoot from a second perspective provided in an embodiment of the present application.

[0014] Figure 6 A schematic structural diagram of part of the legs of a leg-type robot provided in an embodiment of the present application.

[0015] Figure 7 This is a schematic structural diagram of the sole and midfoot from a first perspective provided in an embodiment of the present application.

[0016] Figure 8 A schematic structural diagram of the sole and midfoot from a second perspective provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0018] The present application provides a foot structure for a footed robot. Figure 1 and Figure 2 , Figure 1 Schematic diagram of the structure of the foot-type structure and part of the leg of the foot-type robot provided in the embodiment of the present application. Figure 2 for Figure 1 Structural exploded view of the structure shown.

[0019] The foot structure 10 includes a sole 11 and a mid-foot 12. The mid-foot 12 includes a first connecting portion 121, a second connecting portion 122 and a storage portion 123. The storage portion 123 is arranged between the first connecting portion 121 and the second connecting portion 122. The first connecting portion 121 is detachably connected to the leg 20 of the foot robot (only part of the leg is shown), and the second connecting portion 122 is detachably connected to the sole 11. A sensor 124 is arranged in the storage portion 123, and the sensor 124 is used to detect the signal transmitted by the sole 11.

[0020] Among them, the legged robot can be a bipedal robot, a quadruped robot, or a multi-legged robot. In general application scenarios, the sole of the foot of the legged robot needs to detect the force on the sole end, etc., and is often provided with a semi-cushioned sole with a certain rigidity and low cushioning. In application scenarios where noise reduction is required, a full-cushioned sole with greater cushioning is often provided. The feet of the related legged robots are often not replaceable, and the replaceability and practicality of a single sole structure are poor. The mid-foot portion 12 of the foot structure 10 provided in the present application detects the signal transmitted by the sole of the foot through a sensor provided in the storage portion 123. It is detachably connected to the leg portion 20 of the legged robot via a first connecting portion 121 and detachably connected to the sole portion 11 of the foot via a second connecting portion 122, which can meet the needs of the legged robot to replace the foot in different scenarios.

[0021] Please continue reading Figure 3 , Figure 3 This is a schematic diagram of the midfoot structure from a first perspective provided by an embodiment of the present application. The storage portion 123 may be provided with a through hole 1231 extending through the storage portion 123. An elastic member 125 is disposed within the through hole 1231 and connected to the wall of the through hole 1231. A sensor 124 is disposed on the elastic member 125 and is configured to detect a deformation signal generated by deformation of the elastic member 125 caused by deformation of the sole 11 of the foot. It is understood that the sensor 124 may include a pressure sensor composed of a strain gauge. The strain gauge may detect the deformation signal generated by deformation of the elastic member 125 caused by the support force generated by deformation of the sole 11 of the foot, and transmit the deformation signal to the processor of the footed robot, so that the processor controls the footed robot based on the deformation signal. In some embodiments, the sensor may also include an acceleration and angular velocity sensor for measuring the foot joint acceleration. The sensor data may be used to calculate the foot structure posture, foot end collision, foot end slippage, and other conditions.

[0022] The hole wall may include a first hole wall 1232 and a second hole wall 1233 that are arranged opposite to each other, the elastic member includes a first elastic arm 1251 and a second elastic arm 1252, the first elastic arm 1251 includes a first end 12511 and a second end 12512, the first end 12511 is connected to the first hole wall 1232, and the second end 12512 is connected to the second hole wall 1233, the hole wall also includes a third hole wall 1234 connecting the first hole wall 1232 and the second hole wall 1233, the second elastic arm 1252 includes a third end 12521 and a fourth end 12522, the third end 12521 is connected to the part between the first end 12511 and the second end 12512 of the first elastic arm 1251, and the fourth end 12522 is connected to the third hole wall 1234, the sensor 124 is arranged on the first elastic arm 1251, and the sensor 124 can also be arranged on the second elastic arm 1252, and the sensor 124 can also be arranged on the first elastic arm 1251 and the second elastic arm 1252.

[0023] In order to protect the sensor 124, a protective member is provided in the storage portion 123. Figures 1 to 4 , Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure of the structure shown.

[0024] The through hole 1231 includes a first hole 1235 and a second hole 1236. A first protective member 126 is provided on the side of the elastic member 125 facing the first hole 1235, and a second protective member 127 is provided on the side of the elastic member 125 facing the second hole 1236. The first protective member 126 and the second protective member 127 are both in contact with the hole wall of the through hole 1231.

[0025] To facilitate assembly and disassembly, the first protective member 126 is provided with a first clamping portion 1261, and the first clamping portion 1261 is provided with two clamping openings, which face the first opening 1235. When the first protective member 126 needs to be taken out of the storage portion 123 or installed from outside the storage portion 123 to inside the storage portion, a clamping tool such as tweezers can be used to act on the two clamping openings 12611, and the first protective member 126 can be assembled into the through hole of the storage portion 123 or taken out from the through hole of the storage portion 123 through the two clamping openings 12611. The second protective member 127 is also provided with a second clamping portion 1271. The second clamping portion 1271 has two clamping openings (similar to the clamping openings of the first clamping portion 1261). The two clamping openings face the second opening 1236. When the second protective member 127 needs to be removed from the through-hole 1231 of the receiving portion 123 or installed from the outside of the receiving portion 123 into the through-hole 1231 of the receiving portion 123, a clamping tool such as tweezers can be used to act on the two clamping openings to assemble the second protective member 127 into or remove it from the through-hole 1231 of the receiving portion 123. The first protective member 126 and the second protective member 127 may be rubber gaskets. The interference fit between the rubber gaskets and the wall of the through-hole 1231 provides protection for the sensor 124 from water and dust.

[0026] Please continue reading Figures 1 to 6 , Figure 5 This is a schematic structural diagram of the midfoot from a second perspective provided in an embodiment of the present application. Figure 6 A schematic structural diagram of part of the legs of a leg-type robot provided in an embodiment of the present application.

[0027] The first connecting portion 121 includes a first connecting end 1211 connected to part of the leg 20 of the footed robot and a first side portion 1212 adjacent to the first connecting end 1211. The first connecting end 1211 is provided with a first fixing groove 1213, and the first side portion 1212 is provided with at least one first fixing hole 1214. As shown in the figure, two first fixing holes 1214 are provided, and the first fixing holes 1214 are connected to the first fixing groove 1213. When the leg 20 of the footed robot is connected to the first connecting portion 121, the first fixing groove 1213 accommodates the protrusion 21 of the leg 20 of the footed robot. The protrusion 21 is provided with a first limiting hole 211 corresponding to the first fixing hole 1214, and the first fixing member 128 is penetrated by the first fixing hole 1214 and the first limiting hole 211. Among them, the first fixing part 128 can be a screw, and the hole wall of the first fixing hole 1214 and / or the first limiting hole 211 can be provided with a thread that is compatible with the screw. The screw can fix the leg of the foot-type robot to the mid-foot. When the mid-foot needs to be replaced, the mid-foot and the leg can be separated by removing the screw.

[0028] In order to make the connection between the leg 20 and the mid-foot 12 of the foot robot more stable, a snap-in groove 1215 is provided on the periphery of the first connecting end 1211, and the leg 20 of the foot robot is provided with a stop structure 22. The stop structure 22 is provided around the protrusion 21. The stop structure 22 can be provided around the protrusion 21, and the stop structure 22 can be snapped into the snap-in groove 1215 to limit the mid-foot 12 for easy installation.

[0029] Please continue reading Figures 1 to 8 , Figure 7 This is a schematic structural diagram of the sole and midfoot from a first perspective provided in an embodiment of the present application. Figure 8 A schematic structural diagram of the sole and midfoot from a second perspective provided in an embodiment of the present application.

[0030] The second connection portion 122 includes a second connection end 1221 connected to the sole 11 and a second side portion 1222 adjacent to the second connection end 1221. The second connection end 1221 is provided with a second fixing groove 1223, and the second side portion 1222 is provided with at least one second fixing hole 1224. As shown in the figure, the second side portion 1222 is provided with two second fixing holes 1224, and the second fixing holes 1224 are connected to the second fixing groove 1223. The sole 11 is provided with a protrusion 111, and the protrusion 111 is provided with a second limiting hole 1111 corresponding to the second fixing hole 1224. When the second connection portion 122 is connected to the sole 11, the second fixing groove 1223 accommodates the protrusion 111, and the second fixing member 129 is penetrated by the second fixing hole 1224 and the second limiting hole 1111. Among them, the second fixing member 129 can be similar to the first fixing member 128, the second fixing member 129 can be a screw, the hole wall of the second fixing hole 1224 and / or the second limiting hole 1111 can be provided with a thread that is compatible with the screw, and the screw can fix the midfoot 12 and the sole of the foot 11. When the sole of the foot 11 needs to be replaced, the midfoot 12 and the sole of the foot 11 can be separated by removing the screw.

[0031] In order to make the connection between the sole 11 and the midfoot 12 more stable, the sole 11 is further provided with a protruding stop structure 112. The protruding stop structure 112 is arranged around the protruding portion 111 and can be arranged around the protruding portion 21. The second connecting end 1221 is further provided with a limiting groove 1225, and the protruding stop structure 112 can be arranged in the limiting groove 1225. The protruding stop structure 112 has three arc-shaped stops, and the shapes and positions of the three limiting grooves 1225 correspond to the three arc-shaped stops. It is understandable that the stop structure 112 and the limiting groove 1225 can also have other shapes. By engaging the protruding stop structure 112 with the limiting groove 1225, the sole 11 can be limited, which facilitates installation.

[0032] In some embodiments, in order to facilitate the routing of the sensor 124, routing holes 120 are provided on the legs and mid-foot of the legged robot. The sensor 124 can be electrically connected to the sensor of the legged robot through a wire passing through the routing hole 120, and the signal detected by the sensor 124 is transmitted to the processor. The processor controls the operation of the legged robot according to the signal detected by the sensor 124.

[0033] The sole of the foot can be a semi-rubber-pad sole or a full-rubber sole. The semi-rubber-pad sole has less cushioning and greater rigidity, allowing for high-precision detection of force applied to the sole. The full-rubber sole provides greater cushioning and can effectively reduce noise during operation. Both forms have their own advantages and application scenarios. The foot-type robot provided in the embodiments of this application can replace the corresponding sole according to the specific application scenario.

[0034] During the actual assembly process, first, align the snap-fit ​​groove 1215 on the first connecting part 121 of the midfoot 12 with the stop structure 22 on the leg 20, align the protrusion 21 on the leg 20 with the first fixing groove 1213 on the first connecting part 121, and the stop structure 22 is snapped with the snap-fit ​​groove 1215. The protrusion 21 is arranged in the first fixing groove 1213, and the first limiting hole 211 on the protrusion 21 is aligned with the first fixing hole 1214 set on the first side part 1212. Then, the protrusion 21 and the midfoot 12 are locked by the first fixing member 128 (screw) to fix the midfoot 12 and the leg 20. Then, the sensor 124 is installed on the elastic member 125 in the storage portion 123, and electrically connected to the processor through the wiring via 120. After the sensor 124 is assembled, the first protective member 126 and the second protective member 127 are respectively installed on both sides of the elastic member 125. This seals the sensor 124 against dust and water. The sole 11 and midfoot 12 are then assembled. Specifically, to improve assembly stability, glue can be applied to the limiting groove 1225 of the second connection end 1221. The protruding stopper structure 112 on the sole 11 is aligned with the limiting groove 1225, and the protruding portion 111 is aligned with the second fixing groove 1223. The protruding stopper structure 112 is engaged with the limiting groove 1225, and the protruding portion 111 is positioned within the second fixing groove 1223. The second limiting hole 1111 on the protruding portion 111 is aligned with the second fixing hole 1224. The protruding portion 111 and the midfoot are then fastened (with screws) using the second fixing member 129.

[0035] The foot structure provided by the embodiment of the present application, in actual application, when the sole of the foot is made of a relatively low hardness, softer all-rubber material, the sole of the foot touching the ground can play a great cushioning role. At this time, the pressure sensor does not need to detect the foot-end signal, and the all-rubber sole pad is suitable for noise-reducing sports scenes. When it is necessary to detect the sole force, the semi-rubber sole pad with a larger hardness can be replaced. The sole of the foot can transmit the force to the elastic part in the middle of the foot. The sensor can detect the deformation signal of the elastic part and send the deformation signal to the processor. The processor processes the deformation signal. It is suitable for micro-movements and occasions where sole force feedback is required to identify the scene. In addition, the foot structure provided by the embodiment of the present application is not only replaceable at the sole of the foot, but since the midfoot can also be replaced, the foot structure can be realized in more forms, such as changing the size and length of the foot structure, and adjusting the direction of force detection on the sole of the foot.

[0036] The foot structure provided in this application can quickly disassemble and assemble the sole of the foot from the midfoot, and quickly disassemble and assemble the midfoot from the leg, so that the foot structure can be applied to two different usage scenarios. It is easy to disassemble and assemble, allowing users to quickly replace and disassemble the foot structure.

[0037] The present application also provides a legged robot, which can be a bipedal robot, a quadrupedal robot, or a multi-legged robot. The legs of the legged robot can be detachably connected to the foot structure provided in the present application, thereby meeting the need for the legged robot to replace its feet in different scenarios.

[0038] The above describes in detail the foot structure and footed robot provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is intended only to facilitate understanding of the present application. Furthermore, those skilled in the art will appreciate that variations in the specific implementation methods and scope of application may occur based on the concepts of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. A foot structure, applied to a foot-type robot, characterized in that: include: sole of foot; A mid-foot portion, the mid-foot portion comprising a first connecting portion, a second connecting portion, and a receiving portion, the receiving portion being disposed between the first connecting portion and the second connecting portion, the first connecting portion being detachably connected to the leg of the foot-type robot, the second connecting portion being detachably connected to the sole of the foot, the receiving portion being provided with a sensor for detecting a signal transmitted from the sole of the foot; The receiving portion is provided with a through hole passing through the receiving portion, an elastic member is provided in the through hole, the elastic member is connected to the hole wall of the through hole, the sensor is provided on the elastic member, and the sensor is used to detect a deformation signal generated by deformation of the elastic member caused by deformation of the sole of the foot; The hole wall includes a first hole wall and a second hole wall arranged opposite to each other, the elastic member includes a first elastic arm and a second elastic arm, the first elastic arm includes a first end and a second end, the first end is connected to the first hole wall, and the second end is connected to the second hole wall, the hole wall also includes a third hole wall connecting the first hole wall and the second hole wall, the second elastic arm includes a third end and a fourth end, the third end is connected to the part between the first end and the second end of the first elastic arm, and the fourth end is connected to the third hole wall, and the sensor is arranged on the first elastic arm and / or the second elastic arm.

2. The foot structure according to claim 1, wherein: The via includes a first opening and a second opening. A first protective member is provided on the side of the elastic member facing the first opening, and a second protective member is provided on the side of the elastic member facing the second opening. Both the first protective member and the second protective member abut against the hole wall of the via.

3. The foot structure according to claim 2, wherein: The first protection member is provided with a first clamping portion, and the second protection member is provided with a second clamping portion. The clamping opening of the first clamping portion faces the first opening, and the clamping opening of the second clamping portion faces the second opening.

4. The foot structure according to claim 1, wherein: The first connecting portion includes a first connecting end connected to the leg of the footed robot and a first side portion adjacent to the first connecting end, the first connecting end is provided with a first fixing groove, the first side portion is provided with at least one first fixing hole, the first fixing hole is communicated with the first fixing groove, when the leg of the footed robot is connected to the first connecting portion, the first fixing groove accommodates the protrusion of the leg of the footed robot, the protrusion is provided with a first limiting hole corresponding to the first fixing hole, and the first fixing member passes through the first fixing hole and the first limiting hole.

5. The foot structure according to claim 4, characterized in that A snap-fitting groove is provided on the periphery of the first connecting end, and the snap-fitting groove is used to snap-fit ​​with a stop structure provided around the protruding portion.

6. The foot structure according to claim 1, wherein: The second connecting portion includes a second connecting end connected to the sole of the foot and a second side portion adjacent to the second connecting end, the second connecting end is provided with a second fixing groove, the second side portion is provided with at least one second fixing hole, the second fixing hole is communicated with the second fixing groove, the sole of the foot is provided with a protrusion, the protrusion is provided with a second limiting hole corresponding to the second fixing hole, when the second connecting portion is connected to the sole of the foot, the second fixing groove accommodates the protrusion, and the second fixing member passes through the second fixing hole and the second limiting hole.

7. The foot structure according to claim 6, characterized in that The bottom of the foot is further provided with a protruding stop structure, which is arranged around the protruding portion. The second connecting end is also provided with a limiting groove, and the protruding stop structure is arranged in the limiting groove.

8. A legged robot, characterized in that: Comprising the foot structure according to any one of claims 1-7.

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