Foot structure and humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, and discloses a foot structure which comprises two thighs mounted at the lower end of a robot body, shanks mounted at the lower ends of the thighs and soles mounted at the lower ends of the shanks, connecting ports are formed in the middles of the upper surfaces of the soles, and air suction ports are formed in the bottom surfaces of the connecting ports in a penetrating mode. The upper surface of the sole is fixedly connected with a connecting frame, the upper surface of the connecting frame is connected with a flow dividing assembly, the other end of the flow dividing assembly is connected with the side wall of the sole, and a reverse blowing opening penetrates through the side wall of the sole. The humanoid robot comprises a robot body and further comprises the leg structure. According to the leg structure and the humanoid robot, the standing stability can be improved in the walking stage and the static stage of the robot body; when the robot body walks, if leaves and other sundries with large area and light weight are carelessly adhered to and blocked at the air suction ports of the soles, the blocking objects can be blown away before the soles step on the ground, so that the blocking probability is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, in particular to a foot structure and a humanoid robot. Background Art

[0002] Humanoid robots are robots designed to mimic human appearance, structure, and behavior, usually with human-like body proportions, joints, and limbs, and sometimes with simulated human facial features to achieve more natural human-robot interaction. The leg structure is a critical part of humanoid robot design, which directly affects the robot's mobility, stability, and energy efficiency.

[0003] The leg structure of a humanoid robot can be divided into several main parts from top to bottom: hip joint, thigh, knee joint, calf, ankle joint and foot. Each part plays an important role and works together to achieve the robot's walking, standing, balancing and other functions. The foot of a humanoid robot is the part that directly contacts the ground and is usually designed to have a larger contact area to increase stability.

[0004] At present, when humanoid robots walk, they need to lift their legs to take steps, so there will be a single-leg support stage, and the center of gravity of the body is adjusted to cope with the stability changes during this period. However, if the humanoid robot walks on a slope or slippery ground, or encounters strong winds, push and pull forces or other external forces, it may cause the humanoid robot to lose balance and fall over, which may cause damage to the internal components of the humanoid robot. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a foot structure and a humanoid robot, which can increase the standing stability of the robot body during walking and stopping stages.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a foot structure, comprising two thighs installed at the lower end of a robot body, a calf installed at the lower end of the thigh, and a sole installed at the lower end of the calf, a connecting port is provided in the middle of the upper surface of the sole, an air intake port is provided through the bottom surface of the connecting port, a connecting frame is fixedly connected to the upper surface of the sole, a shunt component is connected to the upper surface of the connecting frame, the other end of the shunt component is connected to the side wall of the sole, a back-blowing port is provided through the side wall of the sole, a pushing mechanism is connected inside the shunt component, a negative pressure suction mechanism is connected to the output end of the pushing mechanism, a downward pressure component is connected to the output end of the negative pressure suction mechanism, a lifting component is connected to both ends of the downward pressure component, sliding ports are provided on both sides of the connecting port away from the air intake port, lifting ports are provided through the bottom surfaces of the other ends of the two sliding ports, two lifting components are respectively located in the two sliding ports and the lifting ports, two elastic components are connected to the inner wall of the air intake port, a shielding component is connected between the two elastic components, and the shielding component is abutted against the lower end of the downward pressure component.

[0007] Furthermore, the diverter assembly includes a diverter frame, a diverter pipe, an air blowing pipe, a partition, two exhaust pipes and two solenoid valves. The bottom surface of the diverter frame is fixedly connected to the upper surface of the connecting frame. A diverter cavity is provided on the bottom surface of the diverter frame. The two ends of the partition are respectively fixedly connected to the two sides of the diverter cavity. The upper end of the pushing mechanism is connected to the middle part of the partition. One side of the diverter frame is fixedly connected to one end of the diverter pipe, and the other end of the diverter pipe is fixedly connected to one end of the two exhaust pipes. The two solenoid valves are respectively arranged in the two exhaust pipes. The outer wall of one end of the air blowing pipe is fixedly connected to the inner wall of one of the exhaust pipes, and the other end of the air blowing pipe is fixedly connected to the side wall of the sole of the foot. The connecting frame, the diverter cavity, the diverter pipe, the exhaust pipe, the air blowing pipe, the back-blowing port and the connecting port are internally connected.

[0008] Furthermore, the pushing mechanism includes an electric push rod and a cross bracket, the four ends of the cross bracket are respectively fixedly connected to the four sides of the inner wall of the connecting frame, the electric push rod is located inside the partition, and the outer wall of the electric push rod is fixedly connected to the inner wall of the partition and the middle part of the cross bracket, the output end of the electric push rod is the cross bracket and is connected to the negative pressure suction mechanism, and the output end of the electric push rod is slidably connected to the penetration point of the cross bracket.

[0009] Furthermore, the negative pressure suction mechanism includes an exhaust motor and exhaust fan blades, the outer wall of the exhaust motor is fixedly connected to the output end of the electric push rod, the output shaft of the exhaust motor is fixedly connected to the central axis of the exhaust fan blades, and the lower end of the central axis of the exhaust fan blades is connected to the downward pressure component.

[0010] Furthermore, the downward pressure assembly includes a connecting head, an anti-slip block and two pressure rods. The bottom surface of the central axis of the exhaust fan blade is provided with an anti-slip opening. The upper end of the anti-slip block is located in the anti-slip opening, and the outer wall of the anti-slip block is slidably connected to the inner wall of the anti-slip opening. The lower end of the anti-slip block passes through the bottom surface of the anti-slip opening to the outside of the anti-slip opening and is fixedly connected to the upper end of the connecting head. The two sides of the lower end of the connecting head are respectively fixedly connected to the two pressure rods, the other ends of the two pressure rods are respectively connected to the two lifting assemblies, and the side walls of the two pressure rods are connected to the shielding assembly.

[0011] Furthermore, the lifting assembly includes a connecting rod, a supporting tube, a widened plate and a plurality of suction cups, one end of the connecting rod is fixedly connected to an end of the pressure rod away from the connecting head, the other end of the connecting rod is fixedly connected to one end of the supporting tube, the bottom surface of the other end of the supporting tube is fixedly connected to the middle part of the upper surface of the widened plate, the bottom surface of the widened plate is fixedly connected to the upper ends of the plurality of suction cups, the outer wall of the supporting tube is slidably connected to the inner wall of the sliding opening, the outer wall of the widened plate is slidably connected to the inner wall of the lifting opening, an exhaust port is opened inside the supporting tube and the widened plate, and the connecting port, the exhaust port and the interior of the plurality of suction cups are connected.

[0012] Furthermore, the elastic component includes a support shaft, a torsion spring, two rotating blocks and two support bars, the bottom surfaces of the two support bars are fixedly connected to the side of the connecting port close to the air inlet, one end of the two rotating blocks are connected to the shielding component, the support shaft passes through the torsion spring, the two rotating blocks and the two support bars, wherein the two ends of the support shaft are respectively fixedly connected to the inner walls of the two support bars, the middle part of the support shaft is rotatably connected to the two rotating blocks, and the two ends of the torsion spring are respectively connected to the connecting port and the shielding component.

[0013] Furthermore, the shielding assembly includes an upper pressure strip, a lower pressure strip and two baffles, the ends of the two baffles away from each other are fixedly connected to the two rotating blocks in the two elastic assemblies, the upper pressure strip and the lower pressure strip are fixedly connected to the side of the two baffles away from the rotating blocks, the upper pressure strip and the lower pressure strip are staggered and abut against each other, a sealing strip is provided at the abutment between the upper pressure strip and the lower pressure strip, and oblique openings are provided on both sides of the connecting port and the connecting frame away from the two sliding openings, and the side walls of the two baffles are slidably connected to the inner walls of the two oblique openings.

[0014] Furthermore, a sealing ring is fixedly connected to one side of the connection port close to the air inlet, and sealing ports are provided on one side of the two baffles close to the air inlet, and the outer wall of the sealing ring is slidably connected to the inner walls of the two sealing ports.

[0015] The present invention also provides a humanoid robot including a robot body and the above-mentioned leg structure.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This leg structure and humanoid robot can increase the standing stability of the robot body both when it is walking and when it is stationary by providing a connecting port and an air inlet on the sole of the foot and arranging a connecting frame and a negative pressure suction mechanism inside and outside the connecting port;

[0018] 2. This leg structure and humanoid robot, by arranging a shunt component above the connection frame, opening a back-blowing port on one side of the connection port, and connecting one end of the shunt component to the back-blowing port, can blow away the blockage before the sole steps on the ground when the robot body is walking, if leaves and other debris with large area and light weight are accidentally stuck to the air inlet of the sole, thereby reducing the probability of blockage;

[0019] 3. This leg structure and humanoid robot, by arranging a downward pressure component, a shielding component and two lifting components under the suction negative pressure mechanism, and arranging a pushing mechanism inside the diversion component, can push the suction negative pressure mechanism, the downward pressure component, the shielding component and the two lifting components to descend together through the pushing mechanism when the robot body is fixed in one position, so that the air intake port can be blocked, and the robot body can be sucked on the ground with the help of the two lifting components, which can not only increase the stability of the robot body when standing, but also will not affect the normal suction force when the robot body is powered off;

[0020] 4. This type of leg structure and humanoid robot, by arranging elastic components on both sides of the shielding component, can also allow the shielding component to return to its original position by itself under the action of the elastic component when the pushing mechanism pulls the pressing component back to its original position, thereby preventing the shielding component from blocking the air intake port. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall appearance of the present invention;

[0022] Figure 2 This is a schematic diagram of the overall appearance of the present invention from another viewing angle;

[0023] Figure 3 is a detailed schematic diagram of the sole of the foot of the present invention;

[0024] Figure 4 The present invention is based on Figure 3 A schematic cross-sectional view of the middle diverter frame;

[0025] Figure 5 For the present invention Figure 4 Exploded diagram of each component in the diagram;

[0026] Figure 6 For the present invention Figure 5 A schematic diagram of each component from another perspective;

[0027] Figure 7 For the present invention Figure 6 The enlarged schematic diagram of point A in the middle;

[0028] Figure 8 is a schematic cross-sectional view of the sole of the foot of the present invention;

[0029] Fig. 9 For the present invention Figure 8 Exploded diagram of each component in the diagram;

[0030] Fig.10 For the present invention Fig. 9 The enlarged schematic diagram of point B in the middle;

[0031] Fig.11 For the present invention Fig. 9The enlarged schematic diagram of the center C;

[0032] Fig.12 For the present invention Fig. 9 The enlarged schematic diagram of point D in the middle;

[0033] Fig.13 For the present invention Fig. 9 The enlarged schematic diagram of point E in the middle;

[0034] Fig.14 For the present invention Fig. 9 The enlarged schematic diagram of F in the middle;

[0035] Fig.15 It is a detailed connection diagram of the pressing assembly and the two lifting assemblies of the present invention.

[0036] In the figure: 1. robot body; 2. thigh; 3. calf; 4. sole; 5. connection frame; 6. shunt frame; 7. shunt pipe; 8. exhaust pipe; 9. air blowing pipe; 10. lifting port; 11. air inlet; 12. baffle; 13. slide; 14. solenoid valve; 15. shunt chamber; 16. partition; 17. cross bracket; 18. electric push rod; 19. exhaust motor; 20. exhaust fan blade; 21 , back-blowing port; 22, pressure rod; 23, connecting head; 24, oblique port; 25, anti-slip port; 26, connecting rod; 27, support tube; 28, widening plate; 29, exhaust port; 30, sealing ring; 31, connecting port; 32, upper pressure strip; 33, lower pressure strip; 34, supporting shaft; 35, torsion spring; 36, rotating block; 37, support bar; 38, sealing port; 39, anti-slip block; 40, suction cup. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0038] See also Figure 1-Figure 15A foot structure includes two thighs 2 installed at the lower end of a robot body 1, a calf 3 installed at the lower end of the thigh 2, and a sole 4 installed at the lower end of the calf 3. A connection port 31 is provided in the middle of the upper surface of the sole 4, and an air inlet 11 is provided through the bottom surface of the connection port 31. A connection frame 5 is fixedly connected to the upper surface of the sole 4, and a shunt component is connected to the upper surface of the connection frame 5. The other end of the shunt component is connected to the side wall of the sole 4, and a backflush port 21 is provided through the side wall of the sole 4. A pusher is connected inside the shunt component. The output end of the pushing mechanism is connected to the negative pressure suction mechanism, the output end of the negative pressure suction mechanism is connected to the pressing component, both ends of the pressing component are connected to the lifting components, sliding openings 13 are provided on both sides of the connecting port 31 away from the air intake port 11, and the bottom surfaces of the other ends of the two sliding openings 13 are penetrated by lifting openings 10, the two lifting components are respectively located in the two sliding openings 13 and the lifting openings 10, the inner wall of the air intake port 11 is connected to two elastic components, a shielding component is connected between the two elastic components, and the shielding component is against the lower end of the pressing component.

[0039] The foot structure and humanoid robot of the present invention are similar to the existing leg structure and humanoid robot structure, such as the leg structure and humanoid robot disclosed in the patent publication number CN222005236U. Figures 1 to 15 As shown, the leg structure and the humanoid robot of the present invention can be used in the following steps:

[0040] 1. When the robot body 1 is in the walking stage, one foot 4 is in contact with the ground, and the other foot 4 is in a raised state.

[0041] 2. The negative pressure suction mechanism inside the sole 4 in contact with the ground is turned on under the control of the controller inside the robot body 1.

[0042] 3. After being turned on, the negative pressure suction mechanism is located above the connecting frame 5, that is, at one end close to the diversion component. At this time, the shielding components located in the connecting port 31 and the air inlet 11 will be tilted upward and unfolded under the action of the two elastic components, so that the air inlet 11 can be exposed.

[0043] 4. At this time, when the negative pressure suction mechanism is started, the air inside the connection frame 5 and the connection port 31 will be discharged from the diversion component to the outside of the sole 4, and then the connection frame 5 and the connection port 31 will absorb air again from under the sole 4, thereby forming a negative pressure area between the sole 4 and the ground, thereby increasing the connectivity between the sole 4 and the ground, and then increasing the stability of the robot body 1 when standing on the ground with one sole 4.

[0044] 5. Then the other foot 4 that was previously lifted in the air walks down normally. When falling, the negative pressure suction mechanism inside this foot 4 is turned on through the internal controller of the robot body 1. At this time, the negative pressure suction mechanism will also blow out the air from the diversion component on this foot 4.

[0045] 6. At this time, the exhausted gas will be discharged into the back-blowing port 21 of the sole 4 along the other outlet of the diversion component, and then blown to the connecting port 31 and the air inlet 11 through the back-blowing port 21.

[0046] 7. At this time, because the shielding component is in the open state, the blown gas will be blown from the air inlet 11 to the external environment, and then the leaves or other lighter but larger impurities that may stick to and block the air inlet 11 at the bottom of the sole 4 can be blown away from the air inlet 11; at the same time, before the sole 4 is completely in contact with the ground, the air blown back from the air inlet 11 may also blow away the leaves or other impurities on the ground, reducing the probability of clogging the air inlet 11.

[0047] 8. Afterwards, at the moment when the sole 4 touches the ground, the air outlet inside the diversion component is switched, so that the back-blowing end is closed, and the outlet end that directly discharges air to the external environment is opened. At this time, the sole 4 can operate normally according to the above steps 1 to 4.

[0048] 9. While the second foot 4 is stepping on the ground, the negative pressure suction mechanism inside the first foot 4 is closed under the action of the controller inside the robot body 1, thereby canceling the negative pressure suction between the first foot 4 and the ground. At this time, the first foot 4 is lifted and steps forward, and falls again after taking a certain distance, and then continues to follow the above steps 5 to 7 when falling.

[0049] 10. When the robot body 1 needs to be fixed at a certain position to do a certain work, the two soles 4 of the robot body 1 are placed on the ground, in order to reduce the workload of the two negative pressure suction mechanisms in continuous operation.

[0050] 11. In order to reduce the probability of the robot body 1 being hit by external objects and causing it to tilt and fall during the stop period, the internal controller of the robot body 1 starts the pushing mechanism, and the output end of the pushing mechanism extends downward. During the extension process, the negative pressure suction mechanism and the downward pressure component are pushed downward together.

[0051] 12. During the downward movement of the negative pressure suction mechanism and the downward pressure assembly, the downward pressure assembly will push the shielding assembly below downward, and at the same time, the downward pressure assembly will also push down the two lifting assemblies connected on both sides.

[0052] 13. When the pushing mechanism pushes the downward pressure assembly to the lowest end, the two parts of the shielding assembly are just joined and overlapped, so that the opening between the connecting port 31 and the air inlet 11 can be completely blocked, so that the air that can be inhaled by the negative pressure suction mechanism cannot continue to enter the connecting port 31 from the air inlet 11.

[0053] 14. At the same time, as the pressing component descends, the two lifting components will also descend in the two sliding openings 13 and the two lifting openings 10 respectively, until the two ends of the lifting components pass through the bottom surface of the sole 4, and also contact and squeeze with the ground, and the two lifting components will just block the two lifting openings 10 to form a seal.

[0054] 15. At this time, because the air inlet 11 is blocked by the shielding component, the negative pressure suction mechanism can only draw air from the sliding port 13 and the lifting port 10, and because the opening of the lifting port 10 is sealed by the lifting component, after the air inside the sliding port 13 and the lifting port 10 is sucked out, a sealed space will be formed between the lifting component and the ground.

[0055] 16. Then, the shunt component and the negative pressure suction mechanism are closed through the internal controller of the robot body 1, so that the air inside the connecting port 31 and the connecting frame 5 cannot continue to be discharged, and the external air cannot reversely enter the connecting port 31 and the connecting frame 5, thereby increasing the stability of the robot body 1 in a stationary state through the suction force between the two lifting components and the ground.

[0056] 17. When the robot body 1 needs to continue moving, the controller opens the diversion component so that the connection port 31 is connected to the external environment, and controls the negative pressure suction mechanism to reverse, thereby releasing the negative pressure adsorption between the two lifting components and the ground, and then continues to perform the task according to the above steps 1 to 9.

[0057] Special mention should be made here:

[0058] 1. The internal controller of the robot body 1 mentioned above and in the subsequent contents is an existing mature technology, so it will not be described in detail here.

[0059] 2. The thigh 2, calf 3 and sole 4 mentioned above are the existing technologies in the leg structure of the current robot body 1, so their position relationship, connection relationship, working principle, etc. are not described in detail here.

[0060] 3. Of course, the robot body 1 can also be docked in the charging area for charging. At this time, the internal power supply of the robot body 1 is cut off, and the two negative pressure suction mechanisms cannot be powered normally. The above steps 12 to 17 can also be followed. Of course, there may be other scenarios that require stillness, which are not specifically limited.

[0061] 4. Various sensors are installed on the bottom surface of the sole 4 of the existing robot body 1, such as pressure sensors, torque sensors, tactile sensors, temperature sensors, etc. These sensors work together to help the robot sense the ground conditions, maintain balance, adjust gait, and ensure safe walking. The opening and closing and control of the above-mentioned diversion components and negative pressure suction mechanisms can be carried out in conjunction with the above-mentioned sensors, which will not be described in detail here.

[0062] As a preferred embodiment of the present invention, the diverter assembly includes a diverter frame 6, a diverter pipe 7, an air blowing pipe 9, a partition 16, two exhaust pipes 8 and two solenoid valves 14. The bottom surface of the diverter frame 6 is fixedly connected to the upper surface of the connecting frame 5. A diverter cavity 15 is provided on the bottom surface of the diverter frame 6. The two ends of the partition 16 are respectively fixedly connected to the two sides of the diverter cavity 15. The upper end of the pushing mechanism is connected to the middle part of the partition 16. One side of the diverter frame 6 is fixedly connected to one end of the diverter pipe 7. The other end of the diverter pipe 7 is fixedly connected to one end of the two exhaust pipes 8. The two solenoid valves 14 are respectively arranged in the two exhaust pipes 8. The outer wall of one end of the air blowing pipe 9 is fixedly connected to the inner wall of one of the exhaust pipes 8. The other end of the air blowing pipe 9 is fixedly connected to the side wall of the sole 4. The connecting frame 5, the diverter cavity 15, the diverter pipe 7, the exhaust pipe 8, the air blowing pipe 9, the back blowing port 21 and the connecting port 31 are internally connected.

[0063] More specifically, when it is necessary to exhaust the air in the connecting frame 5 and the connecting port 31, the negative pressure suction mechanism blows the air from the connecting frame 5 and the connecting port 31 into the diverter chamber 15, and then the air will be separated by the partition 16 located in the diverter chamber 15. When it is necessary to discharge the air directly into the external environment at this time, it is only necessary to open the solenoid valve 14 in the exhaust pipe 8 without the blowing pipe 9. At this time, the air in the connecting frame 5 can be directly discharged into the external environment via the diverter chamber 15 and the exhaust pipe 8.

[0064] Similarly, when it is necessary to back-blow the air intake port 11 through the air blowing pipe 9 and the back-blow port 21, it is only necessary to close the first solenoid valve 14 mentioned above, and then open the solenoid valve 14 of the exhaust pipe 8 connected to the air blowing pipe 9, so that the air in the connecting frame 5 can be blown to the air intake port 11 through the exhaust pipe 8, the air blowing pipe 9 and the back-blow port 21, and then the debris such as leaves that are blocking the air intake port 11 can be blown away.

[0065] In addition, when the robot body 1 is stationary, it is necessary to seal the connection frame 5 and the connection port 31 . At this time, the two exhaust pipes 8 can be completely closed by the two solenoid valves 14 .

[0066] As a preferred solution of the present invention, the pushing mechanism includes an electric push rod 18 and a cross bracket 17. The four ends of the cross bracket 17 are respectively fixedly connected to the four sides of the inner wall of the connecting frame 5. The electric push rod 18 is located inside the partition 16, and the outer wall of the electric push rod 18 is fixedly connected to the inner wall of the partition 16 and the middle part of the cross bracket 17. The output end of the electric push rod 18 is connected to the negative pressure suction mechanism, and the output end of the electric push rod 18 is slidably connected to the penetration point of the cross bracket 17.

[0067] More specifically, when it is necessary to control the negative pressure suction mechanism and the downward pressure component to descend, it is only necessary to turn on the electric push rod 18 through the internal controller of the robot body 1. After the electric push rod 18 is started, it will remain stable under the action of the cross bracket 17. At the same time, the output end of the electric push rod 18 extends outward, and the negative pressure suction mechanism and the downward pressure component can be pushed downward along the inside of the connecting frame 5 and the connecting port 31, so that the shielding component can be controlled by the downward pressure component to close the air intake port 11, and the two lifting components can also be pressed to the ground through the downward pressure component.

[0068] As a preferred embodiment of the present invention, the negative pressure suction mechanism includes an exhaust motor 19 and an exhaust fan blade 20. The outer wall of the exhaust motor 19 is fixedly connected to the output end of the electric push rod 18, the output shaft of the exhaust motor 19 is fixedly connected to the central axis of the exhaust fan blade 20, and the lower end of the central axis of the exhaust fan blade 20 is connected to the downward pressure component.

[0069] More specifically, when it is necessary to exhaust air inside the connection frame 5 and the connection port 31, it is only necessary to turn on the exhaust motor 19 through the internal controller of the robot body 1, and then the output end of the exhaust motor 19 will control the rotation of the exhaust fan blades 20, so that the air inside the connection frame 5 and the connection port 31 can be discharged through the exhaust pipe 8, so that a negative pressure area is formed between the connection port 31 and the ground, thereby increasing the stability of the robot body 1.

[0070] As a preferred embodiment of the present invention, the downward pressure assembly includes a connecting head 23, an anti-slip block 39 and two pressure rods 22. The bottom surface of the central axis of the exhaust fan blade 20 is provided with an anti-slip opening 25. The upper end of the anti-slip block 39 is located in the anti-slip opening 25, and the outer wall of the anti-slip block 39 is slidably connected to the inner wall of the anti-slip opening 25. The lower end of the anti-slip block 39 passes through the bottom surface of the anti-slip opening 25 to the outside of the anti-slip opening 25 and is fixedly connected to the upper end of the connecting head 23. The two sides of the lower end of the connecting head 23 are respectively fixedly connected to the two pressure rods 22. The other ends of the two pressure rods 22 are respectively connected to the two lifting assemblies, and the side walls of the two pressure rods 22 are connected to the shielding assembly.

[0071] More specifically, when the electric push rod 18 is started, the output end will push the exhaust motor 19 and the exhaust fan blades 20 down together. As the exhaust fan blades 20 descend, the connector 23, the anti-slip block 39 and the two pressure rods 22 will be pushed down together. Because the connector 23 is connected to the exhaust fan blades 20 through the anti-slip block 39 and the anti-slip opening 25, and the two pressure rods 22 on both sides of the connector 23 are restricted by the two lifting components, the exhaust fan blades 20 will not be affected when they rotate.

[0072] When the two pressure rods 22 descend, firstly, the two lifting assemblies connected at both ends of the two pressure rods 22 will descend together; secondly, the two pressure rods 22 will also press the shielding assembly downward from above the shielding assembly, thereby sealing the air inlet 11.

[0073] As a preferred embodiment of the present invention, the lifting assembly includes a connecting rod 26, a support tube 27, a widened plate 28 and a plurality of suction cups 40, one end of the connecting rod 26 is fixedly connected to the end of the pressure rod 22 away from the connecting head 23, the other end of the connecting rod 26 is fixedly connected to one end of the support tube 27, the bottom surface of the other end of the support tube 27 is fixedly connected to the middle part of the upper surface of the widened plate 28, the bottom surface of the widened plate 28 is fixedly connected to the upper ends of the plurality of suction cups 40, the outer wall of the support tube 27 is slidably connected to the inner wall of the sliding opening 13, the outer wall of the widened plate 28 is slidably connected to the inner wall of the lifting opening 10, an exhaust port 29 is opened inside the support tube 27 and the widened plate 28, and the connecting port 31, the exhaust port 29 and the plurality of suction cups 40 are internally connected.

[0074] More specifically, when the pressure rod 22 descends, the connecting rod 26 connected thereto will also descend together, and then the connecting rod 26 can bring the support tube 27, the widened plate 28 and the plurality of suction cups 40 down along the sliding opening 13 and the lifting opening 10. When the pressure rod 22 descends to the bottom of the connecting opening 31, the support tube 27, the widened plate 28 and the plurality of suction cups 40 will also just descend to the bottom of the sliding opening 13, and the bottoms of the plurality of suction cups 40 will slightly protrude a certain distance, so that the suction cups 40 can be squeezed with the ground in advance, thereby reducing the probability of air leakage during subsequent vacuuming.

[0075] It should be particularly noted that a sealing rubber ring is provided at the connection between the widening plate 28 and the lifting opening 10 .

[0076] As a preferred solution of the present invention, the elastic component includes a support shaft 34, a torsion spring 35, two rotating blocks 36 and two support bars 37, the bottom surfaces of the two support bars 37 are fixedly connected to the side of the connecting port 31 close to the air inlet 11, one end of the two rotating blocks 36 are connected to the shielding component, the support shaft 34 passes through the torsion spring 35, the two rotating blocks 36 and the two support bars 37, wherein the two ends of the support shaft 34 are respectively fixedly connected to the inner walls of the two support bars 37, the middle part of the support shaft 34 is rotatably connected to the two rotating blocks 36, and the two ends of the torsion spring 35 are respectively connected to the connecting port 31 and the shielding component.

[0077] More specifically, when the pressure rod 22 is in the connection frame 5 (ie, the electric push rod 18 is not started), the shielding assembly is in an open state under the action of the torsion spring 35, so that the air inlet 11 can be exposed.

[0078] After the pressure rod 22 descends, it will apply pressure to the shielding assembly above the shielding assembly, so that the shielding assembly can be pressed down and closed to achieve sealing of the air intake port 11. At the same time, the torsion spring 35 is compressed. Then, when the electric push rod 18 returns to its original position, the torsion spring 35 will expand the shielding assembly again according to its own characteristics.

[0079] As a preferred solution of the present invention, the shielding assembly includes an upper pressure strip 32, a lower pressure strip 33 and two baffles 12, and the ends of the two baffles 12 away from each other are respectively fixedly connected to the two rotating blocks 36 in the two elastic components, and the upper pressure strip 32 and the lower pressure strip 33 are respectively fixedly connected to the side of the two baffles 12 away from the rotating blocks 36, the upper pressure strip 32 and the lower pressure strip 33 are staggered and abut against each other, and a sealing strip is provided at the abutment between the upper pressure strip 32 and the lower pressure strip 33, and the connecting port 31 and the connecting frame 5 are provided with oblique openings 24 on both sides away from the two sliding openings 13, and the side walls of the two baffles 12 are slidably connected to the inner walls of the two oblique openings 24, respectively.

[0080] More specifically, when the pressure rod 22 is at the upper end, the two baffles 12 are expanded to both sides under the action of the two torsion springs 35 (because there are two elastic components), thereby exposing the air inlet 11 below. When the pressure rod 22 descends, the upper pressure strips 32 and the lower pressure strips 33 on the two baffles 12 are subjected to force and are then pressed downward by the two pressure rods 22 (at the same time, the two torsion springs 35 are compressed), until the pressure rod 22 descends to the lowest point, at which time the two baffles 12 are just flattened, and when the two baffles 12 are flattened, the upper pressure strips 32 and the lower pressure strips 33 are aligned and matched with each other to achieve sealing.

[0081] As a preferred solution of the present invention, a sealing ring 30 is fixedly connected to the side of the connecting port 31 close to the air inlet 11, and sealing ports 38 are opened on the side of the two baffles 12 close to the air inlet 11, and the outer wall of the sealing ring 30 is slidably connected to the inner walls of the two sealing ports 38.

[0082] More specifically, by providing the sealing ring 30 and the sealing opening 38, the sealing effect of the two baffles 12 on the air inlet 11 when closed can be further increased, thereby reducing the probability of air leakage.

[0083] The present invention also provides a humanoid robot including a robot body 1 and the above-mentioned leg structure.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A foot structure, comprising two thighs (2) mounted at the lower end of a robot body (1), a calf (3) mounted at the lower end of the thigh (2), and a sole (4) mounted at the lower end of the calf (3), characterized in that: A connection port (31) is provided in the middle of the upper surface of the sole (4), an air inlet (11) is provided through the bottom surface of the connection port (31), a connection frame (5) is fixedly connected to the upper surface of the sole (4), a flow divider assembly is connected to the upper surface of the connection frame (5), the other end of the flow divider assembly is connected to the side wall of the sole (4), a back-blowing port (21) is provided through the side wall of the sole (4), a pushing mechanism is connected inside the flow divider assembly, an output end of the pushing mechanism is connected to a negative pressure suction mechanism, and the negative pressure suction mechanism is connected to the output end of the negative pressure suction mechanism. The output end is connected to a pressing component, and both ends of the pressing component are connected to lifting components. Sliding openings (13) are provided on both sides of the connection port (31) away from the air intake port (11), and lifting ports (10) are provided through the bottom surfaces of the other ends of the two sliding openings (13). The two lifting components are respectively located in the two sliding openings (13) and the lifting ports (10). The inner wall of the air intake port (11) is connected to two elastic components, and a shielding component is connected between the two elastic components, and the shielding component is against the lower end of the pressing component.

2. A foot structure according to claim 1, characterized in that: The flow splitting assembly comprises a flow splitting frame (6), a flow splitting pipe (7), an air blowing pipe (9), a partition (16), two exhaust pipes (8) and two solenoid valves (14); the bottom surface of the flow splitting frame (6) is fixedly connected to the top surface of the connecting frame (5); a flow splitting cavity (15) is provided on the bottom surface of the flow splitting frame (6); two ends of the partition (16) are respectively fixedly connected to two sides of the flow splitting cavity (15); the upper end of the pushing mechanism is connected to the middle of the partition (16); one side of the flow splitting frame (6) is fixedly connected to one end of the flow splitting pipe (7); The second end of the shunt pipe (7) is fixedly connected to one end of the two exhaust pipes (8), the other end of the shunt pipe (7) is fixedly connected to one end of the two exhaust pipes (8), the two solenoid valves (14) are respectively arranged in the two exhaust pipes (8), the outer wall of one end of the blowing pipe (9) is fixedly connected to the inner wall of one of the exhaust pipes (8), the other end of the blowing pipe (9) is fixedly connected to the side wall of the sole (4), and the interiors of the connecting frame (5), the shunt cavity (15), the shunt pipe (7), the exhaust pipe (8), the blowing pipe (9), the back-blowing port (21) and the connecting port (31) are in communication.

3. A foot structure according to claim 2, characterized in that: The pushing mechanism comprises an electric push rod (18) and a cross bracket (17), the four ends of the cross bracket (17) are respectively fixedly connected to the four sides of the inner wall of the connection frame (5), the electric push rod (18) is located inside the partition (16), and the outer wall of the electric push rod (18) is fixedly connected to the inner wall of the partition (16) and the middle part of the cross bracket (17), the output end of the electric push rod (18) is connected to the negative pressure suction mechanism, and the output end of the electric push rod (18) is slidably connected to the penetration point of the cross bracket (17).

4. A foot structure according to claim 3, characterized in that: The negative pressure suction mechanism comprises an exhaust motor (19) and an exhaust fan blade (20); the outer wall of the exhaust motor (19) is fixedly connected to the output end of the electric push rod (18); the output shaft of the exhaust motor (19) is fixedly connected to the central axis of the exhaust fan blade (20); and the lower end of the central axis of the exhaust fan blade (20) is connected to the downward pressure component.

5. A foot structure according to claim 4, characterized in that: The pressing assembly comprises a connecting head (23), an anti-slipping block (39) and two pressing rods (22); an anti-slipping opening (25) is provided on the bottom surface of the central axis of the exhaust fan blade (20); the upper end of the anti-slipping block (39) is located in the anti-slipping opening (25); the outer wall of the anti-slipping block (39) is slidably connected to the inner wall of the anti-slipping opening (25); the lower end of the anti-slipping block (39) passes through the bottom surface of the anti-slipping opening (25) to the outside of the anti-slipping opening (25) and is fixedly connected to the upper end of the connecting head (23); both sides of the lower end of the connecting head (23) are respectively fixedly connected to the two pressing rods (22); the other ends of the two pressing rods (22) are respectively connected to the two lifting assemblies; and the side walls of the two pressing rods (22) are both connected to the shielding assembly.

6. A foot structure according to claim 5, characterized in that: The lifting assembly comprises a connecting rod (26), a supporting tube (27), a widening plate (28) and a plurality of suction cups (40); one end of the connecting rod (26) is fixedly connected to an end of the pressure rod (22) away from the connecting head (23); the other end of the connecting rod (26) is fixedly connected to one end of the supporting tube (27); the bottom surface of the other end of the supporting tube (27) is fixedly connected to the middle of the upper surface of the widening plate (28); the bottom surface of the widening plate (28) is fixedly connected to the upper ends of the plurality of suction cups (40); the outer wall of the supporting tube (27) is slidably connected to the inner wall of the sliding opening (13); the outer wall of the widening plate (28) is slidably connected to the inner wall of the lifting opening (10); an air suction port (29) is provided inside the supporting tube (27) and the widening plate (28); the connecting port (31), the air suction port (29) and the plurality of suction cups (40) are internally communicated.

7. A foot structure according to claim 5 or 6, characterized in that: The elastic component comprises a support shaft (34), a torsion spring (35), two rotating blocks (36) and two support bars (37); the bottom surfaces of the two support bars (37) are fixedly connected to a side of the connection port (31) close to the air inlet (11); one ends of the two rotating blocks (36) are connected to the shielding component; the support shaft (34) passes through the torsion spring (35), the two rotating blocks (36) and the two support bars (37); the two ends of the support shaft (34) are respectively fixedly connected to the inner walls of the two support bars (37); the middle part of the support shaft (34) is rotatably connected to the two rotating blocks (36); and the two ends of the torsion spring (35) are respectively connected to the connection port (31) and the shielding component.

8. A foot structure according to claim 7, characterized in that: The shielding component comprises an upper pressure strip (32), a lower pressure strip (33) and two baffles (12); the ends of the two baffles (12) away from each other are respectively fixedly connected to the two rotating blocks (36) in the two elastic components; the upper pressure strip (32) and the lower pressure strip (33) are respectively fixedly connected to the side of the two baffles (12) away from the rotating blocks (36); the upper pressure strip (32) and the lower pressure strip (33) are staggered and abut against each other; a sealing strip is provided at the abutment position of the upper pressure strip (32) and the lower pressure strip (33); oblique openings (24) are provided on both sides of the connecting opening (31) and the connecting frame (5) away from the two sliding openings (13); and the side walls of the two baffles (12) are respectively slidably connected to the inner walls of the two oblique openings (24).

9. A foot structure according to claim 8, characterized in that: A sealing ring (30) is fixedly connected to one side of the connection port (31) close to the air inlet (11), and sealing ports (38) are provided on one side of the two baffles (12) close to the air inlet (11), and the outer wall of the sealing ring (30) and the inner walls of the two sealing ports (38) are both slidably connected.

10. A humanoid robot, comprising a robot body (1), characterized in that: It also comprises the leg structure as described in any one of claims 1 to 9.

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