Foot piece, foot assembly and humanoid robot

Abstract

A sole piece, a foot assembly and a humanoid robot, wherein the sole piece is used for the foot assembly and comprises a bottom plate, an intermediate plate and a connecting plate, wherein the intermediate plate is opposite to the bottom plate and is arranged at an interval, the intermediate plate is used for installing an ankle joint structure, and the connecting plate is arranged between the bottom plate and the intermediate plate and respectively connects the middle parts of the bottom plate and the intermediate plate, wherein the bottom plate and the intermediate plate are both elastic components, and the present application improves the shock-absorbing capability of the sole piece.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a foot piece, a foot assembly and a humanoid robot. Background Art

[0002] At present, humanoid robots have good mobility when facing complex terrains, so the research and development of humanoid robots has received more and more attention in recent years. As one type of humanoid robots, bipedal humanoid robots need to complete human-like walking movements, so the soles of the feet play an important role in the standing and movement of humanoid robots. In the prior art, the soles of humanoid robots are flat soles, which have poor shock absorption ability when the robot walks and jumps. Summary of the invention

[0003] The purpose of the present application is to provide a foot piece, a foot assembly and a humanoid robot, which solve the problem of poor shock-absorbing ability of the foot piece.

[0004] To achieve the purpose of this application, this application provides the following technical solutions:

[0005] In the first aspect, the present application provides a foot member for a humanoid robot, comprising: a base plate; an intermediate plate, opposite to and spaced apart from the base plate, the intermediate plate being used to install an ankle joint structure; a connecting plate, arranged between the base plate and the intermediate plate, and respectively connecting the middle parts of the base plate and the intermediate plate; wherein the base plate and the intermediate plate are both elastic components.

[0006] The present application provides a sole member including a bottom plate, an intermediate plate and a connecting plate. The intermediate plate is opposite to the bottom plate and is spaced apart from each other. The intermediate plate is used to install the ankle joint structure. The connecting plate is provided between the bottom plate and the intermediate plate and respectively connects the middle parts of the bottom plate and the intermediate plate. Both the bottom plate and the intermediate plate are elastic components. When the bottom plate contacts the supporting surface and undergoes elastic deformation toward the intermediate plate, the elastic deformation of the intermediate plate provides supporting force to the bottom plate, thereby enhancing the ability of the sole member to buffer vibrations.

[0007] In one embodiment, the middle plate includes a first section, a second section and a third section, the second section and the third section are connected to opposite ends of the first section, the second section and the third section both protrude from the first section toward the bottom plate, the first section is connected to the connecting plate, and the surface of the first section facing away from the bottom plate is used for mounting the ankle joint structure.

[0008] The middle plate is divided into a first section, a second section and a third section, the second section and the third section are connected to two opposite ends of the first section, the second section and the third section both protrude from the first section toward the bottom plate, the first section is connected to the connecting plate, and the surface of the first section facing away from the bottom plate is used to install the ankle joint structure. When the bottom plate contacts the supporting surface and the bottom plate is deformed toward the middle plate, the second section and the third section can provide supporting force to the bottom plate after deformation, thereby improving the shock absorbing ability of the middle plate.

[0009] In one embodiment, the thickness of the first section is greater than the thickness of the second section; and / or the thickness of the first section is greater than the thickness of the third section.

[0010] By making the thickness of the first section greater than the thickness of the second section; and / or making the thickness of the first section greater than the thickness of the third section, compared with the situation where the thickness of the second section is the same as the thickness of the first section, the thickness of the third section is the same as the thickness of the first section, and the thickness of the second section and the thickness of the third section are both the same as the thickness of the first section, the weight of the sole part is reduced, and the second section and the third section are more likely to produce elastic deformation, thereby providing support force to the bottom plate and improving the ability of the second section and the third section to buffer shock.

[0011] In one embodiment, the thickness of at least a portion of the second segment gradually decreases in a direction from the first segment toward the second segment; and / or the thickness of at least a portion of the third segment gradually decreases in a direction from the first segment toward the third segment.

[0012] By gradually reducing the thickness of at least part of the second section in the direction from the first section toward the second section; and / or gradually reducing the thickness of at least part of the third section in the direction from the first section toward the third section, compared with the situation that the thickness of the second section is the same as the thickness of the first section, the thickness of the third section is the same as the thickness of the first section, and the thickness of the second section and the thickness of the third section are both the same as the thickness of the first section, the weight of the sole part is reduced, and the second section and the third section are easy to produce elastic deformation, thereby providing support force to the bottom plate and improving the shock absorption ability of the second section and the third section.

[0013] In one embodiment, the second segment includes a first sub-segment and a second sub-segment, one end of the second sub-segment is connected to the first sub-segment, and the other end is connected to the first segment, and an angle A is formed between the first sub-segment and the second sub-segment, satisfying: 100°≤A≤170°.

[0014] By dividing the second section into a first sub-segment and a second sub-segment, one end of the second sub-segment is connected to the first sub-segment, and the other end is connected to the first section, and the angle A between the first sub-segment and the second sub-segment is between 100° and 170°, the overall structure between the first sub-segment, the second sub-segment and the first section is bow-shaped, thereby improving the vibration buffering ability of the second section.

[0015] In one embodiment, the second segment further includes a first tip portion, the first tip portion is connected to an end of the first sub-segment away from the second sub-segment, and the first tip portion extends to a side away from the bottom plate.

[0016] By setting the structure of the second section to also include a first pointed end, the first pointed end is connected to an end of the first sub-segment away from the second sub-segment, and the first pointed end extends to a side away from the bottom plate. When the first pointed end contacts the bottom plate and provides supporting force, a raised structure is formed due to the first pointed end extending to a side away from the bottom plate, thereby preventing the first pointed end from scratching the bottom plate.

[0017] In one embodiment, the middle plate is a carbon fiber component with an integrated structure, and the first section, the second section and the third section are smoothly connected.

[0018] By setting the middle plate as an integrated carbon fiber component and smoothly connecting the first section, the second section and the third section, the weight of the middle plate is reduced and the rigidity of the middle plate is improved, so that the middle plate is easy to produce elastic deformation, the ability of the middle plate to buffer vibration is improved and it is not easy to break.

[0019] In one embodiment, the bottom plate includes an anti-slip protrusion and a base plate connected to each other, and the anti-slip protrusion is arranged on a surface of the base plate facing away from the middle plate.

[0020] By dividing the bottom plate into connected anti-skid protrusions and a base plate, the anti-skid protrusions are arranged on the surface of the base plate facing away from the middle plate, and the anti-skid protrusions contact the supporting surface to increase friction, thereby improving the anti-skid ability of the bottom plate and the supporting surface.

[0021] In one embodiment, the sole member further includes a cover plate and side panels connected to each other, wherein the cover plate is arranged on a side of the middle plate facing away from the bottom plate, and the side panels surround the middle plate and are connected to the bottom plate and the cover plate.

[0022] By dividing the sole member into a connected cover plate and side panels, the cover plate is arranged on the side of the middle plate facing away from the bottom plate, and the side panels surround the middle plate and are connected to the bottom plate and the cover plate. When the middle plate is deformed, the cover plate and the side panels can restrict the middle plate, thereby preventing the deformed middle plate from interfering with or breaking other parts.

[0023] In a second aspect, the present application further provides a foot assembly, comprising an ankle joint structure and a sole member as described in any one of the various embodiments of the first aspect, wherein the ankle joint structure is connected to a middle plate of the sole member.

[0024] A foot component is provided, wherein the foot component includes an ankle joint structure and a sole member as in any one of the various embodiments of the first aspect, wherein the ankle joint structure is connected to a middle plate of the sole member, and the connection between the middle plate of the sole member and the ankle joint structure can transmit vibrations of the ankle joint structure to the sole member, thereby improving the ability to buffer vibrations.

[0025] In one embodiment, the ankle joint structure includes: a mounting plate connected to the middle plate of the sole member; a first bracket connected to the mounting plate, the first bracket being used for rotationally connecting to the calf member; a second bracket connected to the mounting plate and spaced apart from the first bracket, the second bracket being used for connecting to a driving structure; wherein the center of gravity of the middle plate deviates from the center of gravity of the first bracket.

[0026] By setting up an ankle joint structure including a mounting plate, a first bracket and a second bracket, the mounting plate is connected to the middle plate of the sole member, the first bracket is connected to the mounting plate, the first bracket is used for rotationally connecting with the calf member, the second bracket is connected to the mounting plate and is spaced apart from the first bracket, and the second bracket is used for connecting with the driving structure, wherein the center of gravity of the middle plate deviates from the center of gravity of the first bracket, and when the foot assembly moves, a portion of the mounting plate is suspended in the air, and when encountering vibration, the suspended portion of the mounting plate can be deformed, thereby improving the ability to buffer vibration.

[0027] In a third aspect, the present application further provides a humanoid robot, comprising a foot assembly as described in any one of the various embodiments of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 is a schematic structural diagram of a foot assembly of an embodiment;

[0030] Figure 2 is a cross-sectional schematic diagram of a foot assembly of an embodiment;

[0031] Figure 3 is a side view of a foot assembly of one embodiment;

[0032] Figure 4 is a bottom view of a foot assembly according to an embodiment.

[0033] Description of reference numerals:

[0034] 10-sole member, 11-bottom plate, 111-base plate, 112-anti-slip protrusion, 113-accommodating space, 12-middle plate, 121-first section, 122-second section, 1221-first sub-section, 1222-second sub-section, 1223-first tip portion, 123-third section, 1231-third sub-section, 1232-fourth sub-section, 1233-second tip portion, 13-connecting plate, 14-cover plate, 15-side panel, 20-foot assembly, 21-ankle joint structure, 211-first bracket, 212-second bracket, 213-mounting plate. DETAILED DESCRIPTION

[0035] 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 described embodiments 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 ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0037] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0038] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0039] At present, humanoid robots have good mobility when facing complex terrains, so the research and development of humanoid robots has received more and more attention in recent years. As one type of humanoid robots, bipedal humanoid robots need to complete human-like walking movements, so the soles of the feet play an important role in the standing and movement of humanoid robots. In the prior art, the soles of humanoid robots are flat soles, which have poor shock absorption ability when the robot walks and jumps.

[0040] For the above questions, please refer to Figure 1 and Figure 2An embodiment of the present application provides a foot member 10 for a humanoid robot, including a bottom plate 11, an intermediate plate 12 and a connecting plate 13.

[0041] Optionally, the bottom plate 11 is used to contact with the support surface. After the humanoid robot is produced, when the humanoid robot moves on the support surface, the bottom plate 11 may contact with the support surface. When the humanoid robot is in the process of transportation or not in use, the bottom plate 11 may not contact with the support surface, and the support surface may be the ground or a work surface. Optionally, the shape of the orthographic projection of the bottom plate 11 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the bottom plate 11 on the support surface may specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0042] The middle plate 12 is opposite to the bottom plate 11 and is arranged at a distance, and the middle plate 12 is used to install the ankle joint structure 21. Optionally, the connection between the middle plate 12 and the ankle joint structure 21 can be, but not limited to, clamping, welding, and bolt screw hole connection. Optionally, the shape of the orthographic projection of the middle plate 12 on the support surface can be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the middle plate 12 on the support surface can be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0043] The connecting plate 13 is arranged between the bottom plate 11 and the middle plate 12, and respectively connects the middle parts of the bottom plate 11 and the middle plate 12. Optionally, the shape of the orthographic projection of the connecting plate 13 on the support surface can be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the connecting plate 13 on the support surface can be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the connection method between the connecting plate 13 and the bottom plate 11 can be, but not limited to, a clamping, welding, and a bolt screw hole connection, etc. Optionally, the connection method between the connecting plate 13 and the middle plate 12 can be, but not limited to, a clamping, welding, and a bolt screw hole connection, etc. Among them, the bottom plate 11 and the middle plate 12 are both elastic components. When the bottom plate 11 contacts the support surface and the bottom plate 11 is deformed in the direction of the middle plate 12, the middle plate 12 can give a supporting force to the bottom plate 11, thereby buffering vibration.

[0044] By setting up a bottom plate 11, an intermediate plate 12 and a connecting plate 13, the bottom plate 11 is used to contact the support surface, the intermediate plate 12 is opposite to the bottom plate 11 and is arranged at a distance, the intermediate plate 12 is used to install the ankle joint structure 21, and the connecting plate 13 is arranged between the bottom plate 11 and the intermediate plate 12, and respectively connects the middle parts of the bottom plate 11 and the intermediate plate 12, wherein the bottom plate 11 and the intermediate plate 12 are both elastic components, when the bottom plate 11 contacts the support surface and elastically deforms toward the intermediate plate 12, the elastic deformation of the intermediate plate 12 provides support force to the bottom plate 11, thereby improving the ability of the sole member 10 to buffer shock.

[0045] In one embodiment, please refer to Figure 1 and Figure 2 The middle plate 12 includes a first section 121, a second section 122 and a third section 123. The second section 122 and the third section 123 are connected to opposite ends of the first section 121. The second section 122 and the third section 123 both protrude from the first section 121 toward the bottom plate 11. The first section 121 is connected to the connecting plate 13. The surface of the first section 121 facing away from the bottom plate 11 is used to install the ankle joint structure 21.

[0046] Optionally, the second section 122 faces the heel, and the third section 123 faces the forefoot. Optionally, the shapes of the orthographic projections of the first section 121, the second section 122, and the third section 123 on the support surface may be polygonal, circular, elliptical, irregular, etc. Optionally, the shapes of the orthographic projections of the first section 121, the second section 122, and the third section 123 on the support surface may specifically be, but not limited to, hexagonal, octagonal, irregular, etc.

[0047] Optionally, the outer surface of the first section 121 is polished. The polishing method may be fluid polishing, mechanical polishing, ultrasonic polishing, chemical polishing, electrolytic polishing, etc. Polishing the outer surface of the first section 121 improves the smoothness of the outer surface of the first section 121 and avoids scratching other parts.

[0048] Optionally, when the bottom plate 11 contacts the support surface and the bottom plate 11 deforms toward the middle plate 12, the second section 122 can provide a support force to the bottom plate 11, thereby buffering vibration. Optionally, when the bottom plate 11 contacts the support surface and the bottom plate 11 deforms toward the middle plate 12, the third section 123 can provide a support force to the bottom plate 11, thereby buffering vibration.

[0049] Specifically, the middle plate 12 is divided into a first section 121, a second section 122 and a third section 123, the second section 122 and the third section 123 are connected to opposite ends of the first section 121, the second section 122 and the third section 123 both protrude from the first section 121 toward the bottom plate 11, the first section 121 is connected to the connecting plate 13, and the surface of the first section 121 facing away from the bottom plate 11 is used to install the ankle joint structure 21. When the bottom plate 11 contacts the supporting surface and the bottom plate 11 is deformed toward the middle plate 12, the second section 122 and the third section 123 can provide support force to the bottom plate 11 after deformation, thereby improving the shock absorbing ability of the middle plate 12.

[0050] In one embodiment, please refer to Figure 1 and Figure 2 , the thickness of the first section 121 is greater than the thickness of the second section 122 ; and / or, the thickness of the first section 121 is greater than the thickness of the third section 123 .

[0051] Optionally, the thickness of the first section 121 is greater than the thickness of the second section 122. Optionally, the thickness of the first section 121 is greater than the thickness of the third section 123. Optionally, the thickness of the first section 121 is greater than the thickness of the second section 122, and the thickness of the first section 121 is greater than the thickness of the third section 123.

[0052] Specifically, by setting the thickness of the first section 121 to be greater than the thickness of the second section 122; and / or setting the thickness of the first section 121 to be greater than the thickness of the third section 123, compared with the situation where the thickness of the second section 122 is the same as the thickness of the first section 121, and the thickness of the third section 123 is the same as the thickness of the first section 121, and the thickness of the second section 122 and the thickness of the third section 123 are both the same as the thickness of the first section 121, the weight of the sole member 10 is reduced, and the second section 122 and the third section 123 are easy to produce elastic deformation, thereby improving the shock absorption ability of the second section 122 and the third section 123.

[0053] In one embodiment, please refer to Figure 1 and Figure 2 , the thickness of at least a portion of the second segment 122 gradually decreases in the direction from the first segment 121 to the second segment 122 ; and / or, the thickness of at least a portion of the third segment 123 gradually decreases in the direction from the first segment 121 to the third segment 123 .

[0054] Optionally, the thickness of the second segment 122 gradually decreases in a direction from the first segment 121 toward the second segment 122 ; and / or the thickness of the third segment 123 gradually decreases in a direction from the first segment 121 toward the third segment 123 .

[0055] Optionally, the thickness of at least a portion of the second segment 122 gradually decreases in the direction from the first segment 121 to the second segment 122. Optionally, the thickness of at least a portion of the third segment 123 gradually decreases in the direction from the first segment 121 to the third segment 123. Optionally, the thickness of at least a portion of the second segment 122 gradually decreases in the direction from the first segment 121 to the second segment 122, and the thickness of at least a portion of the third segment 123 gradually decreases in the direction from the first segment 121 to the third segment 123.

[0056] Specifically, the thickness of at least a portion of the second section 122 is gradually reduced in the direction from the first section 121 toward the second section 122; and / or, the thickness of at least a portion of the third section 123 is gradually reduced in the direction from the first section 121 toward the third section 123. Compared with the situation where the thickness of the second section 122 is the same as the thickness of the first section 121, the thickness of the third section 123 is the same as the thickness of the first section 121, and the thickness of the second section 122 and the thickness of the third section 123 are both the same as the thickness of the first section 121, the weight of the sole member 10 is reduced, and the second section 122 and the third section 123 are easily elastically deformed, thereby providing support to the bottom plate 11 and improving the shock-absorbing capabilities of the second section 122 and the third section 123.

[0057] In one embodiment, please refer to Figure 1 and Figure 2 The second section 122 includes a first sub-segment 1221 and a second sub-segment 1222. One end of the second sub-segment 1222 is connected to the first sub-segment 1221, and the other end is connected to the first section 121. There is an angle A between the first sub-segment 1221 and the second sub-segment 1222, which satisfies: 100°≤A≤170°.

[0058] Optionally, the shape of the orthographic projection of the first sub-segment 1221 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the first sub-segment 1221 on the support surface may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the second sub-segment 1222 on the support surface may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the second sub-segment 1222 on the support surface may be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0059] Optionally, the angle A may be, but is not limited to, 100°, 120°, 150°, 170°, etc.

[0060] Optionally, by dividing the second segment 122 into a first sub-segment 1221 and a second sub-segment 1222, one end of the second sub-segment 1222 is connected to the first sub-segment 1221, and the other end is connected to the first segment 121, and the angle A between the first sub-segment 1221 and the second sub-segment 1222 is between 100° and 170°, so that the overall structure between the first sub-segment 1221, the second sub-segment 1222 and the first segment 121 is bow-shaped, thereby improving the vibration buffering ability of the second segment 122.

[0061] In one embodiment, please refer to Figure 1 and Figure 2The second section 122 further includes a first tip portion 1223 , which is connected to an end of the first sub-segment 1221 away from the second sub-segment 1222 , and extends toward a side away from the bottom plate 11 .

[0062] Specifically, by setting the structure of the second section 122 to also include a first pointed end 1223, the first pointed end 1223 is connected to an end of the first sub-segment 1221 away from the second sub-segment 1222, and the first pointed end 1223 extends to a side away from the bottom plate 11. When the first pointed end 1223 contacts the bottom plate 11 and provides a supporting force, the first pointed end 1223 extends to a side away from the bottom plate 11 to form a raised structure, thereby preventing the first pointed end 1223 from scratching the bottom plate 11.

[0063] In one embodiment, please refer to Figure 1 and Figure 2 The middle plate 12 is a carbon fiber component of an integrated structure, and the first section 121, the second section 122 and the third section 123 are smoothly connected.

[0064] Optional, please refer to Figure 1 and Figure 2 The third segment 123 includes a third sub-segment 1231 and a fourth sub-segment 1232 . One end of the third sub-segment 1231 is connected to the first segment 121 , and the other end is connected to the fourth sub-segment 1232 .

[0065] Optionally, the shape of the orthographic projection of the third sub-segment 1231 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the third sub-segment 1231 on the support surface may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the fourth sub-segment 1232 on the support surface may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the fourth sub-segment 1232 on the support surface may be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0066] Specifically, by setting the middle plate 12 as an integrated carbon fiber component, and smoothly connecting the first section 121, the second section 122 and the third section 123, the weight of the middle plate 12 is reduced and the rigidity of the middle plate 12 is improved, so that the middle plate 12 is easy to produce elastic deformation, the ability of the middle plate 12 to buffer vibration is improved and it is not easy to break.

[0067] Optional, please refer to Figure 1 and Figure 2 The third segment 123 further includes a second tip portion 1233 , which is connected to an end of the fourth sub-segment 1232 away from the third sub-segment 1231 , and extends toward a side away from the bottom plate 11 .

[0068] Specifically, by setting the third segment 123 to also include a second tip portion 1233, the second tip portion 1233 is connected to an end of the fourth sub-segment 1232 away from the third sub-segment 1231, and the second tip portion 1233 extends to a side away from the bottom plate 11. When the second tip portion 1233 contacts the bottom plate 11 and provides supporting force, since the second tip portion 1233 extends to a side away from the bottom plate 11, the second tip portion 1233 is prevented from scratching the bottom plate 11.

[0069] Optionally, an angle B is formed between the third sub-segment 1231 and the fourth sub-segment 1232, satisfying: 100°≤B≤170°.

[0070] Optionally, the shape of the bottom plate 11 matches the shape of the middle plate 12 .

[0071] Specifically, by dividing the third section 123 into a third sub-segment 1231 and a fourth sub-segment 1232, one end of the third sub-segment 1231 is connected to the first section 121, and the other end is connected to the fourth sub-segment 1232, and the fourth sub-segment 1232 extends away from one end of the third sub-segment 1231 toward a side away from the supporting surface, thereby preventing the fourth sub-segment 1232 from scratching the bottom plate 11 during elastic deformation.

[0072] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The bottom plate 11 includes an anti-skid protrusion 112 and a base plate 111 connected to each other, and the anti-skid protrusion 112 is arranged on a surface of the base plate 111 facing away from the middle plate 12 .

[0073] Optionally, one end of the anti-slip protrusion 112 is connected to the base plate 111 , and the other end is in contact with the supporting surface.

[0074] Optionally, the shape of the orthographic projection of the substrate 111 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the substrate 111 on the support surface may specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0075] Optionally, the number of the anti-skid protrusions 112 is multiple, and the multiple anti-skid protrusions 112 are arranged at intervals. Optionally, the multiple anti-skid protrusions 112 are arranged at intervals in the length direction of the substrate 111. Optionally, the multiple anti-skid protrusions 112 are arranged at intervals in the width direction of the substrate 111. Optionally, the multiple anti-skid protrusions 112 are arranged at equal intervals.

[0076] Optionally, the base plate 111 includes a fourth section, a fifth section, and a sixth section, the fourth section and the sixth section are connected to two opposite ends of the fifth section, the fourth section and the sixth section both protrude from the fifth section in the direction of the support surface, the fifth section is connected to the connecting plate 13, and the fourth section and the sixth section are used to contact the support surface. The fourth section is opposite to the second section 122 and has a spacing distance, the fifth section is connected to the first section 121, and the sixth section is opposite to the third section 123 and has a spacing distance.

[0077] Optionally, the fourth section includes a fifth subsection and a sixth subsection, one end of the sixth subsection is connected to the fifth subsection, and the other end is connected to the fifth section. Optionally, there is a first connection angle between the fifth subsection and the sixth subsection, and the angle range of the first connection angle is 100° to 170°. Optionally, the sixth section includes a seventh subsection and an eighth subsection, one end of the seventh subsection is connected to the eighth subsection, and the other end is connected to the fifth section. Optionally, there is a second connection angle between the seventh subsection and the eighth subsection, and the angle range of the second connection angle is 100° to 170°. Optionally, the connection method between the substrate 111 and the anti-slip protrusion 112 can be, but is not limited to, clamping and welding. Optionally, the connection method between the substrate 111 and the anti-slip protrusion 112 is a welding connection, and the specific welding method between the substrate 111 and the anti-slip protrusion 112 is brazing, and the brazing connection method is simple to operate and has a stable connection. This application is illustrated by brazing, which should not be understood as a limitation to this application.

[0078] Optionally, the bottom plate 11 has an accommodating space 113 , which improves the vibration buffering capability of the bottom plate 11 .

[0079] Specifically, by dividing the bottom plate 11 into connected anti-skid protrusions 112 and a base plate 111, the anti-skid protrusions 112 are arranged on the surface of the base plate 111 facing away from the middle plate 12, and the anti-skid protrusions 112 contact the supporting surface to increase the friction, thereby improving the anti-skid ability of the bottom plate 11 in contact with the supporting surface.

[0080] In one embodiment, please refer to Figure 1 and Figure 2 The sole member 10 further includes a cover plate 14 and a side panel 15 connected to each other. The cover plate 14 is arranged on the side of the middle plate 12 facing away from the bottom plate 11 . The side panel 15 surrounds the middle plate 12 and is connected to the bottom plate and the cover plate 14 .

[0081] Optionally, the cover plate 14 , the side panels 15 and the bottom plate 11 enclose a receiving space, and the receiving space accommodates the middle plate 12 and the connecting plate 13 .

[0082] Optionally, the material of the middle plate 12 can be carbon fiber, so that the middle plate 12 has good rigidity and elasticity, while reducing the weight of the sole member 10. Optionally, the connection between the cover plate 14 and the side panel 15 is provided with a smooth chamfer to avoid scratching other parts. Optionally, the connection between the cover plate 14 and the middle plate 12 is provided with a smooth chamfer to avoid scratching other parts.

[0083] Optionally, the connection method between the bottom plate 11 and the side panels 15 may be, but is not limited to, clamping, welding, and bolt and screw hole connection. Optionally, the connection method between the bottom plate 11 and the side panels 15 is welding, and the specific welding method between the bottom plate 11 and the side panels 15 is brazing. A metal material with a lower melting point than the bottom plate 11 and the side panels 15 is used as a brazing material. The bottom plate 11, the side panels 15, and the brazing material are heated to a temperature higher than the melting point of the brazing material and lower than the melting point of the bottom plate 11 and the side panels 15. The bottom plate 11 and the side panels 15 are wetted with liquid brazing material to fill the interface gap and achieve mutual diffusion of atoms with the bottom plate 11 and the side panels 15, thereby achieving welding. The welding connection method is simple to operate and has a stable connection. This application uses brazing as an example, which should not be understood as a limitation on the method of this application.

[0084] Optionally, the outer peripheral surface of the middle plate 12 is polished, and the polishing method can be fluid polishing, mechanical polishing, ultrasonic polishing, chemical polishing, electrolytic polishing, etc. The outer peripheral surface of the middle plate 12 is polished to improve the smoothness of the outer peripheral surface of the middle plate 12 and avoid scratching the bottom plate 11, the cover plate 14 and the side panels 15. Optionally, the cover plate 14 and the side panels 15 are polished, and the polishing method can be fluid polishing, mechanical polishing, ultrasonic polishing, chemical polishing, electrolytic polishing, etc. The cover plate 14 and the side panels 15 are polished to improve the smoothness of the cover plate 14 and the side panels 15 and avoid scratching other parts.

[0085] Optionally, the shape of the orthographic projection of the cover plate 14 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the cover plate 14 on the support surface may specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the cover plate 14 matches the shape of the middle plate 12, and the cover plate 14 is opposite to and connected to the middle plate 12.

[0086] Specifically, the sole member 10 is divided into a cover plate 14 and a side panel 15 which are connected to each other. The cover plate 14 is arranged on the side of the middle plate 12 which is away from the bottom plate 11. The side panels 15 surround the middle plate 12 and are connected to the bottom plate 11 and the cover plate 14. When the middle plate 12 is deformed, the cover plate 14 and the side panels 15 can restrict the middle plate 12, thereby preventing the deformed middle plate 12 from interfering with or breaking other parts.

[0087] The present application also provides a foot assembly 20, please refer to Figure 1 and Figure 2 , includes an ankle joint structure 21 and the sole member 10 as mentioned above, and the ankle joint structure 21 is connected to the middle plate 12 of the sole member 10.

[0088] A foot component 20 is provided, wherein the foot component 20 includes an ankle joint structure 21 and the aforementioned sole member 10, wherein the ankle joint structure 21 is connected to the middle plate 12 of the sole member 10. The connection between the middle plate 12 of the sole member 10 and the ankle joint structure 21 can transmit the vibration of the ankle joint structure 21 to the sole member 10, thereby improving the ability to buffer vibration.

[0089] In one embodiment, please refer to Figure 1 and Figure 2 The ankle joint structure 21 includes: a mounting plate 213, connected to the middle plate 12 of the sole member 10; a first bracket 211, connected to the mounting plate 213, and the first bracket 211 is used for rotational connection with the calf member; a second bracket 212, connected to the mounting plate 213, and spaced apart from the first bracket 211, and the second bracket 212 is used for connection with the driving structure; wherein the center of gravity of the middle plate 12 deviates from the center of gravity of the first bracket 211.

[0090] Optionally, the driving structure may include a driving rod. A first bracket 211, a second bracket 212 and a mounting plate 213, wherein the first bracket 211 is used to connect with the calf member, the second bracket 212 is used to connect with the driving rod, the mounting plate 213 is connected with the first bracket 211, the second bracket 212 and the middle plate 12, the first bracket 211 and the second bracket 212 are connected to the same side of the mounting plate 213, the middle plate 12 is connected to the side of the mounting plate 213 facing away from the first bracket 211, and the center of gravity of the middle plate 12 deviates from the center of gravity of the first bracket 211.

[0091] Optionally, the shape of the orthographic projection of the mounting plate 213 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the mounting plate 213 on the support surface may specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0092] Optionally, the middle plate 12 is connected to the cover plate 14, and the mounting plate 213 is connected to the side of the cover plate 14 facing away from the middle plate 12. Optionally, the connection between the middle plate 12 and the mounting plate 213 is far away from the connection between the first bracket 211 and the mounting plate 213.

[0093] Optionally, the outer surface of the mounting plate 213 is polished. The polishing method may be fluid polishing, mechanical polishing, ultrasonic polishing, chemical polishing, electrolytic polishing, etc. Polishing the outer surface of the mounting plate 213 improves the smoothness of the outer surface of the mounting plate 213 and avoids scratching other parts.

[0094] Specifically, the ankle joint structure 21 includes a mounting plate 213, a first bracket 211 and a second bracket 212. The mounting plate 213 is connected to the middle plate 12 of the sole member 10, the first bracket 211 is connected to the mounting plate 213, the first bracket 211 is used for rotationally connecting with the calf member, the second bracket 212 is connected to the mounting plate 213, and is spaced apart from the first bracket 211, the second bracket 212 is used for connecting with the driving structure, wherein the center of gravity of the middle plate 12 deviates from the center of gravity of the first bracket 211, when the foot assembly 20 moves, a portion of the mounting plate 213 is suspended, when encountering vibration, the suspended portion of the mounting plate 213 can be deformed, thereby improving the ability to buffer vibration.

[0095] The embodiment of the present application also provides a humanoid robot, comprising the foot assembly 20 as described above.

[0096] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship of the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0097] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the present application still fall within the scope covered by the present application.

Claims

1. A sole member, characterized in that: For humanoid robots, including: a bottom plate for contacting the supporting surface; An intermediate plate is arranged opposite to and spaced from the bottom plate, the intermediate plate is a carbon fiber component of an integrated structure, and a surface of the intermediate plate facing away from the bottom plate is used for mounting an ankle joint structure; A connecting plate, arranged between the bottom plate and the middle plate, the connecting plate respectively connecting the middle parts of the bottom plate and the middle plate in the length direction; Wherein, the bottom plate and the middle plate are both elastic components; The middle plate comprises a first section, a second section and a third section, the second section and the third section are connected to two opposite ends of the first section, the second section and the third section both protrude from the first section toward the bottom plate, the first section is connected to the connecting plate, and the surface of the first section facing away from the bottom plate is used for mounting the ankle joint structure; The second segment includes a first subsegment and a second subsegment, one end of the second subsegment is connected to the first subsegment, and the other end is connected to the first segment, and an angle A is formed between the first subsegment and the second subsegment, satisfying: 100°≤A≤170°; The third segment includes a third sub-segment and a fourth sub-segment. One end of the third sub-segment is connected to the first segment, and the other end is connected to the fourth sub-segment. An angle B is formed between the third sub-segment and the fourth sub-segment, satisfying: 100°≤B≤170°.

2. The sole member according to claim 1, characterized in that: The thickness of the first section is greater than the thickness of the second section; and / or the thickness of the first section is greater than the thickness of the third section.

3. The sole member according to claim 1, characterized in that: The thickness of at least a portion of the second segment gradually decreases in the direction from the first segment to the second segment; and / or the thickness of at least a portion of the third segment gradually decreases in the direction from the first segment to the third segment.

4. The sole member according to claim 1, characterized in that: The second section further includes a first tip portion, which is connected to an end of the first sub-segment away from the second sub-segment, and the first tip portion extends toward a side away from the bottom plate.

5. The sole member according to claim 1, characterized in that: The first section, the second section and the third section are smoothly connected.

6. The sole member according to claim 1, characterized in that: The bottom plate comprises anti-skid protrusions and a base plate connected to each other, and the anti-skid protrusions are arranged on a surface of the base plate facing away from the middle plate.

7. The sole member according to claim 1, characterized in that: The sole member also includes a cover plate and side panels connected to each other. The cover plate is arranged on a side of the middle plate facing away from the bottom plate, and the side panels surround the middle plate and are connected to the bottom plate and the cover plate.

8. A foot assembly, characterized in that: The invention comprises an ankle joint structure and a sole member according to any one of claims 1 to 7, wherein the ankle joint structure is connected to a middle plate of the sole member.

9. The foot assembly according to claim 8, characterized in that: The ankle joint structure comprises: A mounting plate connected to the middle plate of the sole member; A first bracket connected to the mounting plate, the first bracket being used for rotationally connecting to the calf member; A second bracket, connected to the mounting plate and spaced apart from the first bracket, the second bracket being used to be connected to the driving structure; Wherein, the center of gravity of the middle plate deviates from the center of gravity of the first bracket.

10. A humanoid robot, characterized in that: Comprising a foot assembly as claimed in claim 8 or 9.

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