A foot structure and humanoid robot

Abstract

The present application relates to the technical field of humanoid robots, and discloses a foot structure, which comprises two thighs installed at the lower end of a robot body, shanks installed at the lower end of the thighs, and foot soles installed at the lower end of the shanks, a connecting port is formed in the middle of the upper surface of the foot soles, an air suction port is formed through the bottom surface of the connecting port, a connecting frame is fixedly connected to the upper surface of the foot soles, a shunt assembly is connected to the upper surface of the connecting frame, the other end of the shunt assembly is connected to the side wall of the foot soles, and a back-blowing port is formed through the side wall of the foot soles. A humanoid robot comprises a robot body and the above-mentioned foot structure. The foot structure and the humanoid robot can increase standing stability during the walking and stationary phases of the robot body, and can blow away large and light debris, such as leaves, that are inadvertently stuck to the air suction port of the foot soles before the foot soles step on the ground, thereby reducing the probability of blockage.

Description

TECHNICAL FIELD

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

[0002] A humanoid robot is a robot designed to mimic the appearance, structure, and behavior of a human being, typically having a body proportion, joints, and limbs similar to those of a human, and sometimes including simulated human facial features to enable more natural human-robot interaction. The leg structure is a crucial part of the design of a humanoid robot, as it 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: the hip joint, the thigh, the knee joint, the lower leg, the ankle joint, and the foot. Each part plays an important role and works together to achieve the functions of walking, standing, balancing, and so on of the robot. The foot of a humanoid robot is the part that directly contacts the ground, and is usually designed to have a large contact area to increase stability.

[0004] Currently, when a humanoid robot is walking, it needs to lift its leg to take a step, so there will be a single-leg support phase, during which the center of gravity of the body is adjusted to cope with the stability changes during this period. However, if the humanoid robot is walking on a slope or slippery ground, or encounters strong wind, pushing force, or other external forces, it may lose its balance and tip over, causing damage to the internal components of the humanoid robot. SUMMARY

[0005] To overcome the shortcomings of the prior art, the present application provides a foot structure and a humanoid robot that can increase standing stability during both the walking and stopping phases of the robot body.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solution: a foot structure, comprising two thighs installed at the lower end of the robot body, a lower leg installed at the lower end of the thigh, and a foot sole installed at the lower end of the lower leg, a connection port is formed in the middle of the upper surface of the foot sole, a suction port is formed through the bottom surface of the connection port, a connection frame is fixedly connected to the upper surface of the foot sole, a shunt assembly is connected to the upper surface of the connection frame, the other end of the shunt assembly is connected to the side wall of the foot sole, a back-blowing port is formed through the side wall of the foot sole, a pushing mechanism is connected inside the shunt assembly, a suction negative pressure mechanism is connected to the output end of the pushing mechanism, a downward pressing assembly is connected to the output end of the suction negative pressure mechanism, two lifting assemblies are connected to the two ends of the downward pressing assembly, two slide ports are formed on both sides of the connection port away from the suction port, a lifting port is formed through the bottom surface of the other end of each slide port, the two lifting assemblies are located inside the two slide ports and the lifting ports, two elastic assemblies are connected to the inner wall of the suction port, a shielding assembly is connected between the two elastic assemblies, and the lower end of the shielding assembly is in contact with the downward pressing assembly.

[0007] Further, the shunt assembly comprises a shunt frame, a shunt pipe, a blowing pipe, a partition, two exhaust pipes and two electromagnetic valves, the bottom surface of the shunt frame is fixedly connected with the upper surface of the connecting frame, the bottom surface of the shunt frame is provided with a shunt cavity, the two ends of the partition are fixedly connected with the two sides of the shunt cavity respectively, the upper end of the pushing mechanism is connected with the middle part of the partition, one side of the shunt frame is fixedly connected with one end of the shunt pipe, the other end of the shunt pipe is fixedly connected with one end of the two exhaust pipes, the two electromagnetic valves are arranged in the two exhaust pipes respectively, the outer wall of one end of the blowing pipe is fixedly connected with the inner wall of one of the exhaust pipes, the other end of the blowing pipe is fixedly connected with the side wall of the sole, and the interiors of the connecting frame, the shunt cavity, the shunt pipe, the exhaust pipe, the blowing pipe, the back blowing opening and the connecting opening are communicated.

[0008] Further, the pushing mechanism comprises an electric push rod and a cross bracket, the four ends of the cross bracket are fixedly connected with the four sides of the inner wall of the connecting frame respectively, the electric push rod is located in the interior of the partition, and the outer wall of the electric push rod is fixedly connected with the inner wall of the partition and the middle part of the cross bracket, the output end of the electric push rod is connected with the negative pressure suction mechanism, and the output end of the electric push rod is slidingly connected with the penetration of the cross bracket.

[0009] Further, the negative pressure suction mechanism comprises a draught fan motor and a draught fan blade, the outer wall of the draught fan motor is fixedly connected with the output end of the electric push rod, the output shaft of the draught fan motor is fixedly connected with the central shaft of the draught fan blade, and the lower end of the central shaft of the draught fan blade is connected with the downward pressing assembly.

[0010] Further, the downward pressing assembly comprises a connecting head, an anti-falling block and two pressing rods, the bottom surface of the central shaft of the draught fan blade is provided with an anti-falling opening, the upper end of the anti-falling block is located in the anti-falling opening, the outer wall of the anti-falling block is slidingly connected with the inner wall of the anti-falling opening, the lower end of the anti-falling block penetrates through the bottom surface of the anti-falling opening to the outside of the anti-falling opening and is fixedly connected with the upper end of the connecting head, the two sides of the lower end of the connecting head are fixedly connected with the two pressing rods respectively, the other ends of the two pressing rods are connected with the two lifting assemblies respectively, and the side walls of the two pressing rods are connected with the shielding assembly.

[0011] Further, the lifting assembly comprises a connecting rod, a supporting pipe, a widening plate and a plurality of suction cups, one end of the connecting rod is fixedly connected with the end of the pressing rod away from the connecting head, the other end of the connecting rod is fixedly connected with one end of the supporting pipe, the bottom surface of the other end of the supporting pipe is fixedly connected with the middle part of the upper surface of the widening plate, the bottom surface of the widening plate is fixedly connected with the upper ends of the plurality of suction cups, the outer wall of the supporting pipe is slidingly connected with the inner wall of the sliding opening, the outer wall of the widening plate is slidingly connected with the inner wall of the lifting opening, the interiors of the supporting pipe and the widening plate are provided with a gas suction opening, and the interiors of the connecting opening, the gas suction opening and the plurality of suction cups are communicated.

[0012] Further, the elastic assembly comprises a supporting shaft, a torsion spring, two rotating blocks and two supporting strips, the bottom surfaces of the two supporting strips are fixedly connected with the side of the connecting port close to the air inlet, one end of each of the two rotating blocks is connected with the shielding assembly, the supporting shaft penetrates through the torsion spring, the two rotating blocks and the two supporting strips, wherein the two ends of the supporting shaft are fixedly connected with the inner walls of the two supporting strips respectively, the middle part of the supporting shaft is rotatably connected with the two rotating blocks, and the two ends of the torsion spring are connected with the connecting port and the shielding assembly respectively.

[0013] Further, the shielding assembly comprises an upper pressing strip, a lower pressing strip and two baffles, one end of each of the two baffles away from each other is fixedly connected with the two rotating blocks in the two elastic assemblies, the upper pressing strip and the lower pressing strip are fixedly connected with the sides of the two baffles away from the rotating blocks respectively, the upper pressing strip and the lower pressing strip are arranged in a staggered manner and abut against each other, a sealing strip is arranged at the abutting position of the upper pressing strip and the lower pressing strip, and the two sides of the connecting port and the connecting frame away from the two sliding ports are provided with inclined ports, and the side walls of the two baffles are slidably connected with the inner walls of the two inclined ports.

[0014] Further, the side of the connecting port close to the air inlet is fixedly connected with a sealing ring, and the side of each of the two baffles close to the air inlet is provided with a sealing port, and the outer wall of the sealing ring is slidably connected with the inner walls of the two sealing ports.

[0015] The application also provides a humanoid robot comprising a robot body, and further comprising the above-mentioned foot structure.

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

[0017] 1. The foot structure and the humanoid robot, by providing the connecting port and the air inlet communicated on the foot sole, and arranging the connecting frame and the negative pressure suction mechanism inside and outside the connecting port, the standing stability can be increased in the walking and static stages of the robot body.

[0018] 2. The foot structure and the humanoid robot, by arranging the shunt assembly above the connecting frame, and providing the blowback port on one side of the connecting port, and connecting one end of the shunt assembly with the blowback port, when the robot body is walking, if the air inlet of the foot sole is accidentally adhered and blocked by the large-area and light-weight sundries such as leaves, the sundries can be blown away before the foot sole steps on the ground, so as to reduce the blocking probability.

[0019] 3. This type of foot structure and humanoid robot, by setting a pressing component, a blocking component and two lifting components below the suction negative pressure mechanism, and setting a pushing mechanism inside the diversion component, can push the suction negative pressure mechanism, the pressing component, the blocking component and the two lifting components to descend together when the robot body is fixed in one position. This can block the air inlet and stick to the ground with the help of the two lifting components. This not only increases the stability of the robot body when standing, but also does not affect the normal suction when the robot body is powered off.

[0020] 4. This type of foot structure and humanoid robot, by setting elastic components on both sides of the shielding component, can also allow the shielding component to return to its original position under the action of the elastic components when the pushing mechanism pulls the pressing component back to its original position, thereby avoiding the shielding component blocking the air intake. Attached Figure Description

[0021] Figure 1 This 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 invention from another perspective;

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

[0024] Figure 4 This invention is based on Figure 3 Cross-sectional view of the middle splitter frame;

[0025] Figure 5 For the present invention Figure 4 Explosion diagrams of various components;

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

[0027] Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle;

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

[0029] Figure 9 For the present invention Figure 8 Explosion diagrams of various components;

[0030] Figure 10 For the present invention Figure 9 Enlarged view of point B in the middle;

[0031] Figure 11 For the present invention Figure 9An enlarged schematic view at C;

[0032] Figure 12 For the present application Figure 9 An enlarged schematic view at D;

[0033] Figure 13 For the present application Figure 9 An enlarged schematic view at E;

[0034] Figure 14 For the present application Figure 9 An enlarged schematic view at F;

[0035] Figure 15 A detailed connection schematic view of the down-pressing assembly and two lifting assemblies of the present application.

[0036] In the figure: 1, robot body; 2, big leg; 3, small leg; 4, foot sole; 5, connecting frame; 6, shunt frame; 7, shunt pipe; 8, exhaust pipe; 9, blowing pipe; 10, lifting port; 11, suction port; 12, baffle; 13, sliding port; 14, electromagnetic valve; 15, shunt cavity; 16, partition; 17, cross support; 18, electric push rod; 19, air extraction motor; 20, air extraction fan blade; 21, back blowing port; 22, pressing rod; 23, connecting head; 24, oblique port; 25, anti-dropping port; 26, connecting rod; 27, support pipe; 28, widened plate; 29, air extraction port; 30, sealing ring; 31, connecting port; 32, upper pressing strip; 33, lower pressing strip; 34, support shaft; 35, torsion spring; 36, rotating block; 37, support strip; 38, sealing port; 39, anti-dropping block; 40, suction cup. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0038] Please refer to Figures 1-15The utility model provides a foot structure, including two thighs 2 installed in the lower end of robot body 1, the lower end of small leg 3 installed in thigh 2 and the instep 4 of small leg 3 lower end is installed, the middle part of the upper surface of instep 4 is provided with the connecting port 31, the bottom surface of connecting port 31 is provided with the suction port 11, the upper surface of instep 4 is fixedly connected with the connecting frame 5, the upper surface of connecting frame 5 is connected with the shunt subassembly, the other end of shunt subassembly is connected with the sidewall of instep 4, the sidewall of instep 4 is provided with the backflushing port 21, the inside of shunt subassembly is connected with the push mechanism, the output of push mechanism is connected with the suction negative pressure mechanism, the output of suction negative pressure mechanism is connected with the lower pressure subassembly, the both ends of lower pressure subassembly are all connected with the lifting subassembly, the both sides of connecting port 31 away from suction port 11 are all provided with the sliding port 13, the bottom surface of the other end of two sliding ports 13 is all provided with the lifting port 10, two lifting subassemblies are located in two sliding ports 13 and lifting port 10 respectively, the inner wall of suction port 11 is connected with two elastic components, two elastic components are connected with the shielding subassembly, the lower end of shielding subassembly is in abutment with lower pressure subassembly.

[0039] The foot structure and humanoid robot in the utility model are similar to the existing leg structure and humanoid robot structure, like the patent of a leg mechanism and humanoid robot disclosed in the announcement No. Figures 1 to 15 As shown in the drawing,

[0040] 1, when the robot body 1 is in the walking stage, one instep 4 contacts the ground, and the other instep 4 is in the raised state.

[0041] 2, the suction negative pressure mechanism inside the instep 4 in contact with the ground is started under the control of the controller in the robot body 1.

[0042] 3, the suction negative pressure mechanism after starting is above the connecting frame 5, that is, close to one end of the shunt subassembly, at this time, the shielding subassembly located in the connecting port 31 and the suction port 11 will tilt and expand upwards under the action of the two elastic components, so that the suction port 11 can be exposed.

[0043] 4, at this time, when the suction negative pressure mechanism starts, it will exhaust the air inside the connecting frame 5 and the connecting port 31 from the shunt subassembly to the outside of the instep 4, and then the connecting frame 5 and the connecting port 31 will absorb air from the lower part of the instep 4 again, so that a negative pressure area can be formed between the instep 4 and the ground, thereby increasing the connectivity between the instep 4 and the ground, and further increasing the stability of the robot body 1 standing on the ground with one instep 4.

[0044] 5、 After the other foot 4 normally walks down, the controller inside the robot body 1 opens the negative pressure suction mechanism inside the foot 4, at this time the negative pressure suction mechanism will also blow air from the shunt component on the foot 4.

[0045] 6、 The air discharged at this time will be discharged along the other outlet of the shunt component to the back blowing port 21 of the foot 4, 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 air blown out will be blown out from the air inlet 11 to the external environment, so that the leaves or other lighter but larger impurities that may be stuck and blocked at the bottom of the air inlet 11 of the foot 4 can be blown away from the air inlet 11; at the same time, before the foot 4 is completely in contact with the ground, the air blown back inside the air inlet 11 can also blow away the leaves or other impurities on the ground, reducing the probability of blocking the air inlet 11.

[0047] 8、 After that, at the moment when the foot 4 is in contact with the ground, the outlet of the shunt component inside is switched, so that one end of the back blowing is closed, and the other end of the outlet directly to the external environment is opened, at this time the foot 4 can normally operate according to the above steps one to four.

[0048] 9、 At the same time when the second foot 4 steps 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, so that the negative pressure suction force between the first foot 4 and the ground can be cancelled, at this time the first foot 4 is lifted and steps forward, and after a distance, it is lowered again, and then during the falling, the above steps five to seven are continued.

[0049] 10、 When the robot body 1 needs to be fixed and parked at a certain position to do a certain work, at this time the two feet 4 of the robot body 1 are on the ground, at this time in order to reduce the working load of the two negative pressure suction mechanisms during continuous operation.

[0050] 11、 In order to reduce the probability of the robot body 1 being tilted and falling due to collision with external objects during stoppage, the controller inside the robot body 1 opens the pushing mechanism, the output end of the pushing mechanism extends downward, and in the process of extension, the negative pressure suction mechanism and the downward pressing component are pushed downward together.

[0051] 12、 In the process of moving the negative pressure suction mechanism and the downward pressing component downward, the downward pressing component will push the shielding component downward, and the downward pressing component will also push the two lifting components connected on both sides downward.

[0052] 13、 When the pushing mechanism pushes the lower pressing assembly to the lowest end, at this time the two parts of the shielding assembly are just spliced together, so that the opening between the connecting port 31 and the air inlet 11 can be completely blocked, so that the air that the suction negative pressure mechanism can suck cannot continue to enter from the air inlet 11 into the connecting port 31.

[0053] 14、 At the same time, as the lower pressing assembly descends, the two lifting assemblies also descend in the two sliding ports 13 and the two lifting ports 10 respectively, until the two ends of the lifting assembly pass through the bottom surface of the sole 4, also contact and press the ground, and the two lifting assemblies also just block the two lifting ports 10 to form a seal.

[0054] 15、 At this time, because the air inlet 11 is blocked by the shielding assembly, the suction negative pressure mechanism can only extract 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 assembly, after the air inside the sliding port 13 and the lifting port 10 is sucked out, a sealed space is also formed between the lifting assembly and the ground.

[0055] 16、 Then, the shunt assembly and the suction negative pressure mechanism are turned off by the controller inside the robot body 1, so that the air inside the connecting port 31 and the connecting frame 5 cannot continue to be discharged, and external air cannot enter the connecting port 31 and the connecting frame 5 in the opposite direction, thereby the suction force between the two lifting assemblies and the ground can be used to increase the stability of the robot body 1 in a stationary state.

[0056] 17、 When the robot body 1 needs to continue to move, the shunt assembly is opened by the controller, so that the connecting port 31 is in communication with the external environment, and the suction negative pressure mechanism is reversed, that is, the negative pressure adsorption between the two lifting assemblies and the ground is released, and then the task is continued according to the above steps one to nine.

[0057] Here, it needs to be particularly pointed out that:

[0058] 1、 The internal controller of the robot body 1 mentioned above and in the subsequent content is a mature technology, so it is not described in detail here.

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

[0060] 3、 Of course, the robot body 1 can also be parked in a charging area for charging, at this time the internal power supply of the robot body 1 is cut off and cannot normally power the two suction negative pressure mechanisms, and the above steps twelve to seventeen can also be performed, of course, there can be other situations that need to be stationary, which are not limited.

[0061] 4、 The bottom surface of the robot body 1 foot 4 will install a variety of sensors, such as pressure sensors, torque sensors, tactile sensors, temperature sensors and so on, these sensors work together to help the robot to perceive the ground conditions, keep balance, adjust gait, and ensure safe walking, and the above-mentioned shunt components, suction negative pressure mechanism opening and control can be matched with the above-mentioned sensors, which will not be described in detail.

[0062] As a preferred scheme of the present application, the shunt assembly includes a shunt frame 6, a shunt pipe 7, a blowing pipe 9, a partition plate 16, two exhaust pipes 8 and two electromagnetic valves 14, the bottom surface of the shunt frame 6 is fixedly connected with the upper surface of the connecting frame 5, the bottom surface of the shunt frame 6 is provided with a shunt cavity 15, the two ends of the partition plate 16 are fixedly connected with the two sides of the shunt cavity 15, the upper end of the pushing mechanism is connected with the middle part of the partition plate 16, one side of the shunt frame 6 is fixedly connected with one end of the shunt pipe 7, the other end of the shunt pipe 7 is fixedly connected with one end of the two exhaust pipes 8, the two electromagnetic valves 14 are arranged in the two exhaust pipes 8 respectively, the outer wall of one end of the blowing pipe 9 is fixedly connected with the inner wall of one of the exhaust pipes 8, the other end of the blowing pipe 9 is fixedly connected with the side wall of the foot 4, the inside 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 is communicated.

[0063] More specifically, when it is needed to discharge the air in the connecting frame 5 and the connecting port 31, at this time the suction negative pressure mechanism blows the air from the connecting frame 5 and the connecting port 31 into the shunt cavity 15, which is then separated by the partition plate 16 located in the shunt cavity 15, when it is needed to directly discharge the air to the external environment at this time, only need to open the electromagnetic 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 to the external environment through the shunt cavity 15 and this exhaust pipe 8.

[0064] Similarly, when it is needed to back blow the suction port 11 through the blowing pipe 9 and the back blowing port 21, only need to close the above-mentioned first electromagnetic valve 14, and then open the electromagnetic valve 14 of the exhaust pipe 8 connected with the blowing pipe 9, the air in the connecting frame 5 can be blown to the suction port 11 through the exhaust pipe 8, the blowing pipe 9 and the back blowing port 21, and then the blocked leaves and other sundries can be blown away.

[0065] In addition, when the robot body 1 is stationary, it is needed to seal the connecting frame 5 and the connecting port 31, at this time the two exhaust pipes 8 are all closed through the two electromagnetic valves 14.

[0066] As a preferred scheme of the present application, the pushing mechanism comprises an electric push rod 18 and a cross bracket 17, four ends of the cross bracket 17 are fixedly connected with four sides of the inner wall of the connecting frame 5 respectively, the electric push rod 18 is located inside the partition plate 16, and the outer wall of the electric push rod 18 is fixedly connected with the inner wall of the partition plate 16 and the middle part of the cross bracket 17, the output end of the electric push rod 18 is connected with the negative pressure suction mechanism, and the output end of the electric push rod 18 is slidingly connected with the penetration of the cross bracket 17.

[0067] More specifically, when it is needed to control the negative pressure suction mechanism and the downward pressing assembly to descend, the electric push rod 18 is only needed to be started by the controller inside the robot body 1, and the electric push rod 18 is kept stable under the action of the cross bracket 17 after being started, at the same time, the output end of the electric push rod 18 extends outward, so that the negative pressure suction mechanism and the downward pressing assembly are pushed downward along the inside of the connecting frame 5 and the connecting port 31, so that the air inlet 11 is closed by the shielding assembly through the downward pressing assembly, and at the same time, the two lifting assemblies are pressed on the ground by the downward pressing assembly.

[0068] As a preferred scheme of the present application, the negative pressure suction mechanism comprises an air suction motor 19 and an air suction fan blade 20, the outer wall of the air suction motor 19 is fixedly connected with the output end of the electric push rod 18, the output shaft of the air suction motor 19 is fixedly connected with the central shaft of the air suction fan blade 20, and the lower end of the central shaft of the air suction fan blade 20 is connected with the downward pressing assembly.

[0069] More specifically, when it is needed to perform air suction inside the connecting frame 5 and the connecting port 31, the air suction motor 19 is only needed to be started by the controller inside the robot body 1, and then the output end of the air suction motor 19 controls the air suction fan blade 20 to rotate, so that the air inside the connecting frame 5 and the connecting port 31 is discharged through the exhaust pipe 8, so that the negative pressure area is formed between the connecting port 31 and the ground, and the stability of the robot body 1 is increased.

[0070] As a preferred scheme of the present application, the downward pressing assembly comprises a connecting head 23, an anti-falling block 39 and two pressing rods 22, the bottom surface of the central shaft of the air suction fan blade 20 is provided with an anti-falling port 25, the upper end of the anti-falling block 39 is located inside the anti-falling port 25, the outer wall of the anti-falling block 39 is slidingly connected with the inner wall of the anti-falling port 25, the lower end of the anti-falling block 39 penetrates through the bottom surface of the anti-falling port 25 to the outside of the anti-falling port 25 and is fixedly connected with the upper end of the connecting head 23, the lower end of the connecting head 23 is fixedly connected with the two pressing rods 22 respectively, the other ends of the two pressing rods 22 are connected with the two lifting assemblies respectively, and the side walls of the two pressing rods 22 are connected with the shielding assembly.

[0071] More specifically, when the electric push rod 18 is started, the output end will push down the suction motor 19 and the suction fan blade 20 together, and as the suction fan blade 20 is lowered, the connecting head 23, the anti-drop block 39 and the two pressure rods 22 will be pushed down together, and because the connecting head 23 is connected with the suction fan blade 20 through the anti-drop block 39 and the anti-drop opening 25, and the two pressure rods 22 on both sides of the connecting head 23 are limited by the two lifting assemblies, so that the rotation of the suction fan blade 20 will not affect the connecting head 23.

[0072] When the two pressure rods 22 are lowered, first of all, the two lifting assemblies connected to both ends of the two pressure rods 22 will be lowered together; secondly, the two pressure rods 22 will also press down the shielding assembly from above, thereby sealing the air inlet 11.

[0073] As a preferred embodiment of the present application, the lifting assembly comprises a connecting rod 26, a support pipe 27, a widening plate 28 and a plurality of suction cups 40, one end of the connecting rod 26 is fixedly connected with the end of the pressure rod 22 away from the connecting head 23, the other end of the connecting rod 26 is fixedly connected with one end of the support pipe 27, the bottom surface of the other end of the support pipe 27 is fixedly connected with the middle part of the upper surface of the widening plate 28, the bottom surface of the widening plate 28 is fixedly connected with the upper ends of the plurality of suction cups 40, the outer wall of the support pipe 27 is slidingly connected with the inner wall of the sliding opening 13, the outer wall of the widening plate 28 is slidingly connected with the inner wall of the lifting opening 10, and the inside of the support pipe 27 and the widening plate 28 is provided with the air outlet 29, the connecting opening 31, the air outlet 29 and the plurality of suction cups 40 are in communication.

[0074] More specifically, when the pressure rod 22 is lowered, the connecting rod 26 connected therewith will be lowered together, and then the connecting rod 26 will bring the support pipe 27, the widening plate 28 and the plurality of suction cups 40 down along the sliding opening 13 and the lifting opening 10, and when the pressure rod 22 is lowered to the bottom of the connecting opening 31, the support pipe 27, the widening plate 28 and the plurality of suction cups 40 will also be lowered to the bottom of the sliding opening 13, and the bottom of the plurality of suction cups 40 will slightly protrude a distance, so that the suction cups 40 can be squeezed with the ground in advance, reducing the probability of air leakage during subsequent vacuumizing.

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

[0076] As a preferred scheme of the present application, the elastic component comprises the supporting shaft 34, the torsion spring 35, the two rotating blocks 36 and the two supporting strips 37, the bottom surfaces of the two supporting strips 37 are fixedly connected with the side of the connecting port 31 close to the air inlet 11, one end of each of the two rotating blocks 36 is connected with the shielding component, the supporting shaft 34 penetrates through the torsion spring 35, the two rotating blocks 36 and the two supporting strips 37, wherein the two ends of the supporting shaft 34 are fixedly connected with the inner walls of the two supporting strips 37 respectively, the middle part of the supporting shaft 34 is rotatably connected with the two rotating blocks 36, and the two ends of the torsion spring 35 are connected with the connecting port 31 and the shielding component respectively.

[0077] More specifically, when the pressing rod 22 is in the connecting frame 5 (i.e. the state that the electric push rod 18 is not started), the shielding component is in the opened state under the action of the torsion spring 35 at this time, so that the air inlet 11 can be exposed.

[0078] After the pressing rod 22 is lowered, a pressure is given to the shielding component above the shielding component, so that the shielding component is pressed downward to be closed, so as to seal the air inlet 11, and at the same time, the torsion spring 35 is compressed, and then when the electric push rod 18 returns to the original position again, the torsion spring 35 will expand the shielding component again according to its own characteristics.

[0079] As a preferred scheme of the present application, the shielding component comprises the upper pressing strip 32, the lower pressing strip 33 and the two baffle plates 12, one end of each of the two baffle plates 12 away from each other is fixedly connected with the two rotating blocks 36 in the two elastic components, the upper pressing strip 32 and the lower pressing strip 33 are fixedly connected with the sides of the two baffle plates 12 away from the rotating blocks 36 respectively, the upper pressing strip 32 and the lower pressing strip 33 are arranged in a staggered manner and abut against each other, the abutting position of the upper pressing strip 32 and the lower pressing strip 33 is provided with a sealing strip, the two sides of the connecting port 31 and the connecting frame 5 away from the two sliding ports 13 are provided with the inclined ports 24, and the side walls of the two baffle plates 12 are slidably connected with the inner walls of the two inclined ports 24 respectively.

[0080] More specifically, when the pressing rod 22 is at the upper end, the two baffle plates 12 expand to the two sides under the action of the two torsion springs 35 (because there are two elastic components), so as to expose the air inlet 11 below, and when the pressing rod 22 is lowered, the upper pressing strip 32 and the lower pressing strip 33 on the two baffle plates 12 are stressed and are immediately pressed downward by the two pressing rods 22 (at the same time, the two torsion springs 35 are compressed), until the pressing rod 22 is lowered to the lowest point, at this time, the two baffle plates 12 are just pressed flat, and at the same time that the two baffle plates 12 are pressed flat, the upper pressing strip 32 and the lower pressing strip 33 are aligned with each other to realize sealing.

[0081] As a preferred scheme of the present application, the connecting port 31 is fixedly connected with a sealing ring 30 on the side close to the air inlet port 11, and the two baffle plates 12 are both provided with a sealing port 38 on the side close to the air inlet port 11, and the outer wall of the sealing ring 30 and the inner wall of the two sealing ports 38 are both in sliding connection.

[0082] More specifically, by setting the sealing ring 30 and the sealing port 38, the sealing effect of the two baffle plates 12 on the air inlet port 11 when closed can be further increased, and the probability of air leakage can be reduced.

[0083] The present application also provides a humanoid robot comprising a robot body 1, and further comprising the above-mentioned foot structure.

[0084] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A foot structure comprising two thighs (2) mounted on the lower end of a robot body (1), lower legs (3) mounted on the lower end of the thighs (2), and a foot (4) mounted on the lower end of the lower legs (3), characterized in that: A connection port (31) is provided in the middle of the upper surface of the foot (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 foot (4). A diversion component is connected to the upper surface of the connection frame (5). The other end of the diversion component is connected to the side wall of the foot (4). A backflow inlet (21) is provided through the side wall of the foot (4). A pushing mechanism is connected inside the diversion component. A negative pressure suction mechanism is connected to the output end of the pushing mechanism. The output end is connected to a pressing component, and both ends of the pressing component are connected to lifting components. The connection port (31) is provided with sliding ports (13) on both sides away from the air inlet (11). The bottom surface of the other end of the two sliding ports (13) is provided with lifting ports (10). The two lifting components are located in the two sliding ports (13) and the lifting ports (10) respectively. The inner wall of the air inlet (11) is connected to two elastic components. A shielding component is connected between the two elastic components. The shielding component abuts against the lower end of the pressing component.

2. The foot structure according to claim 1, characterized in that: The diversion assembly includes a diversion frame (6), a diversion pipe (7), an air blowing pipe (9), a partition (16), two exhaust pipes (8), and two solenoid valves (14). The bottom surface of the diversion frame (6) is fixedly connected to the upper surface of the connecting frame (5). A diversion cavity (15) is opened on the bottom surface of the diversion frame (6). The two ends of the partition (16) are fixedly connected to the two sides of the diversion cavity (15), respectively. The upper end of the pushing mechanism is connected to the middle of the partition (16), and one side of the diversion frame (6) is fixedly connected to one end of the diversion pipe (7). The other end of the diversion pipe (7) is fixedly connected to one end of the two exhaust pipes (8). The two solenoid valves (14) are respectively installed 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 foot (4). The internal parts of the connecting frame (5), the diversion chamber (15), the diversion pipe (7), the exhaust pipe (8), the air blowing pipe (9), the back blow port (21), and the connection port (31) are connected.

3. A foot structure according to claim 2, characterized in that: The pushing mechanism includes an electric push rod (18) and a cross bracket (17). The four ends of the cross bracket (17) are 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 suction negative pressure mechanism, and the output end of the electric push rod (18) is slidably connected to the through-hole of the cross bracket (17).

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

5. A foot structure according to claim 4, characterized in that: The pressing assembly includes a connector (23), an anti-detachment block (39), and two pressure rods (22). The bottom surface of the central shaft of the exhaust fan blade (20) is provided with an anti-detachment opening (25). The upper end of the anti-detachment block (39) is located inside the anti-detachment opening (25), and the outer wall of the anti-detachment block (39) is slidably connected to the inner wall of the anti-detachment opening (25). The lower end of the anti-detachment block (39) penetrates through the bottom surface of the anti-detachment opening (25) to the outside of the anti-detachment opening (25) and is fixedly connected to the upper end of the connector (23). The two sides of the lower end of the connector (23) are fixedly connected to the two pressure rods (22) respectively. The other ends of the two pressure rods (22) are connected to the two lifting assemblies respectively, and the side walls of the two pressure rods (22) are connected to the shielding assembly.

6. A foot structure according to claim 5, characterized in that: The lifting assembly includes a connecting rod (26), a support tube (27), a widening plate (28), and several suction cups (40). One end of the connecting rod (26) is fixedly connected to the end of the pressure rod (22) away from the connector (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 of the upper surface of the widening plate (28). The bottom surface of the widening plate (28) is fixedly connected to the upper end of several suction cups (40). The outer wall of the support tube (27) is slidably connected to the inner wall of the sliding port (13). The outer wall of the widening plate (28) is slidably connected to the inner wall of the lifting port (10). The support tube (27) and the widening plate (28) are provided with an air extraction port (29). The connection port (31), the air extraction port (29), and the several suction cups (40) are internally connected.

7. A foot structure according to claim 5 or 6, characterized in that: 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 connection port (31) near the air intake port (11). One end of each of the two rotating blocks (36) is 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 fixedly connected to the inner walls of the two support bars (37) respectively. The middle part of the support shaft (34) is rotatably connected to the two rotating blocks (36). The two ends of the torsion spring (35) are connected to the connection port (31) and the shielding component respectively.

8. A foot structure according to claim 7, characterized in that: The shielding assembly includes an upper pressure strip (32), a lower pressure strip (33), and two baffles (12). The ends of the two baffles (12) that are far apart from each other are fixedly connected to two rotating blocks (36) in the two elastic assemblies. The upper pressure strip (32) and the lower pressure strip (33) are fixedly connected to the side of the two baffles (12) that is far 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 abutting part of the upper pressure strip (32) and the lower pressure strip (33). The connecting port (31) and the connecting frame (5) are provided with oblique openings (24) on both sides that are far away from the two sliding openings (13). The side walls of the two baffles (12) are 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 the side of the connection port (31) near the air intake port (11). Both baffles (12) have sealing ports (38) on the side near the air intake port (11). The outer wall of the sealing ring (30) and the inner wall of the two sealing ports (38) are slidably connected.

10. A humanoid robot, comprising a robot body (1), characterized in that: It also includes the foot structure described in any one of claims 1-9 above.

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