A humanoid robot foot connecting rod buffer device

Abstract

The present invention discloses a humanoid robot foot connecting rod buffer device, relating to the field of robot technology, comprising a forefoot plate, an upper foot plate, and a sole plate; in the present invention, when the rotation angle of the upper foot plate relative to the forefoot plate is continuously reduced, the forefoot spring is compressed, or the rotation angle of the upper foot plate relative to the sole plate is continuously reduced, the upper foot spring is compressed, at this time, the vibration and mechanical impact generated by the forefoot plate, the upper foot plate or the sole plate will be transmitted to the forefoot spring or the upper foot spring, and the forefoot spring or the upper foot spring 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 or the upper foot spring, thereby converting the instantaneous huge impact force into the elastic potential energy of the forefoot spring and the upper foot spring, avoiding the impact force from being directly transmitted to the robot body, and reducing the influence of vibration on the robot.

Description

Technical Field

[0001] The present 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 fields 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 challenge. 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, they are subject to varying degrees of impact force when their feet come into contact with the ground. This impact not only affects the stability of the robot's movement, but may also cause significant mechanical impact on the robot's various components, leading to wear, failure, and 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. By imitating the physiological structure of the human foot and rationally designing the connecting rod structure and spring mechanism of the foot, it can effectively absorb ground impact, coordinate foot movement and the dynamic balance of the whole body, improve the flexibility of the humanoid robot, and provide good adaptability and stability on complex terrain.

[0004] To achieve the above objectives, the present invention provides a humanoid robot foot connecting rod buffer device, comprising a forefoot plate, an upper foot plate, a sole plate, and a rotating shaft. One side of the sole plate is rotatably connected to the forefoot plate and the upper foot plate via the rotating shaft, and both ends of the rotating shaft are fixedly mounted on the top of the forefoot plate via bearing seats.

[0005] One side of the forefoot plate is arc-shaped, 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] The top of the sole plate is integrally formed with an upper foot mounting seat, and an upper foot guide rod is fixedly mounted on the side of the upper foot mounting seat, and the number of the upper foot guide rods is two, and the surface of the upper foot guide rod is movably sleeved with an upper foot guide rod slider, and an upper foot guide rod slider fixing block is fixedly mounted between the two upper foot guide rod sliders, and a pushing block is fixedly mounted on the bottom of the upper foot plate, and the bottom of the pushing block is rotatably connected to a pushing connecting rod through a bearing, and the pushing connecting rod is rotatably connected to the side of the upper foot guide rod slider fixing block, and the surface of the upper foot guide rod is movably sleeved with an upper foot spring.

[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 on the top of the upper sole plate, and a clamping slot 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 the locking of the propulsion link, one end surface of the upper sole guide rod and the forefoot guide rod are fixedly mounted with a limiting column, and the limiting column controls the rotation angle of the propulsion link relative to the sole of the foot 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 bottoms of the forefoot plate and the sole plate are fixedly mounted with rubber anti-skid soles, which can increase friction, adapt to different terrains, and play a cushioning role.

[0011] In some embodiments, when the rotation angle of the upper sole plate relative to the sole plate decreases, the upper sole plate, via a propulsion link, drives the upper sole guide rod slider fixing block toward the rotation axis, compressing the upper sole spring. The upper sole spring absorbs most of the impact energy through its elastic deformation, preventing 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 forefoot plate relative to the upper foot plate decreases, the forefoot plate, via the forefoot connecting rod, drives the forefoot guide rod slider fixing block to move away from the rotation axis, compressing the forefoot spring. The forefoot spring absorbs most of the impact energy through its elastic deformation, preventing the impact force from being directly transmitted to the robot body and reducing the impact of vibration on the robot.

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

[0014] The present invention provides a foot connecting rod buffer device for a humanoid robot. When the rotation angle of the upper sole plate relative to the forefoot plate is continuously reduced, the forefoot spring is compressed, or when the rotation angle of the upper sole plate relative to the sole plate is continuously reduced, the upper sole spring is compressed. At this time, the vibration and mechanical impact generated by the forefoot plate, the upper sole plate or the sole plate will be transmitted to the forefoot spring or the upper sole spring. 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 upper sole spring, avoiding the impact force from being directly transmitted to the robot body and reducing the impact of vibration on the robot.

[0015] The present invention provides a humanoid robot foot connecting rod buffer device, in which one end surface of the upper sole guide rod and the forefoot guide rod are both provided with a limit column made of polyurethane. The limit column has good strength and toughness. While playing a limiting role, it can also provide buffering protection for the upper sole guide rod slider fixing block and the forefoot guide rod slider fixing block.

[0016] The present invention provides a foot connecting rod buffer device for a humanoid robot. The bottoms of the forefoot plate and the sole plate are fixedly installed with rubber anti-skid soles. When the rubber anti-skid sole contacts the ground, the special texture of the 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 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 is connected to the forefoot plate and the sole plate respectively by screws and can be replaced at any time after wear. 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 This is a schematic diagram of the structure of the present invention when the forefoot contacts the ground;

[0021] Figure 5 This is a structural 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 foot plate; 9. Propulsion connecting rod; 10. Buffer block; 11. Sole plate; 12. Upper foot mounting seat; 13. Upper foot guide rod; 14. Upper foot guide rod slider; 15. Upper foot guide rod slider fixing block; 16. Upper foot spring; 17. Rubber non-slip sole; 18. Push block; 19. Mounting groove; 20. Card 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 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 mounted with a forefoot guide rod 4. There are two forefoot guide rods 4. 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 through a bearing. The surface of the forefoot guide rod 4 is movably sleeved with a forefoot spring 7.

[0025] In this embodiment, as the rotation angle of the forefoot plate 1 relative to the upper foot plate 8 decreases, the forefoot plate 1, via the forefoot connecting rod 2, drives the forefoot guide rod slider fixing block 6 to move away from the rotation axis, compressing the forefoot spring 7. Before the robot fully lifts its rear leg or lowers its front leg, the rotation angle of the upper foot plate 8 relative to the forefoot plate 1 continues to decrease, compressing the forefoot spring 7. At this time, the vibration and mechanical impact generated by the forefoot plate 1 are transmitted to the forefoot spring 7, which absorbs most of the impact energy through its own elastic deformation, acting like an energy reservoir. According to Hooke's law, the greater the impact energy, the greater the compression of the forefoot spring 7. This converts the instantaneous huge impact force into the elastic potential energy of the forefoot spring 7, preventing 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 on 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 the bottom of the pushing block 18 is rotatably connected to a propulsion link 9 through a bearing. The propulsion link 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, as the rotation angle of upper sole plate 8 relative to sole plate 11 decreases, upper sole plate 8, via pusher link 9, drives upper sole guide rod slider fixing block 15 toward the side of the rotation axis, compressing upper sole spring 16. When sole plate 11 is about to contact the ground or has already touched the ground, and the weight of the robot is pressed downward by upper sole plate 8, the rotation angle of upper sole plate 8 relative to sole plate 11 continues to decrease, compressing upper sole spring 16. At this time, vibration and mechanical impact generated by upper sole plate 8 or sole plate 11 are transmitted to upper sole spring 16. Upper sole spring 16 absorbs most of the impact energy through its own elastic deformation, acting like an energy reservoir. According to Hooke's law, the greater the impact energy, the greater the compression of upper sole spring 16. This converts the instantaneous huge impact force into elastic potential energy of upper sole spring 16, preventing 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 mounting circular 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 mounting circular groove 19 .

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

[0030] Example 3, based on Example 1, one end surface of the upper sole guide rod 13 and the forefoot guide rod 4 are fixedly mounted with a limit column, which 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 stopper is made of polyurethane, which has excellent strength and toughness. It not only serves as a stopper, but also provides cushioning protection for the upper sole guide rod slider fixing block 15 and the forefoot guide rod slider fixing block 6. Limiting the rotation angle between the propulsion link 9 and the sole plate 11 to no more than 90° can prevent self-locking caused by excessive angles, which would affect the normal rotation between the upper sole plate 8 and the sole plate 11.

[0032] Embodiment 4, based on 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 rubber anti-skid soles 17 .

[0034] In this embodiment, the special texture of the rubber anti-slip sole 17 and the inherent properties of the rubber increase friction when it contacts the ground, adapting to different terrains. Furthermore, the rubber's good elasticity provides a cushioning effect when the device touches the ground during walking or exercise. This absorbs some of the impact from the ground, reducing the impact on the robot's feet and leg joints. The rubber anti-slip sole 17 is connected to the forefoot plate 1 and the sole plate 11 with screws, allowing for replacement at any time if worn.

[0035] Working principle: the rotation angle of the upper sole plate 8 relative to the forefoot plate 1 is continuously reduced, so that the forefoot 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 forefoot plate 1, the upper sole plate 8 or the sole plate 11 will be transmitted to the forefoot spring 7 or the upper sole spring 16. The forefoot 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 a 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: The footrest 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) through a bearing. The top of the upper foot 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) through 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 the surface of the upper sole guide rod (13) is movably sleeved with an upper sole guide rod slider (14), 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 the bottom of the pushing block (18) is rotatably connected to a propulsion connecting rod (9) through a bearing. The propulsion 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 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 mounting circular groove (19).

3. The humanoid robot foot connecting rod buffer device according to claim 1, characterized in that: One end surface of the upper sole guide rod (13) and the front sole guide rod (4) are both fixedly sleeved with a limiting column, 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 to 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 forefoot plate (1) relative to the upper foot plate (8) decreases, the forefoot plate (1) drives the forefoot guide rod slider fixing block (6) to move to a side away from the rotation axis through the forefoot connecting rod (2) and compresses the forefoot spring (7).

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