Foot connecting rod buffering device of humanoid robot

Abstract

The invention discloses a foot connecting rod buffer device of a humanoid robot, which relates to the technical field of robots and comprises a front sole plate, an upper sole plate and a sole plate. The rotation angle of the upper sole plate relative to the front sole plate is continuously reduced, so that the front sole spring is compressed, or the rotation angle of the upper sole plate relative to the sole plate is continuously reduced, so that the upper sole spring is compressed; at the moment, vibration and mechanical impact generated by the front sole plate, the upper sole plate or the sole plate can be transmitted to the front sole spring or the upper sole spring, the front sole spring or the upper sole spring absorbs most of impact energy through self elastic deformation, the energy storage device is like an energy storage device, and according to the Hooke's law, the larger the impact energy is, the larger the impact energy is, the larger the impact energy is. The larger the compression amount of the front sole spring or the upper sole spring is, so that the instant huge impact force is converted into the elastic potential energy of the front sole spring and the upper sole spring, the impact force is prevented from being directly transmitted to the robot body, and the influence of vibration on the robot is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a foot connecting rod buffer device of a humanoid robot. Background Art

[0002] With the continuous development of robotics technology, especially in the field of humanoid robots and service robots, how to enable robots to walk stably and flexibly and adapt to complex terrain has become a key technical problem. The foot design of humanoid robots requires that they can smoothly complete gait transitions and dynamic balance control like humans. Traditional mechanical designs usually use fixed structures or simple support systems. However, when robots walk, their feet will be subject to different degrees of impact when they come into contact with the ground. This impact not only affects the stability of the robot's movement, but may also cause large mechanical impacts on various components of the robot, causing wear, failure, or even damage to the system. Therefore, the cushioning and shock absorption of the robot's feet is very important. Summary of the invention

[0003] The present invention provides a humanoid robot foot connecting rod buffer device, which imitates the physiological structure of the human foot and can effectively absorb ground impact, coordinate foot movement and the dynamic balance of the whole body through reasonable design of the connecting rod structure and spring mechanism of the foot, improve the flexibility of the humanoid robot, and provide good adaptability and stability on complex terrain.

[0004] To achieve the above-mentioned purpose, the present invention provides a humanoid robot foot connecting rod buffer device, comprising a front sole plate, an upper sole plate, a sole plate and a rotating shaft, one side of the sole plate is rotatably connected with the front sole plate and the upper sole plate through the rotating shaft, and both ends of the rotating shaft are fixedly installed on the top of the front sole plate through a bearing seat;

[0005] One side of the forefoot plate is in an arc shape, the top of the forefoot plate is rotatably connected to the forefoot connecting rod through a bearing, the top of the upper sole plate is integrally formed with a forefoot mounting seat, the side of the forefoot mounting seat is fixedly mounted with a forefoot guide rod, the number of the forefoot guide rods is two, the surface of the forefoot guide rod is movably sleeved with a forefoot guide rod slider, a forefoot guide rod slider fixing block is fixedly mounted between the two forefoot guide rod sliders, the forefoot guide rod slider fixing block is rotatably connected to one end of the forefoot connecting rod through a bearing, and the surface of the forefoot guide rod is movably sleeved with a forefoot spring;

[0006] An upper foot mounting seat is integrally formed on the top of the sole plate, an upper foot guide rod is fixedly mounted on the side of the upper foot mounting seat, two upper foot guide rods are provided, an upper foot guide rod slider is movably sleeved on the surface of the upper foot guide rod, an upper foot guide rod slider fixing block is fixedly mounted between the two upper foot guide rod sliders, a pushing block is fixedly mounted on the bottom of the upper foot plate, a pushing connecting rod is rotatably connected to the bottom of the pushing block through a bearing, the pushing connecting rod is rotatably connected to the side of the upper foot guide rod slider fixing block, and an upper foot spring is movably sleeved on the surface of the upper foot guide rod.

[0007] In some embodiments, in order to facilitate the connection of the robot's feet, a mounting circular groove connected to the robot's legs is provided at the top of the upper sole plate, and a clamping groove is provided in the middle of the mounting circular groove.

[0008] In some embodiments, in order to ensure that the upper sole guide rod slider fixing block can move normally and avoid locking of the propulsion link, one end surface of the upper sole guide rod and the forefoot guide rod are fixedly mounted with a limit column, and the limit column controls the rotation angle of the propulsion link relative to the sole plate to not exceed 90°.

[0009] In some embodiments, in order to prevent the propulsion link from directly contacting the sole of the foot, a buffer block is fixedly installed on the top of the sole of the foot. The buffer block is located below the propulsion link to prevent the propulsion link from directly contacting the top of the sole of the foot after rotating to a certain angle.

[0010] In some embodiments, the bottom of the forefoot plate and the sole plate are fixedly mounted with a rubber anti-skid sole, which can increase friction, adapt to different terrains, and play a buffering role.

[0011] In some embodiments, when the rotation angle of the upper sole plate relative to the sole plate decreases, the upper sole plate drives the upper sole guide rod slider fixing block to move toward one side of the rotating shaft through the push rod and compresses the upper sole spring. The upper sole spring absorbs most of the impact energy through its own elastic deformation, avoiding the impact force from being directly transmitted to the robot body, and reducing the impact of vibration on the robot.

[0012] In some embodiments, when the rotation angle of the front sole plate relative to the upper sole plate decreases, the front sole plate drives the front sole guide rod slider fixing block to move to a side away from the rotation axis through the front sole connecting rod and compresses the front sole spring. The front sole spring absorbs most of the impact energy through its own elastic deformation, avoiding the impact force from being directly transmitted to the robot body, and reducing the impact of vibration on the robot.

[0013] Compared with the related art, the humanoid robot foot connecting rod buffer device provided by the present invention has the following beneficial effects:

[0014] The present invention provides a humanoid robot foot connecting rod buffer device, when the rotation angle of the upper sole plate relative to the front sole plate is continuously reduced so that the front sole spring is compressed, or the rotation angle of the upper sole plate relative to the sole plate is continuously reduced so that the upper sole spring is compressed, at this time, the vibration and mechanical impact generated by the front sole plate, the upper sole plate or the sole plate will be transmitted to the forefoot spring or the upper sole spring, and the forefoot spring or the upper sole spring absorbs most of the impact energy through its own elastic deformation, just like an energy storage device. According to Hooke's law, the greater the impact energy, the greater the compression of the forefoot spring or the upper sole spring, thereby converting the instantaneous huge impact force into the elastic potential energy of the forefoot spring and the sole spring, avoiding the impact force from being directly transmitted to the robot body, and reducing the influence of vibration on the robot.

[0015] The present invention provides a humanoid robot foot connecting rod buffer device, wherein one end surface of an upper sole guide rod and a forefoot guide rod are both provided with a limiting column made of a polyurethane material, which has good strength and toughness, and can not only play a limiting role, but also play a buffering and protective role for an upper sole guide rod slider fixing block and a forefoot guide rod slider fixing block.

[0016] The present invention provides a humanoid robot foot connecting rod buffer device, wherein the bottoms of the forefoot plate and the sole plate are fixedly installed with rubber anti-skid soles, and when the rubber anti-skid soles are in contact with the ground, the special texture of the bottom surface and the characteristics of the rubber itself can increase the friction force and adapt to different terrains. In addition, the rubber has good elasticity, and during walking or exercise, when the device touches the ground, the rubber anti-skid soles can play a buffering role, which can absorb part of the impact force from the ground and reduce the impact on the robot's feet and leg joints. The rubber anti-skid soles are respectively connected to the forefoot plate and the sole plate by screws, and can be replaced at any time after being worn. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the present invention when both the forefoot and the sole are in contact with the ground;

[0020] Figure 4 It is a schematic diagram of the structure of the present invention when the forefoot contacts the ground;

[0021] Figure 5 This is a structural schematic diagram of the robot leg of the present invention when the buffer device is fully lifted.

[0022] Numbers in the figure: 1, forefoot plate; 2, forefoot connecting rod; 3, forefoot mounting seat; 4, forefoot guide rod; 5, forefoot guide rod slider; 6, forefoot guide rod slider fixing block; 7, forefoot spring; 8, upper sole plate; 9, push connecting rod; 10, buffer block; 11, sole plate; 12, upper sole mounting seat; 13, upper sole guide rod; 14, upper sole guide rod slider; 15, upper sole guide rod slider fixing block; 16, upper sole spring; 17, rubber non-slip sole; 18, push block; 19, mounting circular groove; 20, slot; 100, ground. DETAILED DESCRIPTION

[0023] Embodiment 1, by Figure 1-5 The present invention includes a front sole plate 1, an upper sole plate 8, a sole plate 11 and a rotating shaft. One side of the sole plate 11 is rotatably connected to the front sole plate 1 and the upper sole plate 8 through the rotating shaft, and both ends of the rotating shaft are fixedly installed on the top of the front sole plate 1 through bearing seats; at least one of the sole plate 11 and the upper sole plate 8 is rotatably connected to the rotating shaft through a bearing, and the other can be directly fixed to the rotating shaft.

[0024] One side of the forefoot plate 1 is in an arc shape similar to the front end of the foot. The top of the forefoot plate 1 is rotatably connected to the forefoot connecting rod 2 through a bearing. The top of the upper sole plate 8 is integrally formed with a forefoot mounting seat 3. The side of the forefoot mounting seat 3 is fixedly installed with a forefoot guide rod 4. The number of the forefoot guide rods 4 is two. The surface of the forefoot guide rod 4 is movably sleeved with a forefoot guide rod slider 5. A forefoot guide rod slider fixing block 6 is fixedly installed between the two forefoot guide rod sliders 5. The forefoot guide rod slider fixing block 6 is rotatably connected to one end of the forefoot connecting rod 2 through a bearing. The surface of the forefoot guide rod 4 is movably sleeved with a forefoot spring 7.

[0025] In this embodiment, when the rotation angle of the front sole plate 1 relative to the upper sole plate 8 decreases, the front sole plate 1 drives the front sole guide rod slider fixing block 6 to move to the side away from the rotating shaft through the front sole connecting rod 2 and compresses the front sole spring 7. Before the robot is about to completely lift the leg located at the rear or put down the leg located at the front, at this time, the rotation angle of the upper sole plate 8 relative to the front sole plate 1 is continuously reduced, so that the front sole spring 7 is compressed. At this time, the vibration and mechanical impact generated by the front sole plate 1 will be transmitted to the front sole spring 7, and the front sole spring 7 absorbs most of the impact energy through its own elastic deformation, just like an energy storage device. According to Hooke's law, the greater the impact energy, the greater the compression of the front sole spring 7, thereby converting the instantaneous huge impact force into the elastic potential energy of the front sole spring 7, avoiding the impact force from being directly transmitted to the robot body, and reducing the impact of vibration on the robot.

[0026] An upper foot mounting seat 12 is integrally formed at the top of the sole plate 11, and an upper foot guide rod 13 is fixedly mounted on the side of the upper foot mounting seat 12. There are two upper foot guide rods 13, and an upper foot guide rod slider 14 is movably sleeved on the surface of the upper foot guide rod 13. An upper foot guide rod slider fixing block 15 is fixedly mounted between the two upper foot guide rod sliders 14. A pushing block 18 is fixedly mounted on the bottom of the upper foot plate 8, and a pushing connecting rod 9 is rotatably connected to the bottom of the pushing block 18 through a bearing. The pushing connecting rod 9 is rotatably connected to the side of the upper foot guide rod slider fixing block 15, and an upper foot spring 16 is movably sleeved on the surface of the upper foot guide rod 13.

[0027] In this embodiment, when the rotation angle of the upper sole plate 8 relative to the sole plate 11 decreases, the upper sole plate 8 drives the upper sole guide rod slider fixing block 15 to move to one side of the rotating shaft through the push rod 9 and compresses the upper sole spring 16. When the sole plate 11 is about to contact the ground or the sole plate 11 has already touched the ground, the weight of the robot is pressed down by the upper sole plate 8. At this time, the rotation angle of the upper sole plate 8 relative to the sole plate 11 is continuously reduced, so that the upper sole spring 16 is compressed. At this time, the vibration and mechanical impact generated by the upper sole plate 8 or the sole plate 11 will be transmitted to the upper sole spring 16. The upper sole spring 16 absorbs most of the impact energy through its own elastic deformation, just like an energy storage device. According to Hooke's law, the greater the impact energy, the greater the compression of the upper sole spring 16, thereby converting the instantaneous huge impact force into the elastic potential energy of the upper sole spring 16, avoiding the impact force from being directly transmitted to the robot body, and reducing the impact of vibration on the robot.

[0028] Embodiment 2, based on embodiment 1, a circular mounting groove 19 connected to the robot leg is provided on the top of the upper sole plate 8, and a clamping groove 20 is provided in the middle of the circular mounting groove 19.

[0029] In this embodiment, the circular mounting groove 19 can be connected to the robot leg, and the clamping groove 20 can cooperate with the clamping block arranged at the bottom end of the robot leg to increase the bending moment strength.

[0030] Embodiment 3, based on embodiment 1, one end surface of the upper sole guide rod 13 and the forefoot guide rod 4 are fixedly mounted with a limit column, and the limit column controls the rotation angle of the propulsion connecting rod 9 relative to the sole plate 11 to not exceed 90°.

[0031] In this embodiment, the material of the limit column is polyurethane, which has good strength and toughness. It can not only limit the position, but also provide buffer protection for the upper sole guide rod slider fixing block 15 and the forefoot guide rod slider fixing block 6. Limiting the rotation angle of the propulsion connecting rod 9 and the sole plate 11 to not more than 90° can avoid the self-locking phenomenon caused by an excessively large angle, which affects the normal rotation between the upper sole plate 8 and the sole plate 11.

[0032] Embodiment 4, on the basis of embodiment 1, a buffer block 10 is fixedly installed on the top of the sole plate 11, and the buffer block 10 is located below the propulsion link 9 to prevent the propulsion link 9 from directly contacting the top of the sole plate 11 after rotating to a certain angle.

[0033] In the fifth embodiment, the bottoms of the forefoot plate 1 and the sole plate 11 are both fixedly mounted with a rubber anti-skid sole 17 .

[0034] In this embodiment, when the rubber anti-skid sole 17 contacts the ground, the special texture of its bottom surface and the characteristics of the rubber itself can increase the friction force and adapt to different terrains. In addition, the rubber has good elasticity. When the device touches the ground during walking or exercise, the rubber anti-skid sole 17 can play a buffering role. It can absorb part of the impact force from the ground and reduce the impact on the robot's feet and leg joints. The rubber anti-skid sole 17 is connected to the front sole plate 1 and the sole plate 11 respectively by screws, and can be replaced at any time after wear.

[0035] Working principle: the rotation angle of the upper sole plate 8 relative to the front sole plate 1 is continuously reduced, so that the front sole spring 7 is compressed, or the rotation angle of the upper sole plate 8 relative to the sole plate 11 is continuously reduced, so that the upper sole spring 16 is compressed. At this time, the vibration and mechanical impact generated by the front sole plate 1, the upper sole plate 8 or the sole plate 11 will be transmitted to the front sole spring 7 or the upper sole spring 16. The front sole spring 7 or the upper sole spring 16 absorbs most of the impact energy through its own elastic deformation, just like an energy storage. According to Hooke's law, the greater the impact energy, the greater the compression of the forefoot spring 7 or the upper sole spring 16, thereby converting the instantaneous huge impact force into the elastic potential energy of the forefoot spring 7 and the upper sole spring 16, avoiding the impact force from being directly transmitted to the robot body and reducing the impact of vibration on the robot; on the upper sole guide rod 13 and One end surface of the forefoot guide rod 4 is provided with a limit column made of polyurethane material, which has good strength and toughness. While playing the role of limiting, it can also play a role of buffering and protecting the upper sole guide rod slider fixing block 15 and the forefoot guide rod slider fixing block 6; the bottom of the forefoot plate 1 and the sole plate 11 are fixedly installed with a rubber anti-skid sole 17. When the rubber anti-skid sole 17 contacts the ground, the special texture of its bottom surface and the characteristics of the rubber itself can increase friction and adapt to different terrains. In addition, rubber has good elasticity. During walking or exercise, when the device touches the ground, the rubber anti-skid sole 17 can play a buffering role. It can absorb part of the impact force from the ground and reduce the impact on the robot's feet and leg joints. The rubber anti-skid sole 17 is connected to the forefoot plate 1 and the sole plate 11 respectively by screws, and can be replaced at any time after wear.

Claims

1. A humanoid robot foot connecting rod buffer device, characterized in that: It comprises a front sole plate (1), an upper sole plate (8), a sole plate (11) and a rotating shaft, wherein one side of the sole plate (11) is rotatably connected to the front sole plate (1) and the upper sole plate (8) via the rotating shaft, and both ends of the rotating shaft are fixedly mounted on the top of the front sole plate (1) via a bearing seat; One side of the forefoot plate (1) is in an arc shape. The top of the forefoot plate (1) is rotatably connected to the forefoot connecting rod (2) via a bearing. The top of the upper forefoot plate (8) is integrally formed with a forefoot mounting seat (3). The side of the forefoot mounting seat (3) is fixedly mounted with a forefoot guide rod (4). The number of the forefoot guide rods (4) is two. The surface of the forefoot guide rod (4) is movably sleeved with a forefoot guide rod slider (5). A forefoot guide rod slider fixing block (6) is fixedly mounted between the two forefoot guide rod sliders (5). The forefoot guide rod slider fixing block (6) is rotatably connected to one end of the forefoot connecting rod (2) via a bearing. The surface of the forefoot guide rod (4) is movably sleeved with a forefoot spring (7). The top of the sole plate (11) is integrally formed with an upper sole mounting seat (12), and an upper sole guide rod (13) is fixedly mounted on the side of the upper sole mounting seat (12). The number of the upper sole guide rods (13) is two, and an upper sole guide rod slider (14) is movably sleeved on the surface of the upper sole guide rod (13), and an upper sole guide rod slider fixing block (15) is fixedly mounted between the two upper sole guide rod sliders (14). A pushing block (18) is fixedly mounted on the bottom of the upper sole plate (8), and a pushing connecting rod (9) is rotatably connected to the bottom of the pushing block (18) through a bearing. The pushing connecting rod (9) is rotatably connected to the side of the upper sole guide rod slider fixing block (15), and an upper sole spring (16) is movably sleeved on the surface of the upper sole guide rod (13).

2. The humanoid robot foot connecting rod buffer device according to claim 1, characterized in that: A mounting circular groove (19) connected to the leg of the robot is provided at the top of the upper sole plate (8), and a clamping groove (20) is provided in the middle of the mounting circular groove (19).

3. The humanoid robot foot connecting rod buffer device according to claim 1, characterized in that: The upper sole guide rod (13) and the front sole guide rod (4) are both fixedly sleeved with a limiting column on one end surface, and the limiting column controls the rotation angle of the propulsion connecting rod (9) relative to the sole plate (11) to not exceed 90 degrees.

4. The humanoid robot foot connecting rod buffer device according to claim 1, characterized in that: A buffer block (10) is fixedly mounted on the top of the sole plate (11), and the buffer block (10) is located below the propulsion connecting rod (9) to prevent the propulsion connecting rod (9) from directly contacting the top of the sole plate (11) after rotating at a certain angle.

5. The humanoid robot foot connecting rod buffer device according to claim 1, characterized in that: The bottoms of the forefoot plate (1) and the sole plate (11) are both fixedly mounted with rubber anti-skid soles (17).

6. The humanoid robot foot connecting rod buffer device according to claim 1, characterized in that: When the rotation angle of the upper sole plate (8) relative to the sole plate (11) decreases, the upper sole plate (8) drives the upper sole guide rod slider fixing block (15) to move toward one side of the rotating shaft through the pushing connecting rod (9) and compresses the upper sole spring (16).

7. The humanoid robot foot connecting rod buffer device according to claim 1, characterized in that: When the rotation angle of the front sole plate (1) relative to the upper sole plate (8) decreases, the front sole plate (1) drives the front sole guide rod slider fixing block (6) to move to a side away from the rotating shaft through the front sole connecting rod (2) and compresses the front sole spring (7).

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