Foot assembly, lower limb assembly and humanoid robot

Abstract

A foot assembly, a lower limb assembly and a humanoid robot. The foot assembly is used for the lower limb assembly, and includes a sole piece and an ankle joint support. The sole piece includes a support plate, and the ankle joint support includes a base plate and a connecting plate. The base plate includes a first area and a second area arranged in sequence in a first direction, the first area is connected to the support plate, and the second area has a spacing distance from the support plate. The connecting plate is connected to a side of the second area away from the first area, and the connecting plate extends relative to the base plate in a direction away from the support plate. The base plate is used to be rotatably connected to the calf assembly, and the connecting plate is used to be rotatably connected to the drive assembly. The drive assembly is used to drive the support plate and the calf assembly to rotate relative to each other. The present application improves the ability of the foot assembly to buffer vibrations.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a foot assembly, a lower limb 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 foot assembly plays an important role in the standing and movement of humanoid robots. In the prior art, the ankle joint bracket is a flat plate, and when the transmission assembly drives the ankle joint bracket to move, the ankle joint bracket has poor shock absorption ability. Summary of the invention

[0003] The purpose of the present application is to provide a foot assembly, a lower limb assembly and a humanoid robot, which solve the problem of poor vibration buffering ability of the foot assembly.

[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 assembly for a lower limb assembly of a humanoid robot, comprising: a sole member including a support plate; an ankle joint support including a base plate and a connecting plate, the base plate including a first area and a second area arranged in sequence in a first direction, the first area being connected to the support plate, the second area being spaced apart from the support plate by a distance, the connecting plate being connected to a side of the second area away from the first area, and the connecting plate extending relative to the base plate in a direction away from the support plate, the base plate being used to be rotatably connected to a calf assembly, the connecting plate being used to be rotatably connected to a drive assembly, and the drive assembly being used to drive the connecting plate and the calf assembly to rotate relative to each other.

[0006] By setting a sole piece and an ankle support, the sole piece includes a support plate, the ankle support includes a base plate and a connecting plate, the base plate includes a first area and a second area arranged in sequence in a first direction, the first area is connected to the support plate, the second area is suspended at a distance from the support plate, the connecting plate is connected to a side of the second area away from the first area, and the connecting plate extends relative to the base plate in a direction away from the support plate to be suspended, the base plate is used to be rotatably connected to the calf assembly, the connecting plate is used to be rotatably connected to the driving assembly, the driving assembly drives the connecting plate and the calf assembly to rotate relative to each other to drive the sole piece to move, since the connecting plate is suspended and has a distance from the support plate, the connecting plate can buffer vibrations through elastic deformation, thereby improving the ability of the foot assembly to buffer vibrations.

[0007] In one embodiment, the connecting plate includes a first sub-plate and a second sub-plate, one end of the first sub-plate is connected to the second sub-plate, the other end of the first sub-plate is connected to the base plate, the second sub-plate is used to connect to the driving assembly, the first sub-plate is curved, and is smoothly connected to the base plate and the second sub-plate.

[0008] By setting a connecting plate including a first sub-plate and a second sub-plate, one end of the first sub-plate is connected to the second sub-plate, the other end of the first sub-plate is connected to the bottom plate, and the second sub-plate is used to connect to the driving component. The first sub-plate is curved and smoothly connected to the bottom plate and the second sub-plate, so that according to user needs, the appropriate angle can be flexibly adjusted to cushion the shock and the connecting plate is not easy to break.

[0009] In one embodiment, the sole member is provided with a receiving groove, the support plate is received in the receiving groove, at least a portion of the bottom plate is received in the receiving groove, and the connecting plate is used to move relative to the support plate so that the connecting plate is located outside the receiving groove, or the connecting plate extends into the receiving groove and has a spacing distance from the inner wall surface of the receiving groove.

[0010] By providing a receiving groove on the sole piece, the support plate is received in the receiving groove, at least a portion of the bottom plate is received in the receiving groove, and the connecting plate is used to move relative to the support plate so that the connecting plate is located outside the receiving groove, or the connecting plate extends into the receiving groove and has a spacing distance from the inner wall surface of the receiving groove, so that the connecting plate is received in the receiving groove during elastic deformation to avoid interference with other parts.

[0011] In one embodiment, the support plate includes a first section, a second section and a third section, the first section is connected to the first area, the second section and the third section are connected at opposite ends of the first section, and the second section and the third section both protrude from the first section in a direction away from the base plate.

[0012] By setting the support plate to include a first section, a second section and a third section, the first section is connected to the first area, the second section and the third section are connected to two opposite ends of the first section, and the second section and the third section both protrude from the first section in a direction away from the bottom plate, so that the support plate forms a bow structure, and when the first area is under pressure, the support plate can buffer vibration.

[0013] 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.

[0014] By setting the thickness of the first section to be greater than that of the second section; and / or the thickness of the first section to be greater than that of the third section, the second section is more easily elastically deformed than the first section; and / or the third section is more easily elastically deformed than the first section, thereby improving the ability of the support plate to buffer vibrations.

[0015] In one embodiment, the ankle support also includes a mounting seat and a connecting seat arranged at intervals, the mounting seat is arranged on the surface of the base plate facing away from the support plate, and is rotatably connected to the calf assembly around a first axis and a second axis, the connecting seat is arranged on the surface of the connecting plate facing away from the support plate, and is used to be rotatably connected to the drive assembly, the first axis extends along the first direction, the second axis extends along the second direction, and the second direction intersects with the first direction.

[0016] The ankle joint support also includes a mounting seat and a connecting seat arranged at intervals. The mounting seat is arranged on the surface of the base plate facing away from the support plate, and is rotatably connected with the calf assembly around the first axis and the second axis. The connecting seat is arranged on the surface of the connecting plate facing away from the support plate, and is used to be rotatably connected with the drive assembly. The first axis extends along a first direction, and the second axis extends along a second direction, and the second direction intersects with the first direction, so that the pressure received by the mounting seat and the connecting seat can be transmitted to the support plate via the base plate, thereby buffering vibration.

[0017] In one embodiment, the mounting seat includes a first mounting plate, a second mounting plate and a first connecting member, the first mounting plate and the second mounting plate are arranged on the bottom plate with a relative spacing, the first connecting member is rotatably connected to the first mounting plate and the second mounting plate, and the first connecting member is used to be rotatably connected to the calf assembly;

[0018] The first connecting member is used to rotate relative to the base plate around the first axis, and the first connecting member is also used to rotate relative to the calf assembly around the second axis.

[0019] By setting a mounting base including a first mounting plate, a second mounting plate and a first connecting member, the first mounting plate and the second mounting plate are relatively spaced apart and arranged on the bottom plate, the first connecting member is rotatably connected to the first mounting plate and the second mounting plate, the first connecting member is used to be rotatably connected to the calf assembly, thereby driving the bottom plate to rotate, the first connecting member is used to rotate around the first axis relative to the bottom plate, and the first connecting member is also used to rotate around the second axis relative to the calf assembly, so that the calf assembly can drive the bottom plate to rotate in the first direction or the second direction, thereby improving the flexibility of the bottom plate rotation.

[0020] In one embodiment, the mounting base further includes a third mounting plate, the third mounting plate is connected to the base plate, and the first mounting plate and the second mounting plate are both connected and fixed to the third mounting plate and are an integrated structure.

[0021] By setting the mounting seat to also include a third mounting plate, the third mounting plate is connected to the base plate, the first mounting plate and the second mounting plate are both connected and fixed to the third mounting plate and form an integrated structure, thereby improving the strength of the first mounting plate, the second mounting plate and the third mounting plate.

[0022] In one embodiment, the connecting seat includes a first mounting member, a second mounting member and a second connecting member, the second connecting member is connected to the connecting plate, the first mounting member and the second mounting member are relatively spaced apart from each other on the second connecting member, the second connecting member is rotatably connected to both the first mounting member and the second mounting member, the first mounting member and the second mounting member are both used to be rotatably connected to the driving assembly, and the first mounting member and the second mounting member are both used to rotate relative to the second connecting member around a third axis extending along the second direction.

[0023] By setting a connecting seat including a first mounting member, a second mounting member and a second connecting member, the first mounting member and the second mounting member are relatively spaced apart and arranged on the second connecting member, the second connecting member is connected to the connecting plate, the second connecting member is rotatably connected to the first mounting member and the second mounting member, the first mounting member and the second mounting member are both used for rotatably connecting to the driving assembly, and the first mounting member and the second mounting member are both used for rotating relative to the second connecting member around a third axis extending along the second direction, so that the first mounting member and the second mounting member can rotate in the second direction, thereby improving the flexibility of rotation of the first mounting member and the second mounting member.

[0024] In one embodiment, the first mounting member is a spherical bearing; and / or the second mounting member is a spherical bearing.

[0025] By configuring the first mounting member to be a spherical bearing; and / or configuring the second mounting member to be a spherical bearing, the flexibility of rotation of the first mounting member and the second mounting member is improved.

[0026] In one embodiment, a first groove is formed on the base plate, and the first groove extends along the length direction of the base plate or the width direction of the base plate; and / or a second groove is formed on the connecting plate, and the second groove extends along the length direction of the connecting plate or the width direction of the connecting plate.

[0027] By opening a first groove on the bottom plate, the first groove extends along the length direction of the bottom plate or the width direction of the bottom plate; and / or, a second groove is opened on the connecting plate, the second groove extends along the length direction of the connecting plate or the width direction of the connecting plate, the weight of the bottom plate can be reduced, and / or, this setting can reduce the weight of the connecting plate, thereby making it easy for the connecting plate to produce elastic deformation.

[0028] In a second aspect, the present application also provides a lower limb assembly, which includes a calf assembly, a drive assembly and a foot assembly as described in any one of the various embodiments of the first aspect, wherein the drive assembly is mounted on the calf assembly and is transmission-connected to the sole of the foot.

[0029] By setting up a lower limb assembly including a calf assembly, a driving assembly and a foot assembly as any one of the various embodiments of the first aspect, the driving assembly is installed on the calf assembly and is transmission-connected to the foot assembly, thereby being able to drive the foot assembly to move, the base plate is connected and fixed to the support plate, the mounting seat is rotatably connected to the calf assembly, and the connecting seat is rotatably connected to the driving assembly, so that the mounting seat and the connecting seat are compactly connected to the calf assembly.

[0030] In a third aspect, the present application also provides a humanoid robot comprising a lower limb assembly as described in any one of the embodiments of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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.

[0032] Figure 1 is a schematic structural diagram of a foot assembly of an embodiment;

[0033] Figure 2 is an exploded view of a foot assembly of one embodiment;

[0034] Figure 3 is a schematic diagram of a partial structure of a foot assembly of an embodiment;

[0035] Figure 4 is a schematic diagram of a partial structure of an ankle joint support according to an embodiment;

[0036] Figure 5 It is a schematic structural diagram of a lower limb assembly of an embodiment.

[0037] Description of reference numerals:

[0038] 10-sole member, 11-support plate, 111-first section, 112-second section, 113-third section, 12-ankle support, 121-bottom plate, 1211-accommodating groove, 1212-first groove, 122-connecting plate, 1221-first sub-plate, 1222-second sub-plate, 1223-second groove, 123-mounting seat, 1231-first mounting plate, 1232-second mounting plate, 1233-third A connecting piece, 1234-a first bearing, 1235-a first protrusion, 1236-a third mounting plate, 124-a connecting seat, 1241-a first mounting piece, 1242-a second mounting piece, 1243-a second connecting piece, 13-a receiving groove, 20-a lower limb assembly, 21-a lower leg assembly, 22-a transmission assembly, X-a first direction, Y-a second direction, L1-a first axis, L2-a second axis, L3-a third axis. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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 foot assembly plays an important role in the standing and movement of humanoid robots. In the prior art, the ankle joint bracket 12 is a flat plate, and when the transmission assembly drives the ankle joint bracket 12 to move, the ankle joint bracket 12 has poor shock absorption ability.

[0044] The present application provides a foot assembly for a lower limb assembly 20 of a humanoid robot, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , including a sole member 10 and an ankle joint support 12.

[0045] The sole member 10 includes a support plate 11. Optionally, the sole member 10 is used to contact a support surface, which may be a ground surface or a work surface, etc. Optionally, the shape of the orthographic projection of the support 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 support plate 11 on the support surface may specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0046] The ankle support 12 includes a base plate 121 and a connecting plate 122. The base plate 121 includes a first area and a second area arranged in sequence in a first direction X. The first area is connected to the support plate 11, and the second area is spaced apart from the support plate 11. The connecting plate 122 is connected to a side of the second area away from the first area, and the connecting plate 122 extends relative to the base plate 121 in a direction away from the support plate 11. The base plate 121 is used to be rotatably connected to the calf assembly 21, and the connecting plate 122 is used to be rotatably connected to the driving assembly. The driving assembly is used to drive the connecting plate 122 and the calf assembly 21 to rotate relative to each other.

[0047] Optionally, the shape of the orthographic projection of the bottom plate 121 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 121 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 connecting plate 122 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 connecting plate 122 on the support surface may be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0048] By setting a sole piece 10 and an ankle support 12, the sole piece 10 includes a support plate 11, the ankle support 12 includes a bottom plate 121 and a connecting plate 122, the bottom plate 121 includes a first area and a second area arranged in sequence in a first direction X, the first area is connected to the support plate 11, the second area is spaced apart from the support plate 11 so as to be suspended in the air, the connecting plate 122 is connected to a side of the second area away from the first area, and the connecting plate 122 extends relative to the bottom plate 121 in a direction away from the support plate 11 so as to be suspended in the air, the bottom plate 121 is used for rotationally connecting with the calf component 21, the connecting plate 122 is used for rotationally connecting with the driving component, the driving component drives the connecting plate 122 and the calf component 21 to rotate relative to each other to drive the sole piece 10 to move, since the connecting plate 122 is suspended and spaced apart from the support plate 11, the connecting plate 122 can buffer vibrations through elastic deformation, thereby improving the ability of the foot component to buffer vibrations.

[0049] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The connecting plate 122 includes a first sub-plate 1221 and a second sub-plate 1222. One end of the first sub-plate 1221 is connected to the second sub-plate 1222, and the other end of the first sub-plate 1221 is connected to the bottom plate 121. The second sub-plate 1222 is used to connect to the driving component. The first sub-plate 1221 is curved and smoothly connected to the bottom plate 121 and the second sub-plate 1222.

[0050] Optionally, the lower limb assembly 20 further includes a transmission assembly 22, and the transmission assembly 22 is connected to both the drive assembly and the second sub-plate 1222. Optionally, the transmission assembly 22 may include a plurality of transmission rods.

[0051] Optionally, the first sub-plate is in an "S" shape. Optionally, the first sub-plate includes a first sub-segment and a second sub-segment, one end of the first sub-segment is connected to the bottom plate 121, the other end of the first sub-segment is connected to the second sub-segment, the second sub-segment is connected to the connecting plate 122, the bottom plate 121 is tangent to the first sub-segment, and the connecting plate 122 is tangent to the second sub-segment. Optionally, the first sub-segment and the second sub-segment are rotationally symmetrical. Optionally, the first sub-segment and the second sub-segment are both arc segments.

[0052] The connecting plate 122 includes a first sub-plate 1221 and a second sub-plate 1222. One end of the first sub-plate 1221 is connected to the second sub-plate 1222. The other end of the first sub-plate 1221 is connected to the base plate 121. The second sub-plate 1222 is used to connect to the driving assembly. The first sub-plate 1221 is curved and smoothly connected to the base plate 121 and the second sub-plate 1222. Therefore, according to user needs, the appropriate angle can be flexibly adjusted to cushion the shock and the connecting plate 122 is not easily broken.

[0053] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The sole member 10 is provided with a receiving groove 13, the support plate 11 is received in the receiving groove 13, at least a portion of the bottom plate 121 is received in the receiving groove 13, and the connecting plate 122 is used to move relative to the support plate 11 so that the connecting plate 122 is located outside the receiving groove 13, or the connecting plate 122 extends into the receiving groove 13 and has a spacing distance from the inner wall surface of the receiving groove 13.

[0054] There is a spacing distance between the connection plate 122 and the receiving groove 13 , or at least a portion of the connection plate 122 is received in the receiving groove 13 .

[0055] The sole member 10 is provided with a receiving groove 13, the support plate 11 is received in the receiving groove 13, at least a portion of the bottom plate 121 is received in the receiving groove 13, and the connecting plate 122 is used to move relative to the support plate 11 so that the connecting plate 122 is located outside the receiving groove 13, or the connecting plate 122 extends into the receiving groove 13 and has a spacing distance from the inner wall surface of the receiving groove 13, so that the connecting plate 122 is received in the receiving groove 13 during elastic deformation to avoid interference with other parts.

[0056] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The support plate 11 includes a first section 111, a second section 112 and a third section 113. The first section 111 is connected to the first area, the second section 112 and the third section 113 are connected to opposite ends of the first section 111, and the second section 112 and the third section 113 both protrude from the first section 111 in a direction away from the bottom plate 121.

[0057] Optionally, the second section 112 faces the heel, and the third section 113 faces the forefoot. Optionally, the shapes of the orthographic projections of the first section 111, the second section 112, and the third section 113 on the support surface may be polygonal, circular, elliptical, irregular, etc. Optionally, the shapes of the orthographic projections of the first section 111, the second section 112, and the third section 113 on the support surface may specifically be, but not limited to, hexagonal, octagonal, irregular, etc.

[0058] By setting the support plate 11 to include a first section 111, a second section 112 and a third section 113, the first section 111 is connected to the first area, the second section 112 and the third section 113 are connected to two opposite ends of the first section 111, and the second section 112 and the third section 113 both protrude from the first section 111 in a direction away from the bottom plate 121, so that the support plate 11 forms a bow structure, and when the first area is under pressure, the support plate 11 can buffer vibration.

[0059] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , the thickness of the first section 111 is greater than the thickness of the second section 112 ; and / or, the thickness of the first section 111 is greater than the thickness of the third section 113 .

[0060] Optionally, the thickness of the first section 111 is greater than the thickness of the second section 112. Optionally, the thickness of the first section 111 is greater than the thickness of the third section 113. Optionally, the thickness of the first section 111 is greater than the thickness of the second section 112, and the thickness of the first section 111 is greater than the thickness of the third section 113.

[0061] Optionally, the thickness of at least a portion of the second segment 112 gradually decreases in the direction from the first segment 111 to the second segment 112 ; and / or the thickness of at least a portion of the third segment 113 gradually decreases in the direction from the first segment 111 to the third segment 113 .

[0062] By setting the thickness of the first section 111 to be greater than that of the second section 112; and / or the thickness of the first section 111 to be greater than that of the third section 113, the second section 112 is more easily elastically deformed than the first section 111; and / or the third section 113 is more easily elastically deformed than the first section 111, thereby improving the ability of the support plate 11 to buffer vibrations.

[0063] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The ankle support 12 also includes a mounting seat 123 and a connecting seat 124 arranged at intervals. The mounting seat 123 is arranged on the surface of the base plate 121 facing away from the support plate 11 and is rotatably connected to the calf assembly 21. The connecting seat 124 is arranged on the surface of the connecting plate 122 facing away from the support plate 11 and is used to be rotatably connected to the driving assembly. The first axis L1 extends along the first direction X, and the second axis L2 extends along the second direction Y. The second direction Y intersects with the first direction X.

[0064] The ankle support 12 also includes a mounting seat 123 and a connecting seat 124 that are spaced apart. The mounting seat 123 is arranged on the surface of the base plate 121 facing away from the support plate 11, and is rotatably connected with the calf component 21 around the first axis L1 and the second axis L2. The connecting seat 124 is arranged on the surface of the connecting plate 122 facing away from the support plate 11, and is used to be rotatably connected with the driving component. The first axis L1 extends along the first direction X, and the second axis L2 extends along the second direction Y, and the second direction Y intersects with the first direction X, so that the pressure received by the mounting seat 123 and the connecting seat 124 can be transmitted to the support plate 11 via the base plate 121, thereby buffering vibration.

[0065] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The mounting seat 123 includes a first mounting plate 1231, a second mounting plate 1232 and a first connecting member 1233. The first mounting plate 1231 and the second mounting plate 1232 are arranged on the bottom plate 121 with relative spacing. The first connecting member 1233 is rotatably connected to the first mounting plate 1231 and the second mounting plate 1232. The first connecting member 1233 is used for rotatably connecting to the calf assembly 21.

[0066] The first connecting member 1233 is used to rotate relative to the bottom plate 121 around the first axis L1 , and the first connecting member 1233 is also used to rotate relative to the calf assembly 21 around the second axis L2 .

[0067] Optionally, the first mounting plate 1231 may be a polygonal plate, a circular plate, an elliptical plate, an irregular plate, etc. Optionally, the first mounting plate 1231 may be a hexagonal plate, an octagonal plate, an irregular plate, etc. Optionally, the second mounting plate 1232 may be a polygonal plate, a circular plate, an elliptical plate, an irregular plate, etc. Optionally, the second mounting plate 1232 may be a hexagonal plate, an octagonal plate, an irregular plate, etc.

[0068] The mounting seat 123 includes a first mounting plate 1231, a second mounting plate 1232 and a first connecting member 1233. The first mounting plate 1231 and the second mounting plate 1232 are relatively spaced apart and arranged on the bottom plate 121. The first connecting member 1233 is rotatably connected to the first mounting plate 1231 and the second mounting plate 1232. The first connecting member 1233 is used to be rotatably connected to the calf assembly 21, thereby driving the bottom plate 121 to rotate. The first connecting member 1233 is used to rotate around the first axis L1 relative to the bottom plate 121. The first connecting member 1233 is also used to rotate around the second axis L2 relative to the calf assembly 21, so that the calf assembly 21 can drive the bottom plate 121 to rotate in the first direction X or the second direction Y, thereby improving the flexibility of the rotation of the bottom plate 121.

[0069] Optionally, the mounting seat 123 also includes a first bearing 1234, the first connecting member 1233 includes a frame and a first protrusion 1235, the first protrusion 1235 protrudes from the surface of the frame, the first bearing 1234 is connected and fixed to the first connecting member 1233, the first connecting member 1233 is connected and fixed to the inner ring of the first bearing 1234, and the outer ring of the first bearing 1234 is connected and fixed to the first mounting plate 1231.

[0070] Optionally, there are multiple first protrusions 1235. Optionally, there are multiple first bearings 1234. Each first bearing 1234 is arranged in one-to-one correspondence with a first protrusion 1235.

[0071] By setting the mounting seat 123 also including a first bearing 1234, the first connecting member 1233 includes a frame and a first protrusion 1235, the first protrusion 1235 protrudes from the surface of the frame, the first bearing 1234 is connected and fixed to the first connecting member 1233, the first connecting member 1233 is connected and fixed to the inner ring of the first bearing 1234, and the outer ring of the first bearing 1234 is connected and fixed to the first mounting plate 1231, thereby improving the rotation stability of the first connecting member 1233.

[0072] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The mounting seat 123 also includes a third mounting plate 1236, the third mounting plate 1236 is connected to the bottom plate 121, and the first mounting plate 1231 and the second mounting plate 1232 are both connected and fixed to the third mounting plate 1236 and are an integrated structure.

[0073] Optionally, the mounting seat 123 is further provided with a receiving groove 1211, and the receiving groove 1211 receives the third mounting plate 1236. Optionally, the third mounting plate 1236 can be a polygonal plate, a circular plate, an elliptical plate, an irregular plate, etc. Optionally, the third mounting plate 1236 can be a hexagonal plate, an octagonal plate, an irregular plate, etc.

[0074] By setting the mounting seat 123 also including a third mounting plate 1236, the third mounting plate 1236 is connected to the base plate 121, and the first mounting plate 1231 and the second mounting plate 1232 are both connected and fixed to the third mounting plate 1236 and form an integrated structure, thereby improving the strength of the first mounting plate 1231, the second mounting plate 1232 and the third mounting plate 1236.

[0075] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The connecting seat 124 includes a first mounting member 1241, a second mounting member 1242 and a second connecting member 1243, the second connecting member 1243 is connected to the connecting plate 122, the first mounting member 1241 and the second mounting member 1242 are relatively spaced apart and arranged on the second connecting member 1243, the second connecting member 1243 is rotatably connected to the first mounting member 1241 and the second mounting member 1242, the first mounting member 1241 and the second mounting member 1242 are both used for being rotatably connected to the driving assembly, and the first mounting member 1241 and the second mounting member 1242 are both used for rotating relative to the second connecting member 1243 around a third axis L3 extending along the second direction Y.

[0076] Optionally, the angle between the second direction Y and the first direction X is 90 degrees. Optionally, the first mounting member 1241 and the second mounting member 1242 are relatively spaced apart and arranged on the connecting plate 122 along the second direction Y. Optionally, one end of the second connecting member 1243 is rotatably connected to the first mounting member 1241, and the other end of the second connecting member 1243 is rotatably connected to the second mounting member 1242.

[0077] By setting the connecting seat 124 including the first mounting member 1241, the second mounting member 1242 and the second connecting member 1243, the second connecting member 1243 is connected to the connecting plate 122, the first mounting member 1241 and the second mounting member 1242 are relatively spaced apart and arranged on the second connecting member 1243, the second connecting member 1243 is rotatably connected to the first mounting member 1241 and the second mounting member 1242, the first mounting member 1241 and the second mounting member 1242 are both used for being rotatably connected to the driving assembly, the first mounting member 1241 and the second mounting member 1242 are both used for rotating relative to the second connecting member 1243 around a third axis L3 extending along the second direction Y, so that the first mounting member 1241 and the second mounting member 1242 can rotate in the second direction Y, thereby improving the rotation flexibility of the first mounting member 1241 and the second mounting member 1242.

[0078] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , the first mounting member 1241 is a spherical bearing; and / or, the second mounting member 1242 is a spherical bearing.

[0079] By configuring the first mounting member 1241 to be a spherical bearing, and / or configuring the second mounting member 1242 to be a spherical bearing, the flexibility of the rotation of the first mounting member 1241 and the second mounting member 1242 is improved.

[0080] In one implementation, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 A first groove 1212 is formed on the bottom plate 121, and the first groove 1212 extends along the length direction of the bottom plate 121 or the width direction of the bottom plate 121; and / or a second groove 1223 is formed on the connecting plate 122, and the second groove 1223 extends along the length direction of the connecting plate 122 or the width direction of the connecting plate 122.

[0081] Optionally, the orthographic projection of the first groove 1212 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the orthographic projection of the first groove 1212 on the support surface may be a hexagon, an octagon, an irregular shape, etc. Optionally, the orthographic projection of the second groove 1223 on the support surface may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the orthographic projection of the second groove 1223 on the support surface may be a hexagon, an octagon, an irregular shape, etc.

[0082] By opening a first groove 1212 on the bottom plate 121, the first groove 1212 extends along the length direction of the bottom plate 121 or the width direction of the bottom plate 121; and / or, a second groove 1223 is opened on the connecting plate 122, and the second groove 1223 extends along the length direction of the connecting plate 122 or the width direction of the connecting plate 122, the weight of the bottom plate 121 can be reduced, and / or, this setting can reduce the weight of the connecting plate 122, thereby making it easy for the connecting plate 122 to produce elastic deformation.

[0083] Second, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The present application also provides a lower limb assembly 20, which includes a calf assembly 21, a drive assembly and a foot assembly as any one of the various embodiments of the first aspect, wherein the drive assembly is mounted on the calf assembly 21 and is transmission-connected to the foot assembly.

[0084] The bottom plate 121 is fixedly connected to the support plate 11 , the mounting seat 123 is rotatably connected to the calf assembly 21 , and the connecting seat 124 is rotatably connected to the driving assembly.

[0085] The lower limb assembly 20 includes a calf component 21, a driving component and a foot component as in any one of the various embodiments of the first aspect, the driving component is installed on the calf component 21 and is connected to the sole member 10 by transmission, so as to drive the sole member 10 to move, the bottom plate 121 is connected and fixed to the support plate 11, the mounting seat 123 is rotatably connected to the calf component 21, and the connecting seat 124 is rotatably connected to the driving component, so that the mounting seat 123 and the connecting seat 124 are both compactly connected to the calf component 21.

[0086] In a third aspect, the present application further provides a humanoid robot, comprising a lower limb assembly 20 as in any one of the various embodiments of the second aspect.

[0087] 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.

[0088] 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 foot assembly, characterized in that: A lower limb assembly for a humanoid robot, comprising: A foot member including a support plate; An ankle support, comprising a bottom plate and a connecting plate, the bottom plate comprising a first area and a second area sequentially arranged in a first direction, the first area being connected to the support plate, the second area being spaced apart from the support plate, the connecting plate comprising a first sub-plate and a second sub-plate, one end of the first sub-plate being connected to the second sub-plate, the other end of the first sub-plate being connected to a side of the second area away from the first area, the second sub-plate being used to be connected to a driving assembly, the first sub-plate being curved and smoothly connected to the bottom plate and the second sub-plate, the second sub-plate extending relative to the bottom plate in a direction away from the supporting plate, the bottom plate being used to be rotatably connected to a calf assembly, the second sub-plate being used to be rotatably connected to a driving assembly, the driving assembly being used to drive the connecting plate and the calf assembly to rotate relative to each other; The sole member is provided with a receiving groove, the support plate is received in the receiving groove, at least a portion of the bottom plate is received in the receiving groove, the first sub-plate and the second sub-plate are used to move relative to the support plate so that the first sub-plate and the second sub-plate are located outside the receiving groove, or the first sub-plate and the second sub-plate extend into the receiving groove and have a spacing distance from the inner wall surface of the receiving groove.

2. The foot assembly according to claim 1, characterized in that: The support plate includes a first section, a second section and a third section. The first section is connected to the first area. 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 in a direction away from the bottom plate.

3. The foot assembly according to claim 2, 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.

4. The foot assembly according to claim 1, characterized in that: The ankle support also includes a mounting seat and a connecting seat arranged at intervals. The mounting seat is arranged on the surface of the base plate facing away from the support plate and is rotatably connected with the calf assembly around a first axis and a second axis. The connecting seat is arranged on the surface of the connecting plate facing away from the support plate and is used to be rotatably connected with the drive assembly. The first axis extends along the first direction, and the second axis extends along the second direction, and the second direction intersects with the first direction.

5. The foot assembly according to claim 4, characterized in that: The mounting seat comprises a first mounting plate, a second mounting plate and a first connecting member, the first mounting plate and the second mounting plate are arranged on the bottom plate with a relative spacing, the first connecting member is rotatably connected to the first mounting plate and the second mounting plate, and the first connecting member is used to be rotatably connected to the calf assembly; The first connecting member is used to rotate relative to the base plate around the first axis, and the first connecting member is also used to rotate relative to the calf assembly around the second axis.

6. The foot assembly according to claim 5, characterized in that The mounting seat also includes a third mounting plate, the third mounting plate is connected to the base plate, and the first mounting plate and the second mounting plate are both connected and fixed to the third mounting plate and are an integrated structure.

7. The foot assembly according to claim 4, characterized in that: The connecting seat includes a first mounting member, a second mounting member and a second connecting member, the second connecting member is connected to the connecting plate, the first mounting member and the second mounting member are arranged relatively spaced apart from the second connecting member, the second connecting member is rotatably connected to both the first mounting member and the second mounting member, the first mounting member and the second mounting member are both used to be rotatably connected to the driving assembly, and the first mounting member and the second mounting member are both used to rotate relative to the second connecting member around a third axis extending along the second direction.

8. The foot assembly according to claim 7, characterized in that: The first mounting member is a spherical bearing; and / or the second mounting member is a spherical bearing.

9. The foot assembly according to claim 1, characterized in that: The bottom plate is provided with a first groove, the first groove extending along the length direction of the bottom plate or the width direction of the bottom plate; and / or, the connecting plate is provided with a second groove, the second groove extending along the length direction of the connecting plate or the width direction of the connecting plate.

10. A lower limb assembly, characterized in that: The lower limb assembly includes a calf assembly, a drive assembly and a foot assembly as described in any one of claims 1 to 9, wherein the drive assembly is mounted on the calf assembly and is transmission-connected to the foot assembly.

11. A humanoid robot, characterized in that: Comprising the lower limb assembly as described in claim 10.

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