Humanoid robot and sole structure of humanoid robot

Abstract

The invention belongs to the technical field of robot equipment, and particularly relates to a humanoid robot and a sole structure of the humanoid robot. The sole structure comprises a rigid connecting piece which comprises a main body plate piece and a connecting part, the connecting part is arranged on the main body plate piece, and the connecting part is used for being connected with the ankle connecting end of the humanoid robot; the first layer plate is fixedly connected with the main body plate, the end part of the first layer plate exceeds the end part of the rigid connecting piece in the first direction, and the part, exceeding the end part of the rigid connecting piece, of the first layer plate can be bent and deformed in the rotating direction; the second layer plate is connected to the side, away from the rigid connecting piece, of the first layer plate, the second layer plate is a part made of a flexible material, the contour shape of the projection of the second layer plate is consistent with the contour shape of the projection of the first layer plate in the second direction, and the projection of the first layer plate is located in the projection of the second layer plate. By applying the technical scheme, the problem that the sole structure of the current humanoid robot does not have the characteristic that the front sole can be bent and deformed is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of robot equipment, and in particular, relates to a humanoid robot and a foot structure thereof. Background Art

[0002] With the continuous development of robot technology, humanoid robots with structural components that simulate human body parts are an inevitable trend in market development. Humanoid robots are commonly known as humanoid robots.

[0003] In current humanoid robots, the sole structure of the foot mostly uses an alloy frame to achieve the support function, and the bottom of the sole structure is matched with rubber or polyurethane, which plays a certain role in buffering and shock absorption. However, the current alloy frame sole structure does not have the bending and deformation characteristics of the forefoot like the human foot. Therefore, when the humanoid robot walks, the sole structure cannot rely on the bending and deformation of the forefoot to achieve fast stepping like the human foot. Summary of the invention

[0004] The purpose of the present application is to provide a humanoid robot and a foot structure thereof, aiming to solve the problem that the foot structure of the current humanoid robot does not have the bendable and deformable property of the forefoot.

[0005] To achieve the above purpose, according to the first aspect of the present application, the technical solution adopted in the present application is: a sole structure, comprising:

[0006] A rigid connector, comprising a main body plate and a connecting portion, wherein the connecting portion is arranged on the main body plate and is used to connect to an ankle connecting end of the humanoid robot;

[0007] The first layer is fixedly connected to the main body plate, and along the first direction, the end of the first layer exceeds the end of the rigid connector, and the portion of the first layer that exceeds the end of the rigid connector can be bent and deformed along the rotation direction;

[0008] The second layer of board is connected to the side of the first layer of board away from the rigid connector. The second layer of board is a component made of flexible material. Along the second direction, the contour shape of the projection of the second layer of board is consistent with the contour shape of the projection of the first layer of board, and the projection of the first layer of board is located within the projection of the second layer of board.

[0009] In some embodiments of the present application, along the second direction, the projection of the first layer board coincides with the projection of the second layer board.

[0010] In some embodiments of the present application, along the first direction, the length of the portion of the first layer of board that exceeds the end of the rigid connector is L, and 20 mm ≤ L ≤ 80 mm.

[0011] In some embodiments of the present application, the main body panel and the first layer panel are stacked, and the main body panel and the first layer panel are locked by a plurality of connecting components; or, the main body panel is buried in the first layer panel.

[0012] In some embodiments of the present application, the connection portion is arranged to protrude relative to the main body panel in a direction away from the second layer panel.

[0013] In some embodiments of the present application, the first layer is a component made of carbon fiber material.

[0014] In some embodiments of the present application, the first layer plate has a bent portion protruding toward the rigid connector, the bent portion is directly opposite to the rigid connector, and the rigid connector has an accommodating space for accommodating the bent portion.

[0015] In some embodiments of the present application, the sole structure also includes a transfer device, which is fixedly connected to the rigid connector, and the first layer of the plate is connected to the transfer device. When the bending portion is subjected to a force in a direction from the rigid connector to the first layer of the plate, the first layer of the plate slides relative to the rigid connector through the transfer device.

[0016] In some embodiments of the present application, a side of the second layer facing away from the first layer is provided with anti-slip grooves.

[0017] According to a second aspect of the present application, a humanoid robot is provided, wherein the humanoid robot comprises the aforementioned foot structure.

[0018] This application has at least the following beneficial effects:

[0019] The sole structure provided by the embodiment of the present application is used to assemble and shape the sole of the foot of a humanoid robot. The sole structure is movably connected to the ankle connection end of the humanoid robot through the connection part of the rigid connector, so that the humanoid robot can perform human-simulating movements such as stepping in place, walking, and running. Among them, the first layer of plates is the core main body component of the sole structure, which defines the circumferential basic contour shape of the sole structure, and the first layer of plates plays the role of providing frame support for the entire sole structure. The end of the first layer of plates exceeds the end of the rigid connector, and the part of the first layer of plates that exceeds the end of the rigid connector can be bent and deformed along the rotation direction ω when the humanoid robot performs stepping in place, walking, running, etc. Compared with the current humanoid robot, the humanoid robot provided by the embodiment of the present application can make the movement more natural and flexible, and the humanoid robot as a whole is more balanced and stable. In addition, the second layer of plates is connected to the side of the first layer of plates away from the rigid connector, that is, the second layer of plates is a component that contacts the ground. Since the second layer is made of flexible material, it can bend and deform synchronously with the bending and deformation of the first layer, and the flexible second layer can adapt to a certain extent to fit the uneven ground (for example, a ground with small potholes, small protruding stones on the ground, etc.), thereby improving the sole structure to contact the ground more stably, which is beneficial to improving the overall balance and stability performance of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of the assembly structure of a sole structure of an embodiment of the present application Figure 1 ;

[0022] Figure 2 for Figure 1 An exploded schematic diagram of the sole structure is shown;

[0023] Figure 3 for Figure 1 The assembly structure of the sole structure shown is shown Figure 2 ;

[0024] Figure 4 for Figure 3 An exploded schematic diagram of the sole structure is shown;

[0025] Figure 5 for Figure 1 A schematic front view of the sole structure shown;

[0026] Figure 6 for Figure 5 Schematic cross-sectional view along the AA direction;

[0027] Figure 7 A cross-sectional schematic diagram of another sole structure according to an embodiment of the present application;

[0028] Figure 8 A cross-sectional schematic diagram of another sole structure of an embodiment of the present application;

[0029] Fig. 9 This is a schematic diagram of the assembly structure of the humanoid robot according to an embodiment of the present application.

[0030] Among them, the reference numerals in the figures are:

[0031] 100. Foot structure;

[0032] 10. Rigid connector; 11. Main body panel; 12. Connecting part; 13. Accommodating space;

[0033] 20. First layer; 21. Forefoot area; 22. Curved part;

[0034] 30. Second layer; 31. Anti-slip pattern;

[0035] 40. Switching device;

[0036] 200. Humanoid robot; 201. Ankle connection end. DETAILED DESCRIPTION

[0037] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0038] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] Explanation:

[0042] First direction X: Figure 1 As shown, in the spatial rectangular coordinate system XYZ, the first direction X is a direction parallel to the X-axis, that is, in space, any direction parallel to the X-axis is the first direction X.

[0043] Second direction Z: Figure 1 As shown, in the spatial rectangular coordinate system XYZ, the second direction Z is a direction parallel to the Z axis, that is, in space, any direction parallel to the Z axis is the second direction Z.

[0044] The third direction Y: Figure 1 As shown, in the spatial rectangular coordinate system XYZ, the direction parallel to the Y axis is the third direction Y.

[0045] Rotation direction ω: Figure 1 As shown, in the spatial rectangular coordinate system XYZ, the rotation direction with one of the axes parallel to the Y axis as the rotation center axis is the rotation direction ω.

[0046] According to a first aspect of an embodiment of the present application, a sole structure 100 is provided. Figures 1 to 6As shown, the sole structure 100 includes a rigid connector 10, a first layer 20 and a second layer 30. The rigid connector 10 includes a main body plate 11 and a connecting portion 12, wherein the connecting portion 12 is arranged on the main body plate 11, and the connecting portion 12 is used to connect with the ankle connecting end 201 of the humanoid robot 200. The first layer 20 is fixedly connected to the main body plate 11 of the rigid connector 10, and the end of the first layer 20 exceeds the end of the rigid connector 10 along the first direction X, and the portion of the first layer 20 exceeding the end of the rigid connector 10 can be bent and deformed along the rotation direction ω. The second layer 30 is connected to the side of the first layer 20 away from the rigid connector 10, and the second layer 30 is a component made of flexible material. Along the second direction Z, the contour shape of the projection of the second layer 30 is consistent with the contour shape of the projection of the first layer 20, and the projection of the first layer 20 is located within the projection of the second layer 30.

[0047] The sole structure 100 provided in the embodiment of the present application is used to assemble the sole of the foot of the humanoid robot 200. The sole structure 100 is movably connected to the ankle connection end 201 of the humanoid robot 200 through the connection part 12 of the rigid connection member 10, so that the humanoid robot 200 can perform human-simulating movements such as stepping on the spot, walking, and running. Among them, the first layer 20 is the core main body component of the sole structure 100, which defines the circumferential basic contour shape of the sole structure 100, and the first layer 20 plays the role of providing a frame support for the entire sole structure 100. The end of the first layer 20 exceeds the end of the rigid connector 10, and the portion of the first layer 20 that exceeds the end of the rigid connector 10 forms a forefoot area 21, which is equivalent to the forefoot of a human foot. The forefoot area 21 can be bent and deformed along the rotation direction ω when the humanoid robot 200 is stepping, walking, running, etc., which can make the humanoid robot 200 provided in the embodiment of the present application more natural and flexible, and the humanoid robot 200 is more balanced and stable as a whole. In addition, the second layer 30 is connected to the side of the first layer 20 that is away from the rigid connector 10, that is, the second layer 30 is a component that contacts the ground. Furthermore, since the second layer plate 30 is made of flexible material, the second layer plate 30 can bend and deform synchronously with the bending and deformation of the first layer plate 20, and the flexible second layer plate 30 can adapt to a certain extent and fit the uneven ground (for example, the ground has small potholes, the ground has small protruding stones, etc.), thereby improving the sole structure 100 to contact the ground more stably, which is beneficial to improving the overall balance and stability performance of the humanoid robot 200.

[0048] And, if Figure 3 and Figure 4As shown, the second layer 30 is provided with anti-skid patterns 31 on one side facing away from the first layer 20. The anti-skid patterns 31 make the sole structure 100 have better anti-skid performance. Even on a relatively smooth ground (such as a tiled ground), the sole structure 100 can stably fit the ground and reduce the possibility of slipping.

[0049] In the embodiment of the present application, the rigid connector 10 is made of metal material to ensure mechanical properties such as mechanical strength and stiffness of the rigid connector 10. The metal material used for the rigid connector 10 includes but is not limited to steel material, aluminum alloy material, etc. Since aluminum alloy material is light and low in cost, it is preferred to use aluminum alloy material to make the rigid connector 10.

[0050] In the sole structure 100 of the embodiment of the present application, along the second direction Z, the projection of the first layer plate 20 coincides with the projection of the second layer plate 30, that is, the circumferential contour shape and size of the first layer plate 20 are the same as the circumferential contour shape and size of the second layer plate 30. Therefore, the second layer plate 30 can quickly transmit the reaction force received from the ground to the first layer plate 20, and then the first layer plate 20 continues to transmit force to the ankle connection end 201 of the humanoid robot 200, so that the humanoid robot 200 can quickly adjust the center of gravity of the robot according to the reaction force to ensure the overall balance and stability of the humanoid robot 200.

[0051] In some other embodiments of the present application, along the second direction Z, the projection of the first layer plate 20 may fall within the projection of the second layer plate 30, that is, although the circumferential contour shape of the first layer plate 20 is the same as the circumferential contour shape of the second layer plate 30, the coverage area of ​​the second layer plate 30 is slightly larger than the coverage area of ​​the first layer plate 20. The circumferential edge area of ​​the second layer plate 30 slightly exceeds the circumferential edge of the first layer plate 20, but not too much. Generally, the width of the circumferential edge area of ​​the second layer plate 30 that exceeds the circumferential edge of the first layer plate 20 is within 5 mm (the excess width is less than or equal to 5 mm). In this way, it is ensured that the second layer plate 30 can quickly transmit the reaction force it receives from the ground to the first layer plate 20, so that the humanoid robot 200 can quickly adjust the center of gravity of the robot according to the reaction force.

[0052] The foot size of a male adult with a height of 160 cm to 190 cm is used as reference data, so that the circumferential contour shape and size of the foot structure 100 are closer to the circumferential contour shape and size of the human foot, avoiding the foot of the humanoid robot 200 being too large and achieving a better degree of simulation. Figure 1 , Figure 5 and Figure 6As shown, along the first direction X, the length of the portion of the first layer 20 that exceeds the end of the rigid connector 10 is L, 20mm≤L≤80mm, and the forefoot area 21 of such a length is also closer to the size of the forefoot of the human foot, which conforms to the ergonomic simulation design and improves the simulation degree of the sole structure 100. Preferably, 30mm≤L≤60mm, so that the forefoot area 21 has a sufficient contact surface with the ground when bending and deforming relative to the rigid connector 10 during the movement of stepping in place, walking, running, etc., so that the humanoid robot 200 can lift its foot more flexibly and stably during the movement of stepping in place, walking, running, etc. Taking the humanoid robot 200 performing the stepping in place movement as an example, the heel area of ​​the sole structure 100 opposite to the forefoot area 21 leaves the ground first. As the heel area is gradually lifted, the forefoot area 21 is gradually lifted off the ground from the heel area until only the forefoot area 21 is in contact with the ground. At this time, the forefoot area 21 is in a bent and deformed state. Since there is a sufficient contact surface between the bent and deformed forefoot area 21 and the ground, the humanoid robot 200 can lift its foot more flexibly and stably when performing movements such as stepping in place, walking, and running. Finally, the forefoot area 21 is also lifted off the ground, thereby completing a series of processes in which one of the soles of the foot is lifted off the ground when stepping in place.

[0053] In some embodiments of the present application, the main plate 11 of the rigid connector 10 is stacked with the first layer 20, and the sole structure 100 is a multi-layer composite structure. The first layer 20 defines the circumferential basic contour shape of the sole structure 100, and the first layer 20 provides a frame support for the entire sole structure 100. The flexible second layer 30 can adapt to the uneven ground to a certain extent, so as to achieve an ergonomic simulation design of the sole structure 100. In addition, the main plate 11 of the rigid connector 10 and the first layer 20 are locked by a plurality of connecting components (not shown), and the connecting components include but are not limited to bolts, nuts, rivets, etc. Figures 1 to 6 As shown, the rigid connector 10 and the first layer 20 are both provided with a plurality of through holes, and the plurality of through holes of the rigid connector 10 are arranged one-to-one with the plurality of through holes of the first layer 20, so as to assemble the connection members one-to-one, thereby locking the rigid connector 10 and the first layer 20 through the plurality of connection members. In the sole structure 100 provided in the embodiment of the present application, a plurality of rivets are used to rivet the rigid connector 10 and the first layer 20, so that the connection between the rigid connector 10 and the first layer 20 is stable and reliable.

[0054] like Figures 1 to 6As shown, the connection portion 12 of the rigid connector 10 is protruded relative to the main plate 11 in a direction away from the second layer 30. The connection portion 12 protruding relative to the main plate 11 can avoid interference between the ankle connection end 201 and the sole structure 100, thereby facilitating the connection and assembly between the connection portion 12 and the ankle connection end 201, and improving the connection and assembly efficiency.

[0055] In the sole structure 100 provided in the embodiment of the present application, the first layer 20 is a component made of carbon fiber material. The first layer 20 made of carbon fiber material has high mechanical strength (tensile strength and compressive strength), excellent creep resistance, good corrosion resistance and shock resistance, and is light in weight and good in flexibility. The first layer 20 made of carbon fiber material not only meets the rigidity requirements required as the core main body component of the sole structure 100, and plays the role of providing frame support for the entire sole structure 100, but also can meet the flexibility requirements required for the forefoot area 21 to bend and deform along the rotation direction ω when the humanoid robot 200 is stepping, walking, running, etc., so that the bending deformation of the forefoot area 21 is natural and flexible, and the overall movement of the sole structure 100 is more balanced and stable.

[0056] like Figure 8 As shown, the first layer 20 has a curved portion 22 protruding toward the rigid connector 10, the curved portion 22 is directly opposite to the rigid connector 10, and the rigid connector 10 has a receiving space 13 for receiving the curved portion 22. That is, the curved portion 22 of the first layer 20 forms an arch area equivalent to the arch function of the sole of a human foot. In this way, when the humanoid robot 200 performs sports such as jumping and running, the curved portion 22 of the first layer 20 will produce a certain degree of elastic buffering function, so that the sole structure 100 as a whole can fall to the ground more balanced and stably, thereby improving the overall movement balance and stability of the humanoid robot 200.

[0057] When the humanoid robot 200 performs sports such as jumping and running, during the landing of the sole structure 100, the impact force generated by the entire weight of the humanoid robot 200 in the direction from the rigid connector 10 to the first layer 20 is concentrated on the sole structure 100. The impact force squeezes the curved portion 22 of the first layer 20, so that the two ends of the curved portion 22 extend in opposite directions along the first direction X, that is, the two ends of the curved portion 22 will generate extended relative sliding relative to the rigid connector 10 along the first direction X. In order to prevent the first layer 20 from causing pulling interference to the curved portion 22 when the curved portion 22 generates extended relative sliding relative to the rigid connector 10, as shown in FIG. Figure 8As shown, the sole structure 100 also includes a transfer device 40, which is fixedly connected to the rigid connector 10, and the first layer 20 is connected to the transfer device 40. When the bending portion 22 is subjected to a force in the direction from the rigid connector 10 to the first layer 20, the first layer 20 slides relative to the rigid connector 10 through the transfer device 40.

[0058] As an example, the adapter 40 may include a frame shell, a helical compression spring and a slider. Taking two helical compression springs and two sliders as an example, the two sliders can be slidably mounted on the frame shell, the two helical compression springs are connected to the two sliders one by one, and the helical compression springs are pre-tightened and compressed between the sliders and the inner wall of the frame shell, and further, the central axis of the helical compression spring is parallel to the first direction X. The frame shell is fixedly connected to the rigid connector 10, the slider is fixedly connected to the first layer 20, and the two ends of the curved portion 22 correspond to the two sliders respectively. In this way, when the humanoid robot 200 performs jumping, running and other sports, during the landing of the sole structure 100, the curved portion 22 is squeezed by the impact force, and the two ends of the curved portion 22 will respectively drive the slider to slide, and the slider further compresses the helical compression spring, so that the two ends of the curved portion 22 will produce extended relative sliding relative to the rigid connector 10 along the first direction X. When the sole structure 100 is completely on the ground and the humanoid robot 200 as a whole gradually tends to be balanced and stable, the slider performs reset sliding under the elastic force of the spiral compression spring and the elasticity of the bending portion 22 until the bending portion 22 returns to its original bending state.

[0059] In other embodiments of the present application, Figure 7 As shown, the main plate 11 of the rigid connector 10 is embedded in the first layer 20, that is, the rigid connector 10 and the first layer 20 are formed into an integral workpiece. As an example, a special mold is used to place the main plate 11 of the rigid connector 10 into the mold cavity, and then the mold is closed, and then the molten raw material of the first layer 20 is poured into the mold cavity. When the molten raw material is cooled and solidified to form the first layer 20, the first layer 20 covers the main plate 11 of the rigid connector 10, that is, the main plate 11 of the rigid connector 10 is fixedly connected to the first layer 20.

[0060] According to a second aspect of an embodiment of the present application, a humanoid robot 200 is provided, such as Fig. 9 The humanoid robot 200 includes the foot structure 100 as described above.

[0061] The sole structure 100 provided in the embodiment of the present application is used to assemble the sole of the foot of the humanoid robot 200. The sole structure 100 is movably connected to the ankle connection end 201 of the humanoid robot 200 through the connection part 12 of the rigid connection member 10, so that the humanoid robot 200 can perform human-simulating movements such as stepping on the spot, walking, and running. Among them, the first layer 20 is the core main body component of the sole structure 100, which defines the circumferential basic contour shape of the sole structure 100, and the first layer 20 plays the role of providing a frame support for the entire sole structure 100. The end of the first layer 20 exceeds the end of the rigid connector 10, and the portion of the first layer 20 that exceeds the end of the rigid connector 10 forms a forefoot area 21, which is equivalent to the forefoot of a human foot. The forefoot area 21 can be bent and deformed along the rotation direction ω when the humanoid robot 200 is stepping, walking, running, etc., which can make the humanoid robot 200 provided in the embodiment of the present application more natural and flexible, and the humanoid robot 200 is more balanced and stable as a whole. In addition, the second layer 30 is connected to the side of the first layer 20 that is away from the rigid connector 10, that is, the second layer 30 is a component that contacts the ground. Furthermore, since the second layer plate 30 is made of flexible material, the second layer plate 30 can bend and deform synchronously with the bending and deformation of the first layer plate 20, and the flexible second layer plate 30 can adapt to a certain extent and fit the uneven ground (for example, the ground has small potholes, the ground has small protruding stones, etc.), thereby improving the sole structure 100 to contact the ground more stably, which is beneficial to improving the overall balance and stability performance of the humanoid robot 200.

[0062] In the sole structure 100 of the humanoid robot 200 of some embodiments, the flexible second layer 30 is reserved with a reserved position, and the reserved position is used to install sensors, such as pressure sensors, distance sensors, gyroscopes, etc. In addition, the sensor is connected to the control system of the humanoid robot 200 in communication (it can be a wired communication connection or a wireless communication connection), thereby realizing interactive communication, so that the humanoid robot 200 can monitor the movement state of the sole structure 100 in real time, and adjust the overall movement state of the humanoid robot 200 in real time according to the movement state of the sole structure 100, thereby improving the balance and stability of the overall movement of the humanoid robot 200.

[0063] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A sole structure, characterized in that: include: A rigid connector, comprising a main body plate and a connecting portion, wherein the connecting portion is arranged on the main body plate, and the connecting portion is used to connect to the ankle connecting end of the humanoid robot; A first layer plate is fixedly connected to the main body plate, and along a first direction, an end of the first layer plate exceeds an end of the rigid connector, and a portion of the first layer plate that exceeds the end of the rigid connector can be bent and deformed along a rotation direction; The second layer of board is connected to the side of the first layer of board away from the rigid connector. The second layer of board is a component made of flexible material. Along the second direction, the contour shape of the projection of the second layer of board is consistent with the contour shape of the projection of the first layer of board, and the projection of the first layer of board is located within the projection of the second layer of board.

2. The sole structure according to claim 1, characterized in that: Along the second direction, the projection of the first layer board coincides with the projection of the second layer board.

3. The sole structure according to claim 1, characterized in that: Along the first direction, the length of the portion of the first layer plate that exceeds the end of the rigid connector is L, and 20 mm ≤ L ≤ 80 mm.

4. The sole structure according to claim 1, characterized in that: The main body panel and the first layer panel are stacked, and the main body panel and the first layer panel are locked by a plurality of connecting members; Alternatively, the main body panel is embedded in the first layer panel.

5. The sole structure according to claim 1, characterized in that: The connecting portion is arranged to protrude relative to the main body plate in a direction away from the second layer plate.

6. The sole structure according to any one of claims 1 to 5, characterized in that: The first layer plate is a component made of carbon fiber material.

7. The sole structure according to claim 6, characterized in that: The first layer plate has a bent portion protruding toward the rigid connector, the bent portion is directly opposite to the rigid connector, and the rigid connector has an accommodating space for accommodating the bent portion.

8. The sole structure according to claim 7, characterized in that: The sole structure also includes a transfer device, which is fixedly connected to the rigid connector. The first layer of the plate is connected to the transfer device. When the bending portion is subjected to a force in a direction from the rigid connector to the first layer of the plate, the first layer of the plate slides relative to the rigid connector through the transfer device.

9. The sole structure according to any one of claims 1 to 5, characterized in that: The side of the second layer board facing away from the first layer board is provided with anti-slip grooves.

10. A humanoid robot, characterized in that: The method comprises the sole structure according to any one of claims 1 to 9.

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