Foot structure of humanoid robot

Abstract

The invention discloses a foot structure of a humanoid robot, and relates to the technical field of humanoid robots, the foot structure comprises a control module, a power unit and a foot crawler unit which are mounted on a foot structure plate, and the power unit comprises a foot swing motor, a crawler driving motor and a foot rotating mechanism; the foot swing motor and the track driving motor are electrically connected with the control module; when the robot faces stairs or a greatly fluctuating road surface, the robot can control the feet to swing through the foot swing motor, the feet are lifted and the shanks move through the synergistic effect of the crank and the connecting rod, and therefore the actions of going up and down the stairs are completed; due to the flexibility characteristic of the crawler belt, the robot can better adapt to road surface changes when passing through a road surface with small fluctuation, jolt is reduced, and more stable walking experience is provided. The foot structure of the humanoid robot has remarkable trafficability and adaptability advantages in complex and changeable terrains.

Description

Technical Field

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

[0002] With the continuous advancement of intelligent mobile robot technology, humanoid robots have become a research hotspot in many fields such as industry, service, and rescue due to their high flexibility and broad application prospects. However, although humanoid robots have shown potential in many aspects, they still face challenges in the design of foot structures. Traditional designs usually use simple wheel-type or foot-type structures, which perform well when walking on flat surfaces, but their adaptability and obstacle-crossing capabilities are insufficient when encountering complex terrains such as gravel roads and ice. In addition, existing designs often require robots to lift their legs frequently when walking, which not only slows down the walking speed, but also increases energy consumption, limiting the performance and efficiency of humanoid robots in diverse environments. Summary of the invention

[0003] The purpose of the present invention is to provide a foot structure of a humanoid robot to solve the problems existing in the above-mentioned prior art. The tracked foot has a fast walking speed, does not need to lift the leg on flat ground, and is more adaptable to scenes such as gravel roads and ice surfaces than ordinary feet.

[0004] To achieve the above object, the present invention provides the following solution: The present invention provides a foot structure of a humanoid robot, comprising a control module, a power unit and a foot track unit installed on a foot structure plate, the power unit comprising a foot swing motor, a track drive motor and a foot rotation mechanism, the foot swing motor and the track drive motor are both electrically connected to the control module;

[0005] The foot rotation mechanism includes a crank rocker assembly and a motor belt transmission assembly, the crank rocker assembly includes a crank and a connecting rod, the foot swing motor is mounted on the foot structure plate, one end of the crank is transmission-mounted on the output shaft of the foot swing motor, the other end of the crank is connected to the connecting rod, and the other end of the connecting rod is connected to the foot crawler unit;

[0006] The track drive motor is also installed on the foot structure plate, and the track drive motor is used to drive the motor belt transmission assembly to operate, and the motor belt transmission assembly is used to drive the foot track unit to walk.

[0007] In one embodiment, both ends of the connecting rod are provided with flange bearings, and the protruding shaft of the crank is connected to the flange bearing at one end of the connecting rod through bearing fit; the rocker on the foot track unit is connected to the other end of the connecting rod, and the other end of the rocker is fixedly connected to the foot track unit.

[0008] In one embodiment, retaining rings are used on both sides of the flange bearing to axially fix the bearing and the connecting rod.

[0009] In one embodiment, the motor belt drive assembly includes a small synchronous wheel, a large synchronous wheel and a synchronous belt, the output shaft of the track drive motor is connected to the small synchronous wheel, the large synchronous wheel is assembled in the foot track unit, and the small synchronous wheel and the large synchronous wheel are connected by a synchronous belt drive.

[0010] In one embodiment, a coupling mounting hole is provided in the center of the large synchronous wheel, one end of the connecting shaft is assembled in the coupling mounting hole on the large synchronous wheel through coupling 1, and the middle part of the connecting shaft is also assembled with coupling 2, and coupling 2 is fixed to the synchronous wheel of the driving wheel in the foot track unit.

[0011] In one embodiment, the foot track unit includes a track, a drive wheel, a support wheel and a track foot fixing structure, the inner teeth of the track have grooves, the drive wheel is transmission-engaged on the inner side of the track, and the plurality of support wheels are also transmission-engaged on the inner side of the track, and the track foot fixing structure includes two mounting plates, and the two ends of the wheel axles of the drive wheel and the support wheel are respectively mounted on the mounting plates through bearings.

[0012] In one embodiment, the support wheel is formed by two fiberglass boards connected by a support wheel copper column in the middle, the fiberglass board portion of the support wheel is embedded in the track groove, and a bearing is installed in the center of each fiberglass board, and the bearing is connected to the bearing of the mounting plate through an axis.

[0013] In one embodiment, a visual sensor is further included, and the visual sensor is used to detect the height of a rough road surface or a step.

[0014] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0015] The foot structure of the humanoid robot of the present invention comprises a control module, a power unit and a foot track unit installed on the foot structure plate, the power unit comprises a foot swing motor, a track drive motor and a foot rotation mechanism, and the foot swing motor and the track drive motor are electrically connected to the control module; it can show strong adaptability and stability on various terrains. The large ground contact area of ​​its track structure effectively disperses the weight of the robot, reduces the pressure on the ground, and enables the robot to maintain stable walking on flat ground, slightly undulating roads and even on ice. The control module accurately calculates and adjusts the power and speed according to the forward or backward instructions to ensure that the speed and direction of the track drive motor match the walking requirements. When facing stairs or large undulating roads, the robot can use the foot swing motor to control the swing of the foot, and through the synergistic effect of the crank and the connecting rod, the foot and calf can be lifted to move, thereby completing the action of going up and down the stairs. At the same time, the robot's sensor can monitor and calculate the optimal moving path in real time, adjust the foot swing angle, and ensure that every step is safe and stable. The flexible characteristics of the crawler tracks enable the robot to better adapt to road surface changes when passing through roads with less undulations, reduce bumps, and provide a smoother walking experience. These characteristics give it significant advantages in passability and adaptability in complex and changeable terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is an isometric view of the overall structure of the present invention;

[0018] Figure 2 The figure is a general layout diagram of the interior of the crawler foot of the present invention;

[0019] Figure 3 Example of the motion of the present invention Figure 1 ;

[0020] Figure 4 Example of the motion of the present invention Figure 2 ;

[0021] Figure 5 Example of the motion of the present invention Figure 3 ;

[0022] In the figure: 1. crank; 2. D-type coupling; 3. track drive motor; 4. foot structure plate; 5. small synchronous wheel; 6. large synchronous wheel; 7. D-type shaft; 8. synchronous belt; 9. foot swing motor; 10. flange bearing; 11. track; 12. connecting rod; 13. fixing plate; 14. retaining ring; 15. copper column; 16. track drive wheel; 17. shaft; 18. retaining spring; 19. support wheel; 20. support wheel copper column. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] The purpose of the present invention is to provide a foot structure of a humanoid robot to solve the problems existing in the above-mentioned prior art. The tracked foot has a fast walking speed, does not need to lift the leg on flat ground, and is more adaptable to scenes such as gravel roads and ice surfaces than ordinary feet.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1-Figure 5 As shown, the present invention provides a foot structure of a humanoid robot, including a control module, a power unit and a foot track unit, the power unit includes a foot swing motor 9, a track drive motor 3, and a foot rotation mechanism, the control module includes a visual sensor and a control chip, the foot swing motor 9, the track drive motor 3, the visual sensor and the control chip are connected, the foot swing motor 9 drives the foot to swing; the track drive motor 3 controls the rotation of the track 11 by controlling the track drive wheel 16.

[0027] The foot rotation mechanism includes a crank rocker assembly and a motor belt transmission assembly. The crank rocker assembly mainly includes a crank controlled by a motor as an active part that rotates at a constant speed, and two nodes of the track foot as rockers as driven parts that swing back and forth.

[0028] The crank 1 is connected to the rocker through a connecting rod 12, and both ends of the connecting rod 12 are equipped with flange bearings 10. The end connected to the crank 1 is connected to the connecting rod 12 through the protruding shaft of the crank structure and the flange bearing 10, and the end connected to the rocker is connected to the connecting rod 12 through the shaft 17 and the flange bearing 10, and the bearings and the connecting rod 12 are axially fixed by 5mm retaining rings 14 on both sides of the flange bearing 10.

[0029] Furthermore, the flange bearing 10 is of model MF85ZZ; both ends of the shaft 17 are provided with retaining ring grooves, and axial limiting is performed by retaining rings 18 .

[0030] The motor belt drive assembly includes a small synchronous wheel 5, a large synchronous wheel 6 and a synchronous belt 8, a D-type coupling 2 and a D-type shaft 7. The output shaft of the crawler drive motor 3 is connected to the small synchronous wheel 5, and then connected to the large synchronous wheel 6 through the synchronous belt 8. The large synchronous wheel 6 is provided with a coupling mounting hole for fixing the coupling. The coupling adopts a D-type coupling 2, and the connecting shaft adopts a D-type shaft 7. The D-type coupling 2 is fixed to the D-type shaft 7. The middle part of the D-type shaft 7 is connected to the second D-type coupling 2, and the second D-type coupling 2 is fixed to the synchronous wheel part of the driving wheel 16, thereby transmitting power to the crawler drive wheel 16.

[0031] The foot track unit comprises a track 11, a driving wheel 16, a supporting wheel 19 and a track foot fixing structure.

[0032] The crawler track 11 is made of an L-shaped double-sided toothed synchronous belt with grooves in the inner teeth. The main body of the driving wheel is assembled from two L-shaped synchronous wheels and a coupling. The coupling is a D-shaped coupling 2 that fixes a 6mm shaft, and the end face of the 6mm shaft is D-shaped.

[0033] The support wheel 19 is made of two fiberglass boards connected by a support wheel copper column 20. The fiberglass board part of the support wheel is embedded in the groove of the track 11. A bearing is installed in the center of each fiberglass board, and the bearing is connected to the bearing of the fixed structure of the track foot through an axis. The outer side of the bearings on both sides of the support wheel 19 is equipped with a retaining ring 14 to axially fix the axis and bearing; the number of support wheels 19 is 4.

[0034] The track foot fixing structure includes two fixing plates 13, a copper column 15, a bearing, and a retaining spring 18. The fixing plate 13 has a hole for installing the bearing. The shaft 17 passes through the bearing fixed on the support wheel 19 and the bearing on the fixing plate 13, and is axially limited by the retaining spring 18.

[0035] The foot swing motor 9 is fixed on a motor mounting plate, and the motor mounting plate is connected to the foot structural plate 4 .

[0036] Furthermore, the foot structure plate 4 is formed by stacking fiberglass plates and printed parts, a flange bearing 10 is installed on the lower part of the fiberglass plate, and a D-shaped shaft fixed on the large synchronous wheel 6 passes through the flange bearing 10 and is connected to the foot fixed structure and the crawler foot. The visual sensor is used to detect the height of the rough road surface or steps, and the control chip is installed between the stacked plates.

[0037] The working principle of the present invention is:

[0038] like Figure 3-5The figure shows a motion example of the present invention. When the humanoid robot starts to move, the present invention controls the foot swing motor 9 by setting a control module, and the motor drives the foot to swing through a crank rocker mechanism. The crank 1 is used as an active part, which rotates at a constant speed to drive the crawler foot to swing back and forth. The flange bearings 10 of the MF85ZZ model at both ends of the connecting rod 12 ensure the stable movement of the connecting rod 12, and the 5mm retaining ring 14 axially fixes the bearing and the connecting rod 12. At the same time, the crawler drive motor 3 is started, and the power is transmitted to the crawler drive wheel 16 through the motor belt transmission assembly, including the small synchronous wheel 5, the large synchronous wheel 6 and the synchronous belt 8, as well as the D-type coupling 2 and the D-type shaft 7. The output shaft of the crawler drive motor 3 drives the small synchronous wheel 5, and transmits the power to the large synchronous wheel 6 through the synchronous belt 8, and then drives the rotation of the crawler foot through the D-type coupling 2 and the D-type shaft 7. The foot crawler unit is composed of a crawler 11 made of an L-shaped double-sided tooth synchronous belt, a driving wheel, a support wheel 19 and a crawler foot fixing structure. The support wheel 19 is embedded in the groove of the inner teeth of the crawler 11. A bearing is installed in the center of each support wheel 19, and is connected to the bearing of the crawler foot fixed structure through the shaft 17 to achieve stable support. The retaining rings 14 on both sides of the support wheel 19 axially fix the shaft 17 and the bearing to ensure the stable operation of the support wheel 19. During the movement, the visual sensor continuously detects the road conditions. If a rugged road surface or steps are encountered, the control module will adjust the working state of the foot swing motor 9 and the crawler drive motor 3 according to the information provided by the sensor to adapt to different terrains. The control chip coordinates the work of each component throughout the process to ensure smooth and efficient movement. The foot swing motor 9 is fixed on the motor mounting plate and connected to the foot structure plate 4. The foot structure plate 4 is made of fiberglass board and printed parts stacked together to ensure the stability of the foot mechanism. The D-type shaft 7 on the large synchronous wheel 6 passes through the flange bearing 10 and is connected to the foot fixed structure and the crawler foot, further enhancing the stability of the overall structure. During the entire movement process, the various components of the robot's calves and feet work together, and through the precise control of the control module, it achieves adaptation to complex terrain and efficient movement.

[0039] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0040] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A foot structure of a humanoid robot, characterized in that: It includes a control module, a power unit and a foot track unit installed on the foot structure plate, the power unit includes a foot swing motor, a track drive motor and a foot rotation mechanism, and the foot swing motor and the track drive motor are both electrically connected to the control module; The foot rotation mechanism includes a crank rocker assembly and a motor belt transmission assembly, the crank rocker assembly includes a crank and a connecting rod, the foot swing motor is mounted on the foot structure plate, one end of the crank is transmission-mounted on the output shaft of the foot swing motor, the other end of the crank is connected to the connecting rod, and the other end of the connecting rod is connected to the foot crawler unit; The track drive motor is also installed on the foot structure plate, and the track drive motor is used to drive the motor belt transmission assembly to operate, and the motor belt transmission assembly is used to drive the foot track unit to walk.

2. The foot structure of a humanoid robot according to claim 1, characterized in that: Both ends of the connecting rod are provided with flange bearings, and the protruding shaft of the crank is connected to the flange bearing at one end of the connecting rod through bearing matching; the rocker on the foot track unit is connected to the other end of the connecting rod, and the other end of the rocker is fixedly connected to the foot track unit.

3. The foot structure of a humanoid robot according to claim 2, characterized in that: The flange bearing is axially fixed to the bearing and the connecting rod by retaining rings on both sides.

4. The foot structure of a humanoid robot according to claim 1, characterized in that: The motor belt transmission assembly includes a small synchronous wheel, a large synchronous wheel and a synchronous belt. The output shaft of the crawler drive motor is connected to the small synchronous wheel. The large synchronous wheel is assembled in the foot crawler unit. The small synchronous wheel and the large synchronous wheel are connected by a synchronous belt transmission.

5. The foot structure of a humanoid robot according to claim 4, characterized in that: A coupling mounting hole is provided in the center of the large synchronous wheel, and one end of the connecting shaft is assembled in the coupling mounting hole on the large synchronous wheel through coupling 1. A coupling 2 is also assembled in the middle part of the connecting shaft, and coupling 2 is fixed to the synchronous wheel of the driving wheel in the foot crawler unit.

6. The foot structure of a humanoid robot according to claim 1, characterized in that: The foot track unit includes a track, a driving wheel, a supporting wheel and a track foot fixing structure. The inner teeth of the track are provided with grooves. The driving wheel is transmission-engaged on the inner side of the track. The multiple supporting wheels are also transmission-engaged on the inner side of the track. The track foot fixing structure includes two mounting plates. The two ends of the wheel axles of the driving wheel and the supporting wheel are respectively mounted on the mounting plates through bearings.

7. The foot structure of a humanoid robot according to claim 6, characterized in that: The support wheel is formed by two fiberglass boards connected by a support wheel copper column in the middle. The fiberglass board part of the support wheel is embedded in the track groove. A bearing is installed in the center of each fiberglass board, and the bearing is connected to the bearing of the mounting plate through an axis.

8. The foot structure of a humanoid robot according to claim 1, characterized in that: The device also includes a visual sensor for detecting the height of a rough road surface or a step.

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