Integrated intelligent foot and robot

Abstract

The application provides an integrated intelligent foot and robot, which comprises a bionic ankle, a bionic heel, a bionic toe mechanism, and a signal acquisition mechanism, wherein the bionic ankle is internally provided with a first extrusion space; the bionic heel is internally provided with a second extrusion space; the first extrusion space and the second extrusion space are simultaneously deformed during rotation of the bionic toe mechanism; the signal acquisition mechanism comprises an acquisition plate and a displacement sensor. The application makes the first extrusion space and the second extrusion space simultaneously deformed, detects and acquires the specific deformation degree through the signal acquisition mechanism, thereby improving the sensing ability of the intelligent foot to the environment through analysis of the movement process and the force degree of the intelligent foot, fully utilizing the structural advantages to realize high-precision control of the movement process of the intelligent foot. Compared with the existing robot foot, the application has the advantages of high integration degree, precise measurement process, simplified installation structure, strong adaptability to the ground, sufficient environmental perception, and reduced production and processing cost.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to an integrated intelligent leg and robot. Background Technology

[0002] In recent years, with the rapid development of artificial intelligence and robotics, humanoid robots have received considerable attention, and research on them is increasing daily. Because of their human-like appearance, humanoid robots are better able to collaborate and assist in human work environments. To enable humanoid robots to adapt to workplaces designed for humans, their feet should possess functions such as force sensing and shock absorption.

[0003] In existing humanoid robot foot designs, complex structural designs are often employed to achieve environmental perception and shock absorption support functions. Multiple mechanical springs, dampers, brushless motors, ball screws, and other complex mechanisms are added to the ankle, foot, and even the leg, increasing the complexity of the foot. However, these designs often struggle to achieve precise force control and are costly, limiting the widespread application of humanoid robots.

[0004] Currently, some research teams have designed robots with special foot structures. For example, the University of Michigan designed a humanoid robot called MABEL, which uses a cable differential and a large mechanical spring to mitigate ground impact. However, this design is difficult to control the force output and can only be used under specific forces and environments. Secondly, there are also structures that use a unidirectional spring in parallel with a force-controlled actuator with series elasticity; robots with this structure have excellent controllability. However, compared to traditional devices, this design is more than twice as heavy. Additionally, there are pneumatic feet designed using a cylinder connected in series with a fiberglass leaf spring and a solenoid valve to control airflow. These feet can change the ankle position by altering gas pressure and can also store and return energy through the solenoid valve. However, this design has lower strength and cannot withstand large loads.

[0005] Based on the above research, we found that in practical applications of humanoid robot foot structures, most adopt simple planar feet for simplicity and robustness, using the foot structure only for load bearing and abandoning the method of placing sensors in the foot to provide control functions. At the same time, to make the humanoid robot more human-like and improve its environmental perception capabilities, the foot structure is made closer to the actual human foot, and the contact force points of the foot increase with the degree of anthropomorphism. This means that more torque sensors are needed in actual use to realize the foot's environmental perception, which will lead to an increase in the cost and complexity of the foot structure of a single humanoid robot foot. Therefore, how to simplify the structure and reduce costs while improving the environmental perception capability of the robot's foot has become one of the pain points in the industry. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the problems of low perception, high cost and complex structure of robot foot mechanisms in the prior art, and to provide an integrated intelligent foot and robot.

[0007] To address the aforementioned technical problems, this invention provides an integrated smart foot, comprising: a bionic ankle with a first compression space inside; a bionic heel connected to the bionic ankle and having a second compression space inside; a bionic toe mechanism rotatably connected to the bionic heel and abutting against the bionic ankle, the bionic toe mechanism and the bionic heel forming an arched support structure, wherein during the rotation of the bionic toe mechanism, the first compression space and the second compression space deform simultaneously; and a signal acquisition mechanism including at least one acquisition plate and multiple displacement sensors, the multiple displacement sensors being connected to at least one acquisition plate and respectively arranged around the first compression space and the second compression space.

[0008] In one embodiment of the present invention, the displacement sensor includes a fixing member, an iron core, and a coil. The fixing member is connected to the bionic ankle or the bionic heel, the coil is connected to the signal acquisition mechanism, one end of the iron core is connected to the fixing member, and the other end passes through the coil. During the rotation of the bionic toe mechanism, the iron core moves inside the coil.

[0009] In one embodiment of the present invention, the bionic ankle includes a first main body and at least one ankle compression part, the ankle compression part being connected to the side of the first main body near the bionic toe mechanism, the first compression space being located in the first main body, the bionic toe mechanism abutting against at least one of the ankle compression parts, and at least one of the displacement sensors being connected to the ankle compression part.

[0010] In one embodiment of the present invention, the bionic heel includes a second main body and at least one heel limiting part, the heel limiting part being connected to the side of the second main body near the bionic toe mechanism, the second compression space being located in the second main body, and the heel limiting part being disposed on the rotation path of the bionic toe mechanism.

[0011] In one embodiment of the present invention, the bionic toe includes a connecting part, an extension part, and a supporting part. The connecting part is rotatably connected to the bionic heel, the supporting part is in contact with the ground, and the two ends of the extension part are respectively connected to the connecting part and the supporting part.

[0012] In one embodiment of the present invention, the bionic toe mechanism includes a first bionic toe and a second bionic toe, the first bionic toe and the second bionic toe being rotatably connected to the bionic heel and spaced apart along a first direction.

[0013] In one embodiment of the present invention, the signal acquisition mechanism includes a first acquisition plate and a second acquisition plate. The first acquisition plate and the second acquisition plate are both disposed in the first compression space and are respectively disposed on the same side as the first bionic toe and the second bionic toe. The plurality of displacement sensors are divided into two groups and are symmetrically arranged in a first direction. The two groups of displacement sensors are respectively connected to the first acquisition plate and the second acquisition plate to detect the first bionic toe and the second bionic toe respectively.

[0014] In one embodiment of the present invention, the bionic ankle is provided with an assembly protrusion, and the collection plate is provided with an assembly groove. The assembly protrusion is embedded in the assembly groove so that the collection plate is fixed in the first compression space.

[0015] In one embodiment of the present invention, the bionic heel further includes at least one connecting portion, and the bionic toe mechanism is rotatably connected to the connecting portion.

[0016] In one embodiment of the present invention, the signal acquisition mechanism further includes an attitude sensor and a control system, wherein the attitude sensor is connected to the acquisition board and the acquisition board is connected to the control system.

[0017] The present invention also provides a robot comprising the aforementioned integrated intelligent foot.

[0018] The technical solution of the present invention has the following advantages compared with the prior art:

[0019] The integrated intelligent foot and robot described in this invention simultaneously applies force to a first compression space and a second compression space during movement via a bionic toe mechanism, causing both spaces to deform simultaneously. A signal acquisition mechanism detects and collects the degree of deformation, thereby improving the intelligent foot's environmental perception capabilities through analysis of its movement process and force application. This fully utilizes its structural advantages to achieve high-precision control of the intelligent foot's movement. Compared to existing robotic feet, this application offers advantages such as high integration, accurate measurement, simplified installation structure, strong adaptability to ground surfaces, comprehensive environmental perception, and reduced production costs. Attached Figure Description

[0020] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0021] Figure 1 This is a three-dimensional structural diagram of the integrated smart foot in a preferred embodiment of the present invention;

[0022] Figure 2 yes Figure 1 The image shows a top view of the integrated smart foot.

[0023] Figure 3 yes Figure 1 The diagram shows a three-dimensional structure of the integrated intelligent foot from another perspective.

[0024] Figure 4 yes Figure 1 The diagram shows a three-dimensional structure of an integrated intelligent foot displacement sensor.

[0025] Explanation of reference numerals in the accompanying drawings: 100, Bionic ankle; 110, First main body; 111, Assembly protrusion; 120, First ankle compression part; 130, Second ankle compression part; 200, Bionic heel; 210, Second main body; 220, First heel limiting part; 230, Second heel limiting part; 240, Connecting part; 300, Bionic toe mechanism; 310, First bionic toe; 311, First insertion part; 312, First extension part 313, First support part; 320, Second bionic toe; 321, Second connecting part; 322, Second extension part; 323, Second support part; 400, Signal acquisition mechanism; 410, First acquisition board; 420, Second acquisition board; 430, Displacement sensor; 431, Fixing component; 432, Iron core; 433, Coil; 440, Attitude sensor; 450, Communication interface; X, First direction; Y, Second direction; Z, Third direction. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0027] Example 1

[0028] See Figures 1 to 3As shown, this embodiment provides an integrated smart foot, comprising: a bionic ankle 100 with a first compression space inside; a bionic heel 200 connected to the bionic ankle 100 with a second compression space inside; a bionic toe mechanism 300 rotatably connected to the bionic heel 200 and abutting against the bionic ankle 100, the bionic toe mechanism 300 and the bionic heel 200 forming an arched support structure, and during the rotation of the bionic toe mechanism 300, the first compression space and the second compression space deform simultaneously; and a signal acquisition mechanism 400, comprising at least one acquisition plate and multiple displacement sensors 430, the multiple displacement sensors 430 being connected to at least one acquisition plate and respectively arranged around the first compression space and the second compression space.

[0029] The integrated intelligent foot described in this embodiment applies force to both the first and second compression spaces simultaneously during movement via a bionic toe mechanism 300, causing both spaces to deform concurrently. The signal acquisition mechanism 400 detects and collects the degree of deformation, thereby enhancing the intelligent foot's environmental perception by analyzing its movement process and the degree of force applied. This allows for high-precision control of the intelligent foot's movement by fully utilizing its structural advantages. Compared to existing robotic feet, this application offers advantages such as high integration, accurate measurement, simplified installation structure, strong adaptability to ground surfaces, comprehensive environmental perception, and reduced production costs.

[0030] Using the integrated smart foot shown in Figure 1 as a reference, for ease of description, in this embodiment, the width direction of the integrated smart foot is defined as the first direction X, the length direction as the second direction Y, and the height direction as the third direction Z. The first direction X, the second direction Y, and the third direction Z are mutually perpendicular, and the first direction X and the second direction Y are located in the same horizontal plane. In this embodiment, the integrated smart foot simulates the structure of a human foot. The bionic ankle 100 is located above the bionic heel 200, and the bionic toe mechanism 300 is located at the front end of the bionic heel 200. To enhance the anthropomorphic structure of the smart foot in this application, the bionic toe mechanism 300 and the bionic heel 200 form an arched support for the human foot, thereby enabling high-precision simulation of the specific movement process of the toes and heel when landing. Furthermore, in this embodiment, the bionic ankle 100 and bionic heel 200 are both made of highly elastic material, and the bionic toe mechanism 300 has a supporting skeleton inside, thereby achieving synchronous compression of the bionic ankle 100 and bionic heel 200 through the bionic toe mechanism 300.

[0031] See Figures 1 to 3As shown, the bionic ankle 100 includes a first main body 110 and at least one ankle compression part. The ankle compression part is connected to the side of the first main body 110 near the bionic toe mechanism 300. The first compression space is located in the first main body 110. The bionic toe mechanism 300 abuts against at least one of the ankle compression parts, and at least one displacement sensor 430 is connected to the ankle compression part. In this embodiment, the first compression space is set as an approximately parallelogram-shaped space. During actual movement, the parallelogram structure can achieve optimal shock absorption while providing high resilience. Further, the bionic ankle 100 is provided with an assembly protrusion 111, and the acquisition plate is provided with an assembly groove. The assembly protrusion 111 is embedded in the assembly groove to fix the acquisition plate in the first compression space. In other embodiments, the acquisition plate can be connected to the bionic ankle 100 through other structures or components, and the present invention does not impose specific limitations on this.

[0032] See Figures 1 to 3 As shown, the bionic heel 200 includes a second main body 210 and at least one heel limiting part. The heel limiting part is connected to the side of the second main body 210 near the bionic toe mechanism 300. The second compression space is located in the second main body 210 and is also configured as an approximately parallelogram-shaped space. The heel limiting part is positioned on the rotation path of the bionic toe mechanism 300 to prevent excessive rotation of the bionic toe mechanism 300. Based on this structure, during the movement of this integrated smart foot, the bionic toe mechanism 300 can deform the first compression space in the first main body 110 through the ankle compression part, and deform the second compression space through the stretching of the bionic heel 200 by the bionic toe mechanism 300 and the compression of the second main body 210 by the first main body 110.

[0033] Specifically, the bionic toe mechanism 300 in this embodiment includes a first bionic toe 310 and a second bionic toe 320. The first bionic toe 310 and the second bionic toe 320 are rotatably connected to the bionic heel 200 and are spaced apart along the first direction X, thereby improving the bionic nature of this integrated smart foot. Correspondingly, the bionic ankle 100 in this embodiment is provided with a first ankle compression part 120 and a second ankle compression part 130. The first bionic toe 310 compresses the first ankle compression part 120 during rotation, while the second bionic toe 320 compresses the second ankle compression part 130 during rotation. Similarly, in this embodiment, the bionic heel 200 is provided with a first heel limiting part 220 and a second heel limiting part 230. The first heel limiting part 220 and the first ankle compression part 120 are respectively disposed on both sides of the first bionic toe 310 in the third direction Z. The first bionic toe 310 is stopped and limited by the first heel limiting part 220 during rotation. The second heel limiting part 230 and the second ankle compression part 130 are respectively disposed on both sides of the second bionic toe 320 in the third direction Z. The second bionic toe 320 is stopped and limited by the second heel limiting part 230 during rotation.

[0034] Furthermore, the bionic heel 200 also includes at least one connecting portion 240, to which the bionic toe mechanism 300 is rotatably connected. In this embodiment, two connecting portions 240 are provided corresponding to the two bionic toes. Based on the arched support structure between the bionic toe mechanism 300 and the bionic heel 200, any connecting portion 240 in this embodiment is located between the bionic ankle 100 and the bionic heel 200. Specifically, the connecting portion 240 is provided with a connecting through hole, and the corresponding bionic toe is also provided with a connecting through hole. The rotating shaft can pass through both the bionic toe and the connecting through hole on the corresponding connecting portion 240, realizing the rotatable connection between the bionic toe mechanism 300 and the bionic heel 200. In other embodiments, the bionic toe mechanism 300 and the bionic heel 200 can also achieve a relative rotatable connection through other structures or components, and the present invention does not impose specific limitations on this.

[0035] See Figures 1 to 3 As shown, the bionic toe includes a connector, an extension, and a support. The connector is rotatably connected to the bionic heel 200, the support contacts the ground, and the two ends of the extension are respectively connected to the connector and the support. Specifically, in this embodiment, the first bionic toe includes a first connector 311, a first extension 312, and a first support 313 connected in sequence, and the second bionic toe 320 includes a second connector 321, a second extension 322, and a second support 323 connected in sequence.

[0036] See Figure 1 and Figure 3 As shown, in this embodiment, a first acquisition plate 410 and a second acquisition plate 420 are provided corresponding to the two bionic toes. The first acquisition plate 410 and the second acquisition plate 420 are both disposed in the first compression space and are disposed on the same side as the first bionic toe 310 and the second bionic toe 320, respectively. The plurality of displacement sensors 430 are divided into two groups and are symmetrically arranged in the first direction X of at least some of the displacement sensors 430. Specifically, in this embodiment, a total of five displacement sensors 430 are provided. Specifically, the five displacement sensors 430 are respectively connected to the first acquisition plate 410 and the second acquisition plate 420. Specifically, the first acquisition plate 410 is provided with three sensors, two of which are used to sense the movement process of the first bionic toe 310 and the other is used to sense the movement process of the bionic ankle 100. The second acquisition plate 420 is provided with two sensors, which are used to sense the movement process of the second bionic toe 320, respectively. Specifically, two displacement sensors 430 are connected to the bionic ankle 100 and positioned close to the bionic toe mechanism 300, where the deformation of the first compression space is most pronounced, thereby maximizing the accuracy of detection. Another displacement sensor 430 is connected to the bionic heel 200 and located at the contact point between the bionic ankle 100 and the bionic heel 200, where the compression effect of the bionic ankle 100 on the bionic heel 200 is most pronounced, thereby amplifying the actual force on the bionic ankle 100.

[0037] See Figure 1 and Figure 3As shown, the displacement sensor 430 includes a fixing member 431, an iron core 432, and a coil 433. The fixing member 431 is connected to the bionic ankle 100 or the bionic heel 200. The coil 433 is connected to the signal acquisition mechanism 400. One end of the iron core 432 is connected to the fixing member 431, and the other end passes through the coil 433. During the rotation of the bionic toe mechanism 300, the iron core 432 moves inside the coil 433, thereby changing the inductance in the displacement sensor 430 in real time during the movement, so as to convert the force effect into an electrical signal and transmit it to the corresponding acquisition board. Furthermore, the signal acquisition mechanism 400 also includes an attitude sensor 440 and a control system. The attitude sensor 440 is connected to the acquisition board, and the acquisition board is connected to the control system. Specifically, in this embodiment, the two acquisition boards are interconnected. The first acquisition board 410 is provided with a communication interface 450, which enables signal connection with the control system. In actual use, the communication interface can be set as a Bluetooth interface, serial port, Ethernet control interface (Ethercat), etc., and this invention does not impose specific limitations on this. The attitude sensor 440 can further sense the motion process, thereby improving the integration and detection accuracy of this smart foot. The operator can analyze and collect the transmitted signals from the displacement sensor 430 and the attitude sensor 440 through the control system and provide real-time feedback.

[0038] Example 2

[0039] This embodiment provides a robot that includes the aforementioned integrated intelligent legs.

[0040] In summary, the integrated intelligent foot and robot described in this invention, through the bionic toe mechanism 300, simultaneously applies force to the first and second compression spaces during movement, causing both spaces to deform simultaneously. The signal acquisition mechanism 400 detects and collects the degree of deformation, thereby improving the intelligent foot's environmental perception capabilities by analyzing its movement process and force application. This fully utilizes its structural advantages to achieve high-precision control of the intelligent foot's movement. Compared to existing robotic feet, this application offers advantages such as high integration, accurate measurement, simplified installation structure, strong adaptability to ground surfaces, comprehensive environmental perception, and reduced production costs.

[0041] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An integrated intelligent foot, characterized in that: include: A bionic ankle with a first compression space inside, the bionic ankle including a first main body and at least one ankle compression part, the first compression space being located in the first main body; A bionic heel, which is connected to a bionic ankle, has a second compression space inside. The bionic heel includes a second main body and at least one heel limiting part, and the second compression space is located in the second main body. A bionic toe mechanism is rotatably connected to the bionic heel and abuts against the bionic ankle. An ankle compression part is connected to the side of the first main body near the bionic toe mechanism. The bionic toe mechanism abuts against at least one of the ankle compression parts. A heel limiting part is connected to the side of the second main body near the bionic toe mechanism. The heel limiting part is disposed on the rotation path of the bionic toe mechanism. The bionic toe mechanism and the bionic heel form an arched support structure. During the rotation of the bionic toe mechanism, the first compression space and the second compression space deform simultaneously. The signal acquisition mechanism includes at least one acquisition plate and multiple displacement sensors. The multiple displacement sensors are connected to at least one acquisition plate and are respectively arranged around the first compression space and the second compression space. At least one displacement sensor is connected to the ankle compression part.

2. The integrated smart foot according to claim 1, characterized in that: The displacement sensor includes a fixing component, an iron core, and a coil. The fixing component is connected to the bionic ankle or the bionic heel. The coil is connected to the signal acquisition mechanism. One end of the iron core is connected to the fixing component, and the other end passes through the coil. During the rotation of the bionic toe mechanism, the iron core moves inside the coil.

3. The integrated smart foot according to claim 1, characterized in that: The bionic toe includes a connector, an extension, and a support. The connector is rotatably connected to the bionic heel, the support contacts the ground, and the two ends of the extension are respectively connected to the connector and the support.

4. The integrated smart foot according to claim 1, characterized in that: The bionic toe mechanism includes a first bionic toe and a second bionic toe, which are rotatably connected to the bionic heel and are spaced apart along a first direction.

5. The integrated smart foot according to claim 4, characterized in that: The signal acquisition mechanism includes a first acquisition plate and a second acquisition plate. The first acquisition plate and the second acquisition plate are both disposed in the first compression space and are respectively disposed on the same side as the first bionic toe and the second bionic toe. The plurality of displacement sensors are divided into two groups and are symmetrically arranged in a first direction. The two groups of displacement sensors are respectively connected to the first acquisition plate and the second acquisition plate to detect the first bionic toe and the second bionic toe respectively.

6. The integrated smart foot according to claim 1, characterized in that: The bionic ankle is provided with an assembly protrusion, and the collection plate is provided with an assembly groove. The assembly protrusion is embedded in the assembly groove so that the collection plate is fixed in the first compression space. The bionic heel also includes at least one connecting part, and the bionic toe mechanism is rotatably connected to the connecting part.

7. The integrated smart foot according to claim 1, characterized in that: The signal acquisition mechanism also includes an attitude sensor and a control system. The attitude sensor is connected to the acquisition board, and the acquisition board is connected to the control system.

8. A robot comprising the integrated intelligent foot as described in any one of claims 1 to 7.

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